JP2009150663A - Localization device, computer program, and localization method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a localization device, a computer program, and a localization method for accurately determining the position of a pedestrian. <P>SOLUTION: A position estimating part 171 is used for calculating the locus of an estimated position and the estimated position by finding a locus along a positioning locus from an estimated position last calculated or a detected position to a found position. An error calculating part 172 is used for calculating an error range of the estimated position estimated by the estimating part 171. An attribute determining part 173 is used for determining the attribute of a domain existing in the error range of the estimated position calculated by the calculating part 172. A position updating part 175 is used for updating the estimated position into a position in which the pedestrian is imagined to be walking within the error range, by using a map matching method and based on the attribute in the error range determined by the determining part 173 and on the estimated position calculated by the estimating part 171, and for detecting (determining) the updated position as the position of the pedestrian. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a position specifying technique, and in particular, to a position specifying apparatus that can accurately specify the position of a pedestrian when carried by a pedestrian, a computer program and a position specifying method for realizing the position specifying apparatus. .

  Examples of position detection methods widely used in navigation for detecting the position of a moving body such as a vehicle include self-contained navigation, satellite navigation, map matching, and hybrid navigation. Self-contained navigation uses a distance sensor, an azimuth sensor, an angular velocity sensor, etc., for example, based on the azimuth angle of the vehicle traveling with respect to an orthogonal coordinate system based on the longitude-latitude coordinate system and the traveling distance per unit time. Although it is calculated, consistency with the road is not taken into consideration, and there is a problem that errors in the vehicle position accumulate as the travel distance increases.

  Satellite navigation uses GPS (Global Positioning System), and the detected position includes an error of about 10 to 20 m. Since GPS is used, an in-vehicle sensor such as a distance sensor, an azimuth sensor, or an angular velocity sensor is unnecessary. However, on roads under elevated roads, roads between buildings, mountain roads, roadside trees, etc., radio waves cannot be received from a predetermined number of GPS satellites, and the detection accuracy is greatly degraded. is there. In addition, there is also a problem that the traveling road is wrong in a narrow street with a narrow road interval.

  In addition, the map matching method detects the position of the vehicle in consideration of the consistency (matching) between the travel locus by the self-contained navigation and the road map (see Patent Document 1). That is, the most probable road is selected from a plurality of road candidates considered to be traveling while comparing the trajectory obtained by the self-contained navigation with the road map data. Then, when the number of candidate roads is limited to one, the traveling locus of the vehicle obtained by the self-contained navigation is matched with the road. However, if the limited road is wrong, there is a problem that position detection after that becomes impossible.

  Hybrid navigation is a combination of satellite navigation and map matching, and it rationally estimates the position of the vehicle and identifies the road on which it is traveling, taking into account the errors between autonomous navigation and satellite navigation. (See Patent Document 2). In hybrid navigation, for example, the position of a vehicle is detected using a map matching method in normal times. When the vehicle position cannot be detected by the map matching method, the vehicle position and direction are detected by satellite navigation to estimate the vehicle position, and the vehicle position is detected in consideration of consistency with the road map data. To do. With hybrid navigation, except for special cases, there is almost no possibility of mistaken roads on which vehicles are traveling, and the positional accuracy in the direction of the road is within an error range of about 10 m on average. In the target navigation, the accuracy level is almost no problem in practical use.

On the other hand, in the pedestrian position detection method, position detection is performed using a portable device such as a mobile phone or a simple navigation device carried by the pedestrian. In such portable devices, for example, a method of detecting the current position of a pedestrian by radio waves from GPS satellites or communication with a base station has been put into practical use.
JP-A-63-148115 JP-A-2-275310

  However, when detecting the position by receiving radio waves from GPS satellites, the position error is about 10 to 20 m when the reception state of the GPS satellites is good, but the roads in the valleys of buildings such as buildings in the city center or under the overpass In such cases, it may be impossible to detect the position, or the position error may be about several hundred meters due to the influence of multipath or the like, and an accurate position may not be obtained. In particular, in the case of pedestrians, unlike mobile objects such as vehicles, there is a tendency to walk near buildings along the buildings, so the reception level of radio waves from GPS satellites decreases.

