JP2009097898A - Positioning method, program, positioning device, and electronic device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform proper position output, taking into consideration the position jump of a positioning position. <P>SOLUTION: The present position of a cellular phone 1 and the moving velocity vector are measured intermittently, based on a GPS satellite signal transmitted from a GPS satellite. An allowable position region, wherein a positioning position of this time is not determined as a position skipping is set, based on a measured result, and the position skipping is determined based on whether the positioning position of this time is positioned in the allowable position region. When determined to have no position jump, correction processing for correcting the positioning position of this time is performed by using an estimated position calculated from a previous measurement result, and the output position of this time is determined and is outputted. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a positioning method, a program, a positioning device, and an electronic apparatus.

As a positioning system using an artificial satellite, a GPS (Global Positioning System) is widely known, and is used in a positioning device built in a mobile phone, a car navigation device, or the like. In GPS, the values of four parameters, the three-dimensional coordinate value indicating the position of the aircraft and the clock error, are calculated based on information such as the positions of a plurality of GPS satellites and the pseudoranges from each GPS satellite to the aircraft. The current position of the aircraft is measured by performing the required positioning calculation.

In positioning by GPS, it is difficult to accurately determine the current position of the positioning device due to various error factors, and various techniques have been devised for reducing positioning errors. As an example, Patent Document 1 discloses a technique for calculating a current position of a positioning device by performing weighted averaging of an estimated position obtained by so-called dead reckoning and a positioning position by GPS.
JP-A-8-68651

However, the technique disclosed in Patent Document 1 does not consider the position jump of the positioning position. That is, the positioning position obtained by the current GPS positioning (current positioning position)
When the distance from the positioning position (previous positioning position) obtained by the previous GPS positioning is more than the movable limit distance determined from the relationship between the positioning time interval and the moving speed (this case is described in this specification) Is referred to as “position skip”), it can be said that the current positioning position is far from the true position of the positioning device. However, even in such a case, since the current position is calculated by simply performing weighted averaging of the estimated position and the positioning position, a position that is significantly different from the true position of the positioning device may be output. It was.

  The present invention has been made in view of the above-described problems.

In a first invention for solving the above problems, the positioning device intermittently sets the current position of the own positioning device and the moving velocity vector of the own positioning device based on the positioning signal transmitted from the positioning satellite. Based on the measurement result, a tolerance position area for this time for determining whether to measure and whether or not the positioning position measured this time has jumped is determined based on the measurement result. The position jump is determined depending on whether or not the positioning position is located, and when the position jump is not determined, a predetermined correction process for correcting the currently measured positioning position using the previous measurement result is executed. This is a positioning method including obtaining and outputting the current output position.

Further, as a ninth invention, a measurement unit that intermittently measures the current position of the self-positioning device and the moving speed vector of the self-positioning device based on a positioning signal transmitted from the positioning satellite, and the current measurement Based on the measurement result, a tolerance position area for this time for determining whether or not the positioning position is not skipped is set, and depending on whether or not the currently measured positioning position is located in the tolerance position area. A determination unit that determines the position jump, and if the position jump is not determined, the current output position is obtained by executing a predetermined correction process that corrects the currently measured position using the previous measurement result. A positioning device including an output unit that outputs the information may be configured.

According to the first aspect of the invention, the current position and the moving speed vector of the self-positioning device are intermittently measured based on the positioning signal transmitted from the positioning satellite. In addition, a tolerance position area for this time for determining whether or not the positioning position measured this time is not jumping is set based on the measurement result, and the positioning position measured this time is located in the tolerance position area. The position jump is determined depending on whether or not to do so. Then, when it is not determined that the position is skipped, a predetermined correction process for correcting the positioning position measured this time using the previous measurement result is executed, so that the current output position is obtained and output. .

In the second invention, the positioning device intermittently measures the current position of the self-positioning device and the moving speed vector of the self-positioning device based on the positioning signal transmitted from the positioning satellite, and is measured this time. A tolerance position area for this time for determining whether or not the measured positioning position has jumped based on the measurement result, and whether or not the currently measured positioning position is located in the tolerance position area. This is a positioning method including determining a position jump by means of output and outputting a positioning position measured this time as the current output position when it is not determined to be a position jump.

As a tenth aspect of the invention, a measurement unit that intermittently measures the current position of the self-positioning device and the moving speed vector of the self-positioning device based on a positioning signal transmitted from a positioning satellite, and the current measurement Based on the measurement result, a tolerance position area for this time for determining whether or not the positioning position is not skipped is set, and depending on whether or not the currently measured positioning position is located in the tolerance position area. You may comprise the positioning apparatus provided with the determination part which determines position jump, and the output part which outputs the positioning position measured this time as this output position, when not determined as position jump.

According to the second aspect of the invention, the current position and the moving speed vector of the self-positioning device are intermittently measured based on the positioning signal transmitted from the positioning satellite. In addition, a tolerance position area for this time for determining whether or not the positioning position measured this time is not jumping is set based on the measurement result, and the positioning position measured this time is located in the tolerance position area. The position jump is determined depending on whether or not to do so. If it is not determined that the position is skipped, the currently measured positioning position is output as the current output position.

3rd invention is the positioning method of 1st or 2nd invention, Comprising: The positioning which further sets the said acceptance position area | region variably according to the magnitude | size of the moving speed of the measured moving speed vector Is the method.