  Moreover, when displaying the position of a pedestrian on a map with a conventional portable device, the position of the pedestrian is simply displayed on a road on the map close to the position measured by radio waves from GPS satellites. In addition to the walking trajectory, areas other than roads where pedestrians can walk, connectivity between such walking areas and roads, etc. are not considered at all. For this reason, when walking on narrow streets with narrow road intervals, or when the radio wave reception level of GPS satellites deteriorates, the position of the pedestrian frequently flies over the road on the map over time. This happens.

  Also, unlike the case of vehicles, pedestrians frequently enter indoors as well as outdoors. When pedestrians enter buildings, they can receive almost all radio waves from GPS satellites. In such a case, if the communication with the base station is impossible, the position cannot be detected at all. Even if communication with the base station is possible, the accuracy of position detection is greatly reduced.

  On the other hand, in recent years, there has been an increasing demand to use mobile devices carried by pedestrians for crime prevention and to prevent traffic accidents between pedestrians and vehicles. Even when walking in such a place, the need to detect the position of a pedestrian with higher accuracy than before is increasing.

  The present invention has been made in view of such circumstances, and a position specifying device capable of specifying (detecting) the position of a pedestrian with high accuracy, a computer program and a position specifying method for realizing the position specifying device. The purpose is to provide.

  According to a first aspect of the present invention, there is provided a position specifying device that measures its own position in time series and stores map information including attributes for classifying regions on a map in a position specifying device that specifies its own position on a map. Storage means, estimation means for estimating its own position on the map based on positioning data obtained by positioning, and error for calculating an error range indicating an estimation error range of the estimated position estimated by the estimation means A range calculating unit, an attribute determining unit that determines an attribute of an area within the error range calculated by the error range calculating unit, an estimated position estimated by the estimating unit, and an attribute determined by the attribute determining unit And a specifying means for specifying its own position.

  The position specifying device according to a second aspect of the present invention is the position determining device according to the first aspect of the present invention, which can be carried by a pedestrian and comprises walking behavior acquisition means for acquiring the walking behavior of the pedestrian, wherein the specifying means is the walking behavior acquisition means. A feature is that the acquired walking behavior is further correlated to specify the position.

  According to a third aspect of the present invention, in the second aspect of the present invention, the position specifying device further includes a reliability calculating unit that calculates the reliability of the positioning data, and the specifying unit further associates the reliability calculated by the reliability calculating unit with the position. It is characterized by specifying.

  According to a fourth aspect of the present invention, in the second or third aspect of the invention, the position specifying device further comprises an evaluation coefficient calculating means for calculating an evaluation coefficient for evaluating the likelihood of the estimated position estimated by the estimating means, and the specifying means Is characterized in that the position is specified by further associating the evaluation coefficient calculated by the evaluation coefficient calculation means.

  According to a fifth aspect of the present invention, in the fourth aspect of the invention, the evaluation coefficient calculated by the evaluation coefficient calculation unit is corrected according to the position specified by the specifying unit and the walking behavior acquired by the walking behavior acquisition unit. A correction unit is provided, and the specifying unit is further configured to specify the position by further associating the evaluation coefficient corrected by the correction unit.

  According to a sixth aspect of the present invention, in any one of the second to fifth aspects, the storage means stores a pedestrian road area as an attribute, and the specification means includes the attribute When it is determined by the determination means that the road area is for a pedestrian, the position in the road area is specified.

  According to a seventh aspect of the present invention, in the sixth aspect of the present invention, in the sixth aspect, the azimuth difference between the azimuth of the movement direction of the pedestrian at the estimated position estimated by the estimating means and the road azimuth of the road area determined by the attribute determining means. A direction difference calculation means for calculating is provided, and the specifying means is configured to specify a position in the road region when the difference in direction calculated by the direction difference calculation means is smaller than a predetermined threshold value. And

  According to an eighth aspect of the present invention, in the sixth or seventh aspect of the invention, the specifying means is for the pedestrian instead of the road area for the pedestrian previously determined by the attribute determining means by the attribute determining means. When it is determined that it is another road area, the position in the other road area is specified.

  According to a ninth aspect of the present invention, in the third aspect of the invention, the storage means stores an indoor area as an attribute, and determines whether there is a disturbance in walking based on the walking behavior acquired by the walking behavior acquisition means. A walking determination means that, when the attribute determination means determines that the area is an indoor area, the reliability calculated by the reliability calculation means is lower than a predetermined threshold, and the walking determination means When it is determined that there is a disturbance in walking, the position in the indoor area is specified.

  The position specifying device according to a tenth aspect of the present invention is the position determination device according to the ninth aspect, wherein when the attribute determining unit determines that the attribute determining unit is not the indoor region previously determined by the attribute determining unit, It is configured to specify a position in another indoor area.

  According to an eleventh aspect of the present invention, in the third aspect of the invention, the storage unit stores an outdoor area that can be walked as an attribute, and is based on the walking behavior acquired by the walking behavior acquisition unit. A walking determination means for determining presence / absence, and when the determination means determines that the attribute determination means is a road area or a walkable outdoor area, the reliability calculated by the reliability calculation means is a predetermined threshold value. It is configured to specify a position within the road area or the outdoor area when the walking determination means determines that there is no disturbance in walking.

  According to a twelfth aspect of the present invention, in the third aspect of the invention, the position determination device according to the third aspect includes a walking determination unit that determines the presence / absence of disturbance of walking based on the walking behavior acquired by the walking behavior acquisition unit, and the reliability calculated by the reliability calculation unit. When the degree is higher than a predetermined threshold, or when it is determined by the walking determination means that there is no disturbance in walking, the estimated position registration means for registering an estimated position is provided, and the estimation means is registered by the estimated position registration means The estimated position is used as a starting point to estimate its own position.

  A position specifying device according to a thirteenth aspect of the present invention is characterized in that, in any one of the first to twelfth aspects of the present invention, the position specifying apparatus includes display means for displaying the position specified by the specifying means.

  According to a fourteenth aspect of the present invention, in the fourth aspect of the invention, the evaluation coefficient calculation means calculates the evaluation coefficient based on a positional deviation between the positioning position on the map based on the positioning data and the estimated position corresponding to the positioning position. It is comprised so that it may calculate.

  According to a fifteenth aspect of the present invention, in the fourth aspect of the invention, the positional deviation calculating means for calculating the positional deviation between the positioning position based on the positioning data and the estimated position corresponding to the positioning position at each of a plurality of points on the map. And the evaluation coefficient calculation means is configured to calculate an evaluation coefficient based on a statistical value indicating a variation in the difference in positional deviation calculated by the positional deviation calculation means.

  According to a sixteenth aspect of the present invention, in the fourth aspect of the invention, the position specifying device further includes a position shift calculating means for calculating a position shift between the point and the estimated position corresponding to the point at each of the plurality of points in the road region, and the evaluation coefficient The calculating means is configured to calculate an evaluation coefficient based on a statistic value indicating a variation in misregistration calculated by the misregistration calculating means.

  According to a seventeenth aspect of the present invention, in any one of the fourteenth to sixteenth aspects, the position specifying device displays the position specified by the specifying means based on the evaluation coefficient calculated by the evaluation coefficient calculating means. It is characterized by providing.

  According to an 18th aspect of the present invention, in the fifth aspect of the invention, the storage means stores a pedestrian crossing as an attribute, and the correction means has the position specified by the specifying means at or near the pedestrian crossing. In this case, the evaluation coefficient is corrected when the walking behavior acquired by the walking behavior acquisition means is an increase in walking speed or walking stop. In the present application, the walking speed is used as a concept including a walking pitch (the number of steps per unit time).

  According to a nineteenth aspect of the present invention, in the fifth aspect of the invention, the storage means stores a pedestrian crossing as an attribute, and acquires signal information including a green signal start time or a red signal start time of the pedestrian crossing. The correction means further comprises an evaluation coefficient according to the walking behavior at the start of the green signal or the walking behavior at the start of the red signal when the position specified by the specifying device is at or near the pedestrian crossing. It is configured to correct the above.