The eleventh aspect of the invention is the positioning device according to the ninth or tenth aspect of the invention, wherein the determination unit variably changes the tolerance position area according to the magnitude of the movement speed of the measured movement speed vector. You may comprise the positioning apparatus which has the tolerance position area | region variable setting part to set.

According to the third aspect of the invention, the acceptance position region is variably set according to the magnitude of the movement speed of the measured movement speed vector. That is, the position jump determination condition is varied according to the moving speed of the positioning device.

A fourth invention is the positioning method according to any one of the first to third inventions, wherein the longer the moving speed of the measured moving speed vector, the longer the direction along the moving direction of the moving speed vector. The positioning method further includes setting the tolerance position area so as to lengthen the length.

Further, as a twelfth invention, in the positioning device according to the eleventh invention, the tolerance position area variable setting unit increases the moving speed of the measured moving speed vector along the moving direction of the moving speed vector. A positioning device that sets the tolerable position region so as to increase the length in the selected direction may be configured.

According to the fourth aspect of the invention, the tolerable position region is set such that the greater the moving speed of the measured moving speed vector, the longer the length in the direction along the moving direction of the moving speed vector. This is because it is considered that the higher the positioning device is moving, the higher the possibility that the positioning device is moving in the direction along the previous movement direction.

A fifth invention is the positioning method according to any one of the first to fourth inventions, wherein the longer the moving speed of the measured moving speed vector, the longer the length in the direction perpendicular to the moving direction of the moving speed vector. Is a positioning method that further includes setting the tolerance position region so as to shorten the length.

The thirteenth invention is the positioning device according to the eleventh or twelfth invention, wherein the tolerance position region variable setting unit moves the moving speed vector as the moving speed of the measured moving speed vector increases. You may comprise the positioning apparatus which sets the said tolerance position area | region so that the length of the direction orthogonal to a direction may be shortened.

According to the fifth aspect and the like, the tolerance position region is set such that the greater the movement speed of the measured movement speed vector, the shorter the length in the direction orthogonal to the movement direction of the movement speed vector. If the positioning device changes direction of movement during the time elapsed since the previous positioning, the speed of the positioning device should decrease. Furthermore, when the positioning device is moving at a high speed, it is unlikely that the direction will suddenly change at the same speed in the direction orthogonal to the moving direction. Therefore, the higher the moving speed of the positioning device, the shorter the length of the acceptance position region in the direction orthogonal to the moving direction of the positioning device.

A sixth invention is the positioning method of any one of the first to fifth inventions, and when it is determined that the position is skipped, the current position is calculated according to a predetermined dead reckoning method using the measurement result, It is the positioning method which further includes outputting as an output position.

According to the sixth aspect, when it is determined that the position jumps, the current position is calculated according to the predetermined dead reckoning navigation method using the measurement result, and is output as the current output position.

A seventh invention is the positioning method according to any one of the first to sixth inventions, wherein the position jump measured this time is skipped based on the output position output last time as a reference for the position jump determination. The positioning method includes at least a first determination as to whether or not and a second determination as to whether or not the positioning position measured this time is jumping with respect to the positioning position measured last time.

Further, as a fourteenth invention, in the positioning device according to any one of the ninth to thirteenth inventions, is the determination unit determining whether the currently measured positioning position is skipped based on the output position output last time? A positioning device that performs a first determination of whether or not and a second determination of whether or not the currently measured positioning position is jumping with reference to the previously measured positioning position may be configured.

According to the seventh aspect of the invention, the first determination as to whether or not the positioning position measured this time is skipped based on the output position output last time, and the current measurement based on the positioning position measured last time. The determination of the position jump is performed in two stages including the second determination of whether or not the determined positioning position is jumping, and the accuracy of the position jump determination itself is improved.

Further, as an eighth invention, a program for causing a computer incorporated in a positioning device to execute the positioning method of any of the first to seventh inventions may be configured, or as a fifteenth invention, You may comprise the electronic device provided with the positioning apparatus of any one of the 9th-14th invention.

Hereinafter, an example of an embodiment suitable for the present invention will be described with reference to the drawings. In the following, a mobile phone having a GPS function will be described as an example of an electronic device provided with a positioning device, but embodiments to which the present invention can be applied are not limited thereto.

1. Functional Configuration FIG. 1 is a block diagram showing a functional configuration of a mobile phone 1 according to this embodiment. The mobile phone 1 includes a GPS antenna 10, a GPS receiver 20, and a TCXO (Temperature Co
mpensated Crystal Oscillator) 40 and host CPU (Central Processing Unit) 5
0, an operation unit 60, a display unit 70, a cellular phone antenna 80, a cellular phone wireless communication circuit unit 90, a ROM (Read Only Memory) 100, and a RAM (Random Access Memory) 1
10.

The GPS antenna 10 is an antenna that receives an RF signal including a GPS satellite signal transmitted from a GPS satellite, and outputs the received signal to the GPS receiver 20. The GPS satellite signal is a spread spectrum modulated signal called a C / A (Coarse and Acquisition) code, and is superimposed on an L1 band carrier wave having a carrier frequency of 1.57542 [GHz].