  According to a twentieth aspect of the invention, in the fifth aspect of the invention, the storage unit stores the pedestrian bridge as an attribute, and the correction unit is configured to perform the walking when the position specified by the specifying unit is on the pedestrian bridge. When the walking behavior acquired by the behavior acquisition means is a change in walking speed or a change in walking strength, the evaluation coefficient is corrected.

  According to a twenty-first aspect of the present invention, in the fifth aspect of the invention, the storage unit stores a crossing as an attribute, and the correction unit is configured so that the position specified by the specifying unit is in the vicinity of the crossing. When the walking behavior acquired by the walking behavior acquisition means is walking stop, the evaluation coefficient is corrected.

  According to a 22nd aspect of the invention, in the fifth aspect of the invention, the storage means stores an underground crossing passage as an attribute, and the correction means is a position where the position specified by the specifying means is an underground crossing passage. Further, when the reliability calculated by the reliability calculation means is lower than a predetermined threshold and the walking behavior acquired by the running behavior acquisition means is a change in walking speed or a change in walking strength, the evaluation coefficient is corrected. It is comprised so that it may carry out.

  According to a twenty-third aspect of the present invention, in any one of the eighteenth to twenty-second inventions, the position specifying device includes display means for displaying the position specified by the specifying means based on the evaluation coefficient corrected by the correcting means. It is characterized by that.

  The position specifying device according to a twenty-fourth aspect of the present invention is the position determination device according to any one of the second to twenty-third aspects, wherein the walking behavior acquired by the walking behavior acquisition means is a walking speed greater than a predetermined threshold, or the specification means When a position is specified over a predetermined distance in the indoor area, a stop means for stopping the position specification is provided.

  According to a 25th aspect of the present invention, in any one of the first to 24th aspects, when the position is specified by the specifying means, the position specifying apparatus includes a position error registration means for registering a position error of the specific position, The error range calculation means is configured to calculate an error range by adding a value corresponding to the movement distance or movement direction from the specific position to the position error registered by the position error registration means. It is characterized by.

  A computer program according to a twenty-sixth aspect of the present invention is a computer program for causing a computer to determine its own position in time series and to specify its own position on a map, based on positioning data obtained by positioning the computer. An estimation unit that estimates its own position on the map, an error range calculation unit that calculates an error range indicating an estimation error range of the estimated position, and a region on the map that is within the calculated error range And an attribute determining unit that determines an attribute for use, and an estimated position and the determined attribute are associated with each other to function as a specifying unit that specifies its own position.

  A position specifying method according to a twenty-seventh aspect of the present invention is a position specifying method for measuring the position of a person in time series and specifying the position of the person on a map, and storing map information including attributes for classifying regions on the map. Area that is within the calculated error range, estimates its own position on the map based on the positioning data obtained by positioning, calculates an error range indicating the estimated error range of the estimated position The attribute is determined, and the estimated position is associated with the determined attribute to specify its own position.

  In the first invention, the 26th invention, and the 27th invention, the position specifying device stores in advance map information including attributes for classifying regions on the map. Note that a wide range of map information may be stored in advance, or map information in the vicinity thereof may be acquired and stored by communication from the outside such as a center device or a road device according to the position of the pedestrian. it can. The attributes of the area on the map are, for example, road areas such as sidewalks or pedestrian crossings, indoor areas, other areas other than road areas that are walkable outdoor areas such as roadways or parks, walking prohibited or inaccessible. This is a prohibited area that is a possible area. The position specifying device measures its own position in time series and estimates its own position on the map based on the positioning data obtained by the positioning. In order to measure the position of the user in time series, for example, positioning data such as GPS, base station communication, a distance sensor, and a direction sensor can be used. In addition, positioning can be performed by communication such as an optical beacon or a radio beacon. The position specifying device calculates an error range indicating a range of an estimation error of the estimated position. The error range varies depending on the accuracy of the positioning data, and can be used, for example, based on the standard deviation of the positioning position error (for example, an integer multiple of the standard deviation).