The GPS receiving unit 20 is a positioning unit that measures the current position of the mobile phone 1 based on a signal output from the GPS antenna 10, and is a functional block corresponding to a so-called GPS receiver. The GPS receiving unit 20 includes an RF (Radio Frequency) receiving circuit unit 21 and a baseband processing circuit unit 30. The RF receiving circuit unit 21 and the baseband processing circuit unit 30 can be manufactured as separate LSIs (Large Scale Integration) or can be manufactured as one chip.

The RF receiving circuit unit 21 is a circuit block of a high frequency signal (RF signal), and the TCXO 40
An oscillation signal for RF signal multiplication is generated by dividing or multiplying the oscillation signal generated by. Then, by multiplying the generated oscillation signal by the RF signal output from the GPS antenna 10, the RF signal is converted into an intermediate frequency signal (hereinafter referred to as "IF (Intermediate Frequency)").
It is called “Signal”. ), The IF signal is amplified, etc., converted to a digital signal by an A / D converter, and output to the baseband processing circuit unit 30.

The baseband processing circuit unit 30 performs correlation processing on the IF signal output from the RF receiving circuit unit 21 to capture and extract GPS satellite signals, decodes the data, and extracts navigation messages, time information, and the like. This is a circuit unit that performs positioning calculation. The baseband processing circuit unit 30
Satellite capture / tracking unit 31, CPU 33 as a processor, and ROM 35 as a memory
And a RAM 37. In the present embodiment, the current position positioning calculation itself is described as being executed by the CPU 33, but the host CPU 50 may of course calculate the current position.

Based on the IF signal output from the RF receiving circuit unit 21, the satellite capturing / tracking unit 31 performs GP
This is a circuit unit for capturing and tracking the S satellite signal. The acquisition of the GPS satellite signal is realized by a correlation process that calculates a correlation value between a pseudo-generated spread code (replica C / A code) and an IF signal and extracts a frequency component and a phase component having the largest amplitude. .

In addition, tracking of the GPS satellite signal is performed by, for example, a delay locked loop (DLL (Delay Locked Loo
p)), known as a code loop or phase locked loop (PLL)
This is realized by tracking the C / A code and the phase of the carrier wave included in the GPS satellite signal by a circuit such as a carrier loop known as).

FIG. 2 is a diagram illustrating an example of data stored in the ROM 35. The ROM 35 has a CP
A baseband processing program 351 that is read out by U33 and executed as baseband processing (see FIGS. 5 and 6) is stored. The baseband processing program 35
1 includes a GPS positioning program 3511 executed as a GPS positioning process, a stop determination program 3513 executed as a stop determination process, and a position jump determination program 3515 executed as a position jump determination process as subroutines. Yes.

In the baseband processing, the CPU 33 performs GPS positioning processing to measure the current position and moving speed vector of the mobile phone 1, and the position jump of the measured positioning position (elapsed time and movement from the position output at the previous positioning) This is a process for determining that the current positioning position has changed by more than the movable limit distance determined from the relationship with the speed. Then, the output position is variably determined in accordance with the position jump determination result. The baseband process will be described later in detail using a flowchart.

GPS positioning processing means that the CPU 33 captures and tracks the satellite captured and tracked by the satellite capturing and tracking unit 31.
This is a process of intermittently measuring the current position of the mobile phone 1 based on information such as pseudoranges calculated for a plurality of captured satellites by decoding navigation messages and time information from PS satellite signals. Further, the CPU 33 intermittently measures the moving speed vector (moving direction and moving speed) of the mobile phone 1 based on the change in the Doppler frequency of the captured GPS satellite signal.
The GPS positioning process will be described later in detail.

With the stop determination process, is the mobile phone 1 stopped based on the positioning position measured by the current and previous GPS positioning processes and the moving speed vector measured by the previous GPS positioning process? This is a process for determining whether or not. The stop determination process will also be described in detail later.

In the position jump determination process, the CPU 33 determines an acceptable position area for determining whether or not a position to be determined for position jump (hereinafter referred to as “determination target position”) is G.
This is a process that is set based on the measurement result of the PS positioning process, and determines whether or not the position jumps depending on whether or not the determination target position is located within the tolerance position area. The position jump determination process will be described later in detail.

FIG. 3 is a diagram illustrating an example of data stored in the RAM 37. The RAM 37 stores measurement history data 371, predicted movement distance data 373, and predicted position data 375.

FIG. 4 is a diagram illustrating a data configuration example of the measurement history data 371. Measurement history data 371
Output position determination time 3711, positioning position 3713, moving speed vector 3715,
The data is stored in ascending order in association with the output position 3717, and is updated at any time by the CPU 33 in the baseband processing.

The output position determination time 3711 is the time when the output position 3717 is determined. Positioning position 3
Reference numeral 713 denotes the current position of the mobile phone 1 measured by the GPS positioning process, and is represented by, for example, a three-dimensional coordinate value in the earth reference coordinate system.

The moving speed vector 3715 is a vector composed of the moving direction and moving speed of the mobile phone 1 measured by the GPS positioning process. The moving direction is, for example, 3 in the earth reference coordinate system.
Expressed as a dimensional unit vector. The moving speed is a scalar quantity.

The output position 3717 is based on the positioning position 3713 measured by the GPS positioning process.
This is a position determined as a final output position, and is represented by, for example, a three-dimensional coordinate value in the earth reference coordinate system.

Among the measurement history data 371, the combination of the output position determination time 3711, the positioning position 3713, the moving speed vector 3715, and the output position 3717 for the latest one record is “current positioning information”, and the data combination for the next new record "Previous positioning information", then the new one
A combination of data for records is referred to as “positioning information before the last time”.

In addition, the output position determination time 3711, the positioning position 3713, the movement speed vector 3715, and the output position 3717 included in the current positioning information are set as “current output position determination time”, “current positioning position”, “current movement speed vector”, and It is expressed as “current output position”, and the data included in the previous positioning information and the previous positioning information also includes “previous” at the beginning of each data name.
In addition, it shall be expressed in the same manner with “previous times”.

The predicted travel distance data 373 is data in which the predicted travel distance calculated based on the elapsed time from the previous output position determination time and the current travel speed vector is stored. In the baseband processing, the CPU 33 calculates the predicted travel distance by multiplying the elapsed time from the previous output position determination time by the travel speed of the current travel speed vector, and stores it in the predicted travel distance data 373.

The predicted position data 375 is data in which the predicted position calculated based on the previous output position and the current moving speed vector is stored. In the baseband processing, the CPU 33 calculates a position moved from the previous output position with the moving direction and moving speed of the current moving speed vector as an expected position during the elapsed time from the previous output position determination time, and stores it in the predicted position data 375. Let

The TCXO 40 is a temperature-compensated crystal oscillator that generates an oscillation signal at a predetermined oscillation frequency, and outputs the generated oscillation signal to the RF reception circuit unit 21 and the baseband processing circuit unit 30.

The host CPU 50 is a processor that comprehensively controls each unit of the mobile phone 1 according to various programs such as a system program stored in the ROM 100. Host CP
U50 causes the display unit 70 to display a navigation screen in which the current output position input from the CPU 33 of the baseband processing circuit unit 30 is plotted.

The operation unit 60 is an input device configured by, for example, a touch panel, a button switch, or the like, and outputs a pressed key or button signal to the host CPU 50. By operating the operation unit 60, various instructions such as a call request and a mail transmission / reception request are input.

The display unit 70 is configured by an LCD (Liquid Crystal Display) or the like, and the host CPU 5
It is a display device that performs various displays based on display signals input from zero. The display unit 70 includes
A navigation screen, time information, and the like are displayed.

The cellular phone antenna 80 is an antenna that transmits and receives cellular phone radio signals to and from a radio base station installed by a communication service provider of the cellular phone 1.

The mobile phone wireless communication circuit unit 90 is a mobile phone communication circuit unit including an RF conversion circuit, a baseband processing circuit, and the like. Realize transmission / reception and so on.

The ROM 100 stores a system program for the host CPU 50 to control the mobile phone 1 and various programs and data for realizing a navigation function.

The RAM 110 forms a work area that temporarily stores a system program executed by the host CPU 50, various processing programs, data being processed in various processing, processing results, and the like.

2. Processing Flow FIGS. 5 and 6 are flowcharts showing the flow of baseband processing executed in the mobile phone 1 when the CPU 33 reads out and executes the baseband processing program 351 stored in the ROM 35. It is.

The baseband processing is performed together with the reception of the GPS satellite signal by the RF receiving circuit unit 21, and the CP
The process starts when U33 detects that the operation unit 60 has been operated to start positioning, and is a process performed in parallel with various processes such as execution of various applications. It should be noted that the power on / off of the mobile phone 1 may be linked with the start / stop of GPS, and the execution of the process may be started when a power-on operation of the mobile phone 1 is detected. In principle, the positioning calculation is performed every "1 second".

Although not specifically described, during execution of the following baseband processing, reception of an RF signal by the GPS antenna 10, down-conversion to an IF signal by the RF reception circuit unit 21, and GPS satellite signal by the satellite capture / tracking unit 31. Suppose that it is in a state where capture, tracking, etc. are performed at any time.

First, the CPU 33 performs a GPS positioning process by reading and executing the GPS positioning program 3511 stored in the ROM 35 (step A1). Specifically, a navigation message, time information, and the like are decoded from the GPS satellite signal captured and tracked by the satellite capture / tracking unit 31, and the position, moving direction, and moving speed of the captured satellite are calculated as satellite information. Then, based on satellite information of a plurality of captured satellites and information such as pseudo distances from each captured satellite to the own aircraft, the current position of the mobile phone 1 is measured by performing a predetermined positioning calculation, and the positioning position is determined. RAM
37 of measurement history data 371.

As the positioning calculation, positioning calculation using the least square method (hereinafter referred to as “LS (Least Square)
) Positioning calculation ”. ) And positioning calculation using the Kalman filter (hereinafter referred to as “KF (Kalm
an Filter) Positioning calculation. ) Is widely known, and any positioning calculation may be used to measure the current position. For example, in the first positioning, LS positioning calculation is performed,
In the second and subsequent positioning calculations, the current position may be measured while switching between the LS positioning calculation and the KF positioning calculation, such as performing KF positioning calculation.

In addition, the CPU 33 generates a GP generated by a relative position change between the captured satellite and the mobile phone 1.
Based on the change in the Doppler frequency of the S satellite signal, the moving direction and moving speed of the mobile phone 1 are measured to obtain a moving speed vector, which is stored in the measurement history data 371 of the RAM 37.
In addition, since the technique which measures a moving speed vector from the change of Doppler frequency is well-known, detailed description is abbreviate | omitted here.