  The position specifying device determines an attribute of a region existing within the calculated error range, and specifies (detects) the estimated position and the determined attribute in association with each other. For example, the position specified last time (for example, the most recent time or two or three times before) may be in a pedestrian-only road area, and the pedestrian is within the error range of the new estimated position. If there is a road area, the new estimated position is updated to a position in the road area to identify its own position. In this case, it is determined whether or not the positioning azimuth (moving azimuth) and the road azimuth are substantially the same (the azimuth difference is smaller than a predetermined threshold value). You can also. In addition, the pedestrian-only road area whose position was specified in the previous time (for example, the most recent time or two or three times before) may be outside the error range of the new estimated position, and the new estimated position If there is another road area dedicated to pedestrians within the error range, if the positioning direction and the direction of the road are almost the same, the new estimated position is updated to a position within this other road area, and its own position is updated. Identify. Moreover, when the road area only for pedestrians does not exist in the new error range, for example, the estimated position in the other area or the indoor area can be set as its own position.

  By determining the attribute of the area within the error range of the estimated position, for example, the position of the pedestrian is specified in consideration of not only the road area where the pedestrian normally walks but also the walkable area other than the road area. It is possible to prevent the situation where the pedestrian frequently flies on the road on the map, and the location of the pedestrian is specified with higher accuracy than before even if the pedestrian is walking. be able to.

  In the second invention, the position specifying device acquires the walking behavior of the pedestrian and specifies the position by further associating the acquired walking behavior. The walking behavior indicates, for example, walking characteristics of a pedestrian and includes traveling characteristics when riding a bicycle. For example, start of walking, walking speed (including walking pitch), fluctuation in walking speed, walking strength (for example, level intensity indicated by acceleration by the step sensor), fluctuation in walking strength, unit time For example, the number of winning steps (in the case of a bicycle, the number of pedaling), the change in the number of steps, the walking direction, and the walking stop. The walking behavior can be acquired by a distance sensor such as an acceleration sensor or a step number sensor, and an orientation sensor such as an angular velocity sensor, an angular acceleration sensor, or a geomagnetic sensor. For example, when there is a pedestrian crossing within the error range of the estimated position, when a walking stop for a certain time or more is detected, or when an increase in walking speed is detected, the position of the pedestrian is near or crossing the pedestrian crossing. It can be said that it is in a sidewalk, and a pedestrian's position can be pinpointed accurately.

  In the third invention, the position specifying device calculates the reliability of the positioning data and specifies the position based on the calculated reliability. The reliability of positioning data can be, for example, the reliability of positioning data such as a direction sensor such as GPS, base station communication, and geomagnetic sensor. In the case of GPS, the reliability can be set according to the reception level of GPS. In base station communication, the reliability can be set according to the communication level. In addition, the reliability can be set according to the output level of the geomagnetic sensor. Indoors such as inside a building, the GPS reception level or the communication level of base station communication is lowered, or the output level of the geomagnetic sensor changes due to an iron plate or the like included in the building. The position specifying device can determine that the position of the pedestrian is within the indoor area when the indoor area is within the error range of the estimated position and the reliability of the positioning data is not more than a predetermined value. Thereby, a pedestrian's position can be specified with sufficient accuracy.

  In the fourth invention, the position specifying device calculates an evaluation coefficient for evaluating the likelihood of the estimated position. The evaluation coefficient is a coefficient for evaluating the certainty of the estimated position. For example, the smaller the evaluation coefficient, the larger the certainty (probability) of the estimated position. The evaluation coefficient can be calculated, for example, according to the magnitude of the positional deviation between the estimated position and its own position. The position specifying device specifies a position in association with the calculated evaluation coefficient. For example, when there are a plurality of estimated positions having different evaluation coefficient values, the position of the user is specified by the estimated position having the smallest evaluation coefficient. Alternatively, when there are multiple estimated positions with different evaluation coefficient values, if there are multiple estimated positions with an evaluation coefficient smaller than the predetermined threshold, multiple positions are identified by each estimated position with the evaluation coefficient smaller than the threshold. To do. In this case, a plurality of positions having different evaluation coefficient values are specified. For example, the specified positions can be prioritized according to the magnitude of the evaluation coefficient. As a result, it is possible to identify (detect) its own position based on the most probable estimated position, and to identify (detect) one or more own positions based on one or more estimated positions having the required certainty. )can do. In addition, by setting the evaluation coefficient to 0, it is possible to make it easier to reject other estimated positions in practice or to reject all other estimated positions more actively.