After performing the GPS positioning process, the CPU 33 determines whether or not the GPS positioning process is the first time (step A3), and when determining that it is the first time (step A3; Yes),
The current positioning position stored in the measurement history data 371 of the RAM 37 is determined as the current output position (step A5) and stored in the measurement history data 371.

Thereafter, the CPU 33 outputs the current output position stored in the measurement history data 371 to the host CPU 50 (step A7). Then, it is determined whether or not a positioning end instruction has been given by the user to the operation unit 60 (step A9), and when it is determined that it has not been made (step A9; No), the process returns to step A1. If it is determined that a positioning end instruction has been issued (step A9; Yes), the baseband processing is ended.

On the other hand, if it is determined in step A3 that the GPS positioning process has been performed for the second time or later (
Step A3; No), the CPU 33 determines whether or not the elapsed time from the previous output position determination time stored in the measurement history data 371 is longer than “10 seconds” (Step A11).
).

And when it determines with elapsed time being "10 second" or less (step A11; No)
The CPU 33 calculates the expected moving distance by multiplying the moving speed of the current moving speed vector stored in the measurement history data 371 by the elapsed time from the previous output position determination time (step A13). The travel distance data 373 is stored.

Next, the CPU 33 determines whether or not the predicted movement distance calculated in step A13 is greater than “30 m” (step A15). If it is determined that the predicted movement distance is equal to or less than “30 m” (step A15; No), the ROM 35 The stop determination process is performed by reading and executing the stop determination program 3513 stored in (Step A17).

FIG. 7 is a diagram for explaining the principle of stop determination in the stop determination process.
The stop determination is performed based on the previous output position, the current positioning position, and the previous movement speed vector. Specifically, a vector having the previous output position as the start point and the current positioning position as the end point (vector indicated by a broken line in FIG. 7) and a vector in the case where the previous output position is the start point of the previous movement speed vector (in FIG. 7). An angle “α” (where 0 ° ≦ α ≦ 180 °) formed with a vector indicated by a solid line is calculated. When the calculated angle “α” is larger than a predetermined threshold angle (for example, “100 °”) (α> 100 °), it is determined that the mobile phone 1 is stopped.

If it is determined in the stop determination process that the mobile phone 1 is stopped (step A1)
9; Yes), the CPU 33 sets the current movement speed vector stored in the measurement history data 371 as a zero vector of the movement speed “0” (step A21). Measurement history data 3
The previous output position stored in 71 is determined as the current output position (step A23) and stored in the measurement history data 371. Then, the CPU 33 shifts the process to step A7.

On the other hand, when it is determined in the stop determination process that the mobile phone 1 is not stopped, that is, moved (step A19; No), the CPU 33 determines the previous output position stored in the measurement history data 371 and the current time. The predicted position is calculated based on the moving speed vector (step A25) and stored in the predicted position data 375 of the RAM 37.

Next, the CPU 33 sets the previous output position stored in the measurement history data 371 as a reference position (step A27) and sets the current positioning position as a determination target position (step A29). Then, the position jump determination program 3515 stored in the ROM 35 is read and executed to perform position jump determination processing (step A31).

8 and 9 are diagrams for explaining the principle of position jump determination in the position jump determination processing. In the position skip determination, first, the acceptance position area is variably set according to the magnitude of the moving speed of the average moving speed vector. Then, it is determined whether or not the determination target position is included in the tolerance position area. If it is determined that the determination target position is included, it is determined that the determination target position does not jump. On the other hand, if the determination target position is not included in the tolerance position area, it is determined that the determination target position is skipped.

The average moving speed vector is obtained by averaging the moving speed vector associated with the reference position in the measurement history data 371 and the moving speed vector associated with the determination target position. For example, when the reference position is the previous output position and the determination target position is the current positioning position, a vector obtained by averaging the previous movement speed vector and the current movement speed vector is set as the average movement speed vector.

For example, when the start point of the average movement speed vector is set as the reference position, the acceptance position area is set as an elliptical area centered on the end point of the average movement vector. At this time, a direction along the moving direction of the average moving speed vector is defined as a major axis direction, and a direction orthogonal to the moving direction of the average moving speed vector is defined as a minor axis direction.

The length of the major axis of the acceptance position region is made longer as the moving speed of the average moving speed vector is larger, and the length of the minor axis is made shorter as the moving speed of the average moving speed vector is larger. The length of the long axis and the short axis can be designed as appropriate, but in the present embodiment as an example,
When the moving speed of the average moving speed vector is “v”, the major axis length “m” and the minor axis length “n” are calculated and determined according to the following equations (1) and (2): To do.
m = 2.5v (1)
n = A / v (2)
However, “A” is a constant.

Here, the length “m” of the long axis is set to 2.5 times the average moving speed vector because the reference position is included in the tolerance position area and the movement from the reference position in the direction of 360 degrees is allowed (however, This is because the allowable moving distance varies greatly depending on the moving direction). However, the numerical value of 2.5 times is just an example. The value of the constant “A” is desirably determined experimentally based on the approximate range of the average moving speed vector.

FIG. 8 shows an allowable position area when the moving speed of the average moving vector is smaller than that of FIG. 9, and FIG. 9 shows an allowable position area when the moving speed of the average moving vector is higher than that of FIG. Respectively. In FIG. 8, the moving speed of the average moving speed vector is “v ₁ ”, the length of the major axis is “m ₁ ”, and the length of the minor axis is “n ₁ ”. In FIG. The speed is shown as “v ₂ ”, the length of the major axis is “m ₂ ”, and the length of the minor axis is “n ₂ ”.

When “v ₂ > v ₁ ”, the relationship “m ₂ (= 2.5 v ₂ )> m ₁ ” is established from the equation (1), and “n ₂ (= A / v ₂ ) from the equation (2). ) <N ₁ ”is established. As a result, the tolerance position region of FIG. 9 has a longer major axis direction and a shorter minor axis direction than the tolerance position region of FIG.
That is, as the moving speed of the moving speed vector is larger, the determination condition that the position is not jumped in the major axis direction becomes looser, and it is less likely to be determined as the position jump. The determination condition that the position is not skipped becomes strict, and it is easy to determine that the position is skipped.

This indicates that the greater the moving speed, the lower the possibility of a sudden change in direction, and the rapid change in direction requires a reduction in the moving speed. That is, as the moving speed increases, the movement continues in the direction (long axis direction) along the previous movement direction, and the direction orthogonal to the previous movement direction (
In the case of moving in a direction (short axis direction) orthogonal to the previous movement direction, it means that the direction is changed after the speed is reduced.

For example, in FIGS. 8 and 9, the distance in the short axis direction from the reference position is the same, and the distance in the long axis direction from the reference position is about 1.75 times the moving speed of the average moving speed vector. The position to be determined is shown as the position to be performed. In FIG. 8, since the determination target position is included in the tolerance position region, it is not determined as a position jump, but in FIG. 9, the determination condition that the position does not jump in the minor axis direction is stricter. The determination target position is not included in the tolerance position area, and as a result, it is determined that the position is skipped.

Returning to the baseband process of FIG. 6, after performing the position jump determination process in step A31, if the CPU 33 does not determine the position jump (step A33; No), the RA
Using the predicted position stored in the predicted position data 375 of M37, the measurement history data 37
Correction processing for correcting the current positioning position stored in 1 is performed to determine the current output position (step A35).

Here, the current positioning position correction process can be realized using a known method. For example, based on the so-called PV filter method, a position that internally divides a line segment connecting the predicted position and the current positioning position into “m: n” can be determined as the current output position. Also, JP-A-200
As disclosed in Japanese Patent Laid-Open No. 7-24620, based on the reception environment of the GPS satellite signal from the captured satellite, an important ratio between the predicted position and the current positioning position is calculated, and the predicted position and the current positioning are calculated according to the ratio. The current output position may be determined by dividing the position internally.

After performing the current positioning position correction process in step A35, the CPU 33 shifts the process to step A7.

If it is determined in step A33 that the position is skipped (step A33; Yes)
The CPU 33 sets the previous output position as the reference position (step A37) and the previous output position as the determination target position (step A39). Then, the position jump determination program 3515 stored in the ROM 35 is read out and executed to perform position jump determination processing (step A41).

If the position jump is not determined in the position jump determination process in step A41 (step A43; No), the CPU 33 determines the predicted position stored in the predicted position data 375 of the RAM 37 as the current output position (step A45). ). Then, the CPU 33 shifts the process to step A7.

Even if the current positioning position jumps from the previous output position (step A33).
Yes), if the previous output position is not a position jumped from the previous output position (Step A43; No), the previous output position is assumed to be reliable, and the predicted position calculated from the previous output position and the current movement speed vector is determined. This time, the output position is decided.

If it is determined in step A43 that the position is skipped (step A43; Yes)
The CPU 33 sets the previous positioning position as the reference position (step A47) and sets the current positioning position as the determination target position (step A49). Then, the position jump determination program 3515 stored in the ROM 35 is read out and executed to perform position jump determination processing (step A).
51).

When the position jump is not determined in the position jump determination process in step A51 (step A53; No), the CPU 33 shifts the process to step A5. If it is determined that the position is skipped (step A53; Yes), the process proceeds to step A45.

Even if the current positioning position jumps from the previous output position (step A33).
; Yes), if the position has not jumped from the previous positioning position (step A53; No)
The current positioning position is to be trusted, and the current positioning position is determined as the current output position. Further, the current positioning position is a position jumped from the previous output position (step A33).
; Yes), when the position jumps from the previous positioning position (step A53; Ye)
s) The predicted position calculated from the previous output position and the current movement speed vector is determined as the current output position without relying on the current output position.

On the other hand, when it is determined in step A11 that the elapsed time from the previous output position determination time is longer than “10 seconds” (step A11; Yes), or in step A15, the predicted movement distance is determined to be greater than “30 m”. If (Step A15; Yes), CP
In step U33, the process proceeds to step A5.

If a long time has elapsed since the last output position was determined, the mobile phone 1 is likely to be located at a location far away from the previous output position. Further, when the expected moving distance is large, it is considered that the mobile phone 1 is moving at a high speed. Therefore, in these cases, the current positioning position is determined as the current output position by trusting the current positioning position.