  In the fifth invention, the position specifying device corrects the calculated evaluation coefficient according to the specified own position and the acquired walking behavior. For example, when a pedestrian is in or near a pedestrian crossing, the walking stop or walking speed tends to increase, so the specified position is a pedestrian crossing and the acquired walking behavior is In the case of an increase or the like, the estimation coefficient is corrected so that the probability (probability) of the estimated position is large. The position specifying device specifies a position in association with the corrected evaluation coefficient. The position specifying device can set the evaluation coefficient corrected to the estimated position after the specified position. Thereby, the probability of the estimated position can be increased, and the accuracy of the specified position can be improved. In addition, by setting the evaluation coefficient to 0, it is possible to make it easier to reject other estimated positions in practice or to reject all other estimated positions more actively.

  In the sixth aspect, when it is determined that the pedestrian road area is within the error range of the estimated position, the position specifying device specifies the position in the road area as its own position. As a result, the estimated position can be corrected so that its own position is in the road region.

  In the seventh invention, the position specifying device calculates a direction difference between the direction of the pedestrian's movement direction at the estimated position estimated and the road direction of the road area determined to be within the error range of the estimated position. If the calculated heading difference is smaller than a predetermined threshold, the position in the road area is specified as its own position. Thereby, for example, when a pedestrian walking in a non-roadable area (other area) comes to walk on the road (when returning to the road area), the position of the pedestrian on the road Can be supplemented. In addition, when there are a plurality of different road areas within the error range of the estimated position, it is possible to accurately identify the position of the pedestrian by eliminating the road where the pedestrian is less likely to be walking. it can.

  In the eighth invention, when the position specifying device determines that there is no road area for pedestrians determined in the error range of the estimated position and there is another road area for pedestrians, The position in the road area is specified as its own position. As a result, even if the position of the vehicle is in the wrong road area, another road area can be specified within the error range, and the position of the vehicle can be corrected so that it is in the correct road area.

  In the ninth invention, the position specifying device determines the presence or absence of walking disturbance based on the acquired walking behavior. For example, when the walking speed is low or the number of steps is small with reference to the predetermined walking speed or the number of steps per unit time, the walking speed is not substantially constant and the walking speed varies frequently, When there is meandering or circulatory property, or when the strength of walking is unstable, etc., it is possible to go upstairs or downstairs indoors using stairs, elevators, escalators, or look around the store. Can be determined. When the position identifying device determines that the indoor area is within the error range of the estimated position and determines that the reliability of the positioning data is lower than the predetermined threshold and there is a disturbance in walking, the pedestrian is in the indoor area If it is, the position in the indoor area is specified as its own position. By using the reliability of positioning data, disorder of walking, and the like, it is possible to continue to capture the position with high accuracy even when the pedestrian moves from the outside to the indoor.

  In the tenth invention, when it is determined that there is another indoor area instead of the previously determined indoor area within the error range of the estimated position, the position specifying device determines the position in the other indoor area itself. Specify as the position of. Accordingly, when there is a situation in which a plurality of indoor areas are adjacent to each other, it is possible to continue to supplement the position of the pedestrian even when the pedestrian passes through the indoor area.

  In the eleventh invention, when the position specifying device determines that there is a road area or a walkable outdoor area within the error range of the estimated position, the reliability of the positioning data is higher than a predetermined threshold, and walking When it is determined that there is no disturbance, the position in the road area or the outdoor area is specified as its own position. By using the reliability of the positioning data, disorder of walking, etc., it is possible to continue to capture the position with high accuracy even when the pedestrian moves from indoor to outdoor.

  In the twelfth invention, the position specifying device registers the estimated position when the reliability of the positioning data is higher than a predetermined threshold or when it is determined that there is no disturbance in walking. When the reliability of the positioning data is higher than a predetermined threshold value or when it is determined that there is no disturbance in walking, the pedestrian is estimated to have moved from an indoor area to an outdoor area, or is estimated to be in an outdoor area, for example. The initial value of the estimated position corresponding to the positioning position can be determined. For example, when there is a road area within the error range of the positioning position, the position of the road area can be registered as the initial value of the estimated position. The position specifying device estimates its own position from the registered estimated position as a starting point. That is, it estimates its own position based on the estimated position registered as the initial value and positioning data such as the moving distance and moving direction from that position. Thus, for example, when a pedestrian gets on the subway and then gets out of the station and goes indoors to the outdoors, the estimated position of the pedestrian can be obtained and the subsequent position of the pedestrian can be estimated It becomes. In addition, if the GPS satellite is not received and the geomagnetic sensor cannot be used when entering indoors from the outside during position detection, the position will continue to be estimated by self-contained navigation if another direction sensor is used. Is possible.

  In the thirteenth invention, the position specifying device displays the specified position. There are several display forms for displaying the position on the map. For example, when there is one estimated position, the estimated position (or the specific position where the estimated position is updated) is displayed on the map, and the error range of the estimated position can also be displayed. When there are a plurality of estimated positions, the estimated position with the smallest evaluation coefficient, that is, the most probable position may be displayed, the center of gravity positions of the plurality of estimated positions may be displayed, or the plurality of estimated positions may be displayed. Or an error range of each estimated position or a probability ranking may be displayed after each estimated position is displayed. Thereby, the pedestrian can easily determine his / her position and can know not only the most likely position but also a possible position.

  In the fourteenth invention, the position specifying device calculates the evaluation coefficient based on the positional deviation between the positioning position on the map based on the positioning data and the estimated position corresponding to the positioning position. For example, when the positioning position is (X, Y) and the estimated position corresponding to the positioning position is (x, y), the evaluation coefficient C of the estimated position (x, y) is C = | x−X | Or it can be calculated by C = | y−Y |. Note that the evaluation coefficient C is not only calculated for each x-coordinate and y-coordinate, but can also be used as one index by the sum of absolute values of the x-coordinate and the y-coordinate, or the sum of squares or the square root of the sum of squares. it can. Since the probability that the measured position and the estimated position are closer to each other is higher than the estimated position, it is possible to grasp how much the position is reliable.

  In the fifteenth aspect, the position specifying device calculates a positional deviation between the positioning position based on the positioning data and the estimated position corresponding to each positioning position at each of a plurality of points on the map, and calculates the difference in the calculated positional deviation. An evaluation coefficient is calculated based on a statistical value indicating fluctuations in The plurality of points on the map can be feature points such as curves and intersections, for example. As the statistical value, an average value, a median value, a numerical value that is a half of the sum of the maximum value and the minimum value, or the like can be used. For example, assuming that the estimated positional deviation at each point is (x0, y0), (x1, y1), (x2, y2), (x3, y3), the average value of the positional deviations in the x direction is , {| X1-x0 | + | x2-x1 | + | x3-x2 |} / 3, and the average value of the difference in positional deviation in the y direction is {| y1-y0 | + | y2-y1 | + | y3-y2 |} / 3. Further, the average value in the x direction and the average value in the y direction can be added to form one index. It can be said that as the positional deviation at each point is equal, the evaluation coefficient is small and the probability (probability) of the estimated position is large. Since the probability that the measured position and the estimated position are closer to each other is higher than the estimated position, it is possible to grasp how much the position is reliable.

  In the sixteenth aspect of the invention, the position specifying device calculates a positional deviation between the point and an estimated position corresponding to the point at each of a plurality of points in the road region, and uses the calculated statistical value indicating the fluctuation of the positional deviation. Based on this, an evaluation coefficient is calculated. The plurality of points in the road area can be feature points such as curves and intersections, for example. As the statistical value, an average value, a median value, a numerical value that is a half of the sum of the maximum value and the minimum value, or the like can be used. If the positional deviation (distance between the road and the estimated position) at each point is d1, d2, and d3, the average value of the positional deviation (distance) can be (d1 + d2 + d3) / 3. That is, it can be said that the shorter the distance between the estimated position and the road position, the smaller the evaluation coefficient and the greater the probability (probability) of the estimated position. Thereby, it is possible to grasp how much the estimated position is relative to the road.