3. Effects According to the present embodiment, the current position and the moving speed vector of the mobile phone 1 are intermittently measured based on the GPS satellite signal transmitted from the GPS satellite. In addition, a current acceptance position area for determining whether or not the current positioning position is not skipped is set based on the measurement result, and the position is determined depending on whether or not the current positioning position is located within the acceptance position area. Jump is determined. Then, when it is not determined that the position is skipped, correction processing for correcting the current positioning position is performed using the predicted position calculated from the previous measurement result, and the current output position is determined and output.

If the current positioning position is not determined to be a position jump, the predicted position is used to correct the current positioning position, so a more reliable position is output than when the current positioning position is simply output. be able to. In addition, if the current positioning position is determined to be a position jump, the predicted position obtained by dead reckoning navigation is output instead of the current positioning position. Thus, it is possible to perform an appropriate position output.

In the position jump determination process, the tolerable position area is variably set according to the magnitude of the moving speed of the average movement vector. Specifically, the greater the moving speed of the average moving speed vector,
The tolerance position area is set so as to increase the length of the average moving speed vector in the direction along the moving direction, and the tolerance position area is set so as to shorten the length of the average moving speed vector in the direction orthogonal to the moving direction. Is set.

Therefore, as the mobile phone 1 moves at a higher speed, the determination condition that the position does not jump in the direction along the moving direction of the mobile phone 1 is relaxed. However, it is easy to determine that the position has not been skipped, whereas the determination condition that the position has not been skipped in the direction orthogonal to the moving direction of the mobile phone 1 becomes strict. It is difficult to determine that the position has not been skipped.

4). Modified example 4-1. Electronic Device The present invention can be applied to any electronic device provided that it has a positioning device. For example, the present invention can be similarly applied to a notebook personal computer, a PDA (Personal Digital Assistant), a car navigation device, and the like.

4-2. Satellite positioning system In the above-described embodiment, the GPS has been described as an example of the satellite positioning system.
AS (Wide Area Augmentation System), QZSS (Quasi Zenith Satellite System)
Other satellite positioning systems such as GLONASS (GLObal NAvigation Satellite System) and GALILEO may be used.

4-3. Differentiation of Processing The host CPU 50 may perform part or all of the processing performed by the CPU 33.
For example, the host CPU 50 performs stop determination processing and position jump determination processing, and the CPU 33 determines the current output position based on the determination results. In addition, the host CPU 50 may perform the GPS positioning process.

4-4. In the above-described embodiment, the oval-shaped tolerance position area is set in the position jump determination process. However, the tolerance position area having another shape may be set.

FIG. 10 is a diagram illustrating an example of another shape of the tolerance position region. In FIG. 10, the tolerance position region is formed in a shape in which a plurality of sector regions are superimposed. Specifically, it is a fan-shaped region that spreads in the moving direction of the average moving speed vector centered on the reference position, and the radius “r” becomes smaller and the center angle “θ” becomes larger as the position is closer to the reference position. The acceptance position area is constituted by a plurality of sector areas.

FIG. 11 shows a radius “r” and a central angle “θ” of each sector area constituting the tolerance position area of FIG.
It is a figure which shows the relationship. For the radius “r”, the sector region R located closest to the reference position
“V” at 1, “1.25 v” at the next sector region R 2, “1.5 v” at the next sector region R 3, “1.75 v” at the next sector region R 4, sector region farthest from the reference position R5 is “2v”, and the radius “r” becomes larger as the fan-shaped region is farther from the reference position.

On the other hand, the central angle “θ” is “B / v” in the sector region R1 located closest to the reference position.
"B / 1.5v" in the next sector region R2, "B / 2v" in the next sector region R3, "B / 2.5v" in the next sector region R4, the sector region farthest from the reference position The central angle “θ” becomes smaller as the fan-shaped region is “B / 3v” at R5 and is farther from the reference position. However, "B"
Is a constant and is a value experimentally determined according to the moving speed of the average moving vector.

In FIG. 10, the determination target position is included in the sector area R <b> 5 that constitutes the tolerance position area.
Therefore, in the position skip determination process, it is determined that the determination target position is not skipped.

Here, the case where one acceptance position area is formed by five fan-shaped areas R1 to R5 has been described as an example, but the number of fan-shaped areas is a design matter and can be changed as appropriate. However, it is desirable to increase the number of fan-shaped regions because the denser fan-shaped regions can improve the reliability of position jump determination.

In the above-described embodiment, the tolerance position area is set using the average movement speed vector. However, the movement speed vector associated with the reference position and the movement associated with the determination target position are described. Similarly, the acceptance position region may be set using the velocity vector. For example, when the reference position is the previous output position and the determination target position is the current positioning position, the acceptance position area is set using any one of the previous movement speed vector and the current movement speed vector. To do.

4-5. Determination of current output position In the above-described embodiment, when the current positioning position is not a position jumped from the previous output position, the current output position is obtained by executing correction processing for correcting the current positioning position using the predicted position. However, the current positioning position may be determined as the current output position without performing the correction process.

4-6. Position jump determination Further, in the above-described embodiment, it has been described that the position jump determination is performed in three stages.
This may be a one-step position jump determination or a two-step position jump determination. For example, the process of steps A37 to A43 of the baseband process in FIG. 6 is omitted, and the first determination as to whether or not the current positioning position is skipped with reference to the previous output position (steps A27 to A3).
3) and the second of whether or not the current positioning position is jumping with respect to the previous positioning position.
It is also possible to perform only the two-step position jump determination with the above determination (the processing of steps A47 to A53).

The block diagram which shows the function structure of a portable telephone. The figure which shows an example of the data stored in ROM. The figure which shows an example of the data stored in RAM. The figure which shows the data structural example of measurement log | history data. The flowchart which shows the flow of a baseband process. The flowchart which shows the flow of a baseband process. The figure for demonstrating the principle of a stop determination. The figure for demonstrating the principle of position jump determination. The figure for demonstrating the principle of position jump determination. The figure which shows an example of the shape of an acceptance position area | region. The figure which shows an example of the parameter value of each sector area which comprises an acceptance position area | region.

Explanation of symbols

1 mobile phone, 10 GPS antenna, 20 GPS receiver,
21 RF receiving circuit section, 30 baseband processing circuit section, 31 satellite acquisition / tracking section,
33 CPU, 35 ROM, 37 RAM, 40 TCXO,
50 host CPU, 60 operation unit, 70 display unit, 80 mobile phone antenna,
90 Wireless communication circuit for mobile phone, 100 ROM, 110 RAM

Claims (15)

The positioning device
Intermittently measuring the current position of the positioning device and the moving speed vector of the positioning device based on the positioning signal transmitted from the positioning satellite;
Based on the measurement result, an acceptance position area for this time for determining whether or not the positioning position measured this time is not jumping is set, and the positioning position measured this time is located in the acceptance position area. Determining whether or not the position jumps,
When it is not determined that the position is skipped, by performing a predetermined correction process for correcting the positioning position measured this time using the previous measurement result, the current output position is obtained and output;
Positioning method including. The positioning device
Intermittently measuring the current position of the positioning device and the moving speed vector of the positioning device based on the positioning signal transmitted from the positioning satellite;
Based on the measurement result, an acceptance position area for this time for determining whether or not the positioning position measured this time is not jumping is set, and the positioning position measured this time is located in the acceptance position area. Determining whether or not the position jumps,
When the position jump is not determined, outputting the positioning position measured this time as the current output position;
Positioning method including. The positioning method according to claim 1, further comprising: variably setting the tolerance position area in accordance with a magnitude of a movement speed of the measured movement speed vector. 4. The method according to claim 1, further comprising: setting the tolerable position region such that the length of the measured moving speed vector in the direction along the moving direction increases as the moving speed of the moving speed vector increases. The positioning method according to claim 1. 5. The method according to claim 1, further comprising: setting the acceptance position region such that the greater the movement speed of the measured movement speed vector, the shorter the length in the direction orthogonal to the movement direction of the movement speed vector. The positioning method according to claim 1. 6. The method according to claim 1, further comprising: calculating a current position according to a predetermined dead reckoning navigation using the measurement result when the position jump is determined, and outputting the current position as the current output position. 6. Positioning method. In the determination of the position skip, a first determination is made as to whether or not the positioning position measured this time is based on the output position output last time and the positioning position measured last time is used as a reference. The positioning method according to any one of claims 1 to 6, including at least a second determination as to whether or not the positioning position is skipped. The program for making the computer incorporated in the positioning apparatus perform the positioning method as described in any one of Claims 1-7. A measurement unit that intermittently measures the current position of the self-positioning device and the moving speed vector of the self-positioning device based on a positioning signal transmitted from the positioning satellite;
Based on the measurement result, an acceptance position area for this time for determining whether or not the positioning position measured this time is not jumping is set, and the positioning position measured this time is located in the acceptance position area. A determination unit that determines whether or not the position jumps depending on whether or not
An output unit that obtains and outputs the current output position by executing a predetermined correction process that corrects the positioning position measured this time using the previous measurement result when it is not determined as a position jump;
Positioning device equipped with. A measurement unit that intermittently measures the current position of the self-positioning device and the moving speed vector of the self-positioning device based on a positioning signal transmitted from the positioning satellite;
Based on the measurement result, an acceptance position area for this time for determining whether or not the positioning position measured this time is not jumping is set, and the positioning position measured this time is located in the acceptance position area. A determination unit that determines whether or not the position jumps depending on whether or not
An output unit that outputs the positioning position measured this time as the current output position when it is not determined as a position jump;
Positioning device equipped with. The positioning device according to claim 9 or 10, wherein the determination unit includes a tolerance position region variable setting unit that variably sets the tolerance position region according to the magnitude of the movement speed of the measured movement velocity vector. The acceptance position region variable setting unit sets the acceptance position region such that the greater the movement speed of the measured movement speed vector, the longer the length in the direction along the movement direction of the movement speed vector. 11. The positioning device according to 11. The acceptance position region variable setting unit sets the acceptance position region such that the greater the movement speed of the measured movement speed vector, the shorter the length in the direction orthogonal to the movement direction of the movement speed vector. The positioning device according to 11 or 12. The determination unit determines the first determination as to whether or not the currently measured positioning position is skipped with reference to the output position output last time, and the currently measured positioning position based on the previously measured positioning position. The positioning device according to any one of claims 9 to 13, which performs a second determination as to whether or not the position is skipped.   The electronic device provided with the positioning apparatus as described in any one of Claims 9-14.

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