  In the seventeenth invention, the position specifying device displays the specified position based on the calculated evaluation coefficient. For example, when there are a plurality of estimated positions, one estimated position (or specific position) having the smallest evaluation coefficient is displayed. In addition, when there are a plurality of estimated positions, after displaying each estimated position (or specific position), it is also possible to simultaneously display the ranking of the probability of each estimated position. Alternatively, when there are a plurality of estimated positions and there are a plurality of estimated positions of evaluation coefficients smaller than the predetermined threshold, only the positions where the evaluation coefficients are smaller than the threshold can be displayed.

  In the eighteenth aspect of the invention, the position specifying device corrects the evaluation coefficient when the walking behavior is an increase in walking speed or walking stop when the specified position is at or near a pedestrian crossing. For example, if the specified position is at or near a pedestrian crossing, and walking stop or increase in walking speed is acquired as walking behavior, it is calculated that there is a high probability that the pedestrian is in or near the pedestrian crossing The evaluation coefficient is corrected to be small by adding a predetermined numerical value of 1 or less to the evaluation coefficient. As a result, when the position of the user is specified based on the estimated position, it is possible to continue to specify the position of the user based on the most likely estimated position even when there are a plurality of candidates for the estimated position. . In addition, by setting the evaluation coefficient to 0, it is possible to make it easier to reject other estimated positions in practice or to reject all other estimated positions more actively.

  In the nineteenth invention, the position specifying device corrects the evaluation coefficient according to the walking behavior at the start of the green signal or the walking behavior at the start of the red signal when the specified position is at or near the pedestrian crossing. To do. For example, when the start of walking is stopped from the time when the green light starts, the probability that the pedestrian is walking on the pedestrian crossing is high, and the evaluation coefficient is calculated by adding a predetermined numerical value of 1 or less to the calculated evaluation coefficient. Correct to be smaller. In addition, if there is an increase in walking speed at the start of the red signal, the evaluation coefficient is calculated by adding a predetermined numerical value of 1 or less to the calculated evaluation coefficient, assuming that the probability that the pedestrian is walking on the pedestrian crossing is high. Correct to be smaller. As a result, when the position of the user is specified based on the estimated position, it is possible to continue to specify the position of the user based on the most likely estimated position even when there are a plurality of candidates for the estimated position. . In addition, by setting the evaluation coefficient to 0, it is possible to make it easier to reject other estimated positions in practice or to reject all other estimated positions more actively. Further, the determination may be made not at the red signal start time but at the blue blinking start time, or at a time several seconds before the red start time.

  In the twentieth invention, when the specified position is on the pedestrian bridge, the position specifying device corrects the evaluation coefficient when the walking behavior is a change in walking speed or a change in walking strength. For example, if the specified position is a pedestrian bridge and the walking behavior is acquired (detected), such as fluctuations in walking speed or walking strength, the probability that a pedestrian is walking on the pedestrian bridge is high. Correction is made so that the evaluation coefficient becomes smaller by adding a predetermined numerical value of 1 or less to the calculated evaluation coefficient. As a result, when the position of the user is specified based on the estimated position, it is possible to continue to specify the position of the user based on the most likely estimated position even when there are a plurality of candidates for the estimated position. . In addition, by setting the evaluation coefficient to 0, it is possible to make it easier to reject other estimated positions in practice or to reject all other estimated positions more actively.

  In the twenty-first aspect, the position specifying device corrects the evaluation coefficient when the specified behavior is in the vicinity of the railroad crossing and the walking behavior is stop walking. For example, if the specified position is near a railroad crossing and a walking stop is acquired as a walking behavior, the probability that the pedestrian has stopped before the railroad crossing is high, and a predetermined numerical value of 1 or less is added to the calculated evaluation coefficient. Thus, the evaluation coefficient is corrected to be small. As a result, when the position of the user is specified based on the estimated position, it is possible to continue to specify the position of the user based on the most likely estimated position even when there are a plurality of candidates for the estimated position. . In addition, by setting the evaluation coefficient to 0, it is possible to make it easier to reject other estimated positions in practice or to reject all other estimated positions more actively.

  In the twenty-second invention, the position specifying device, when the specified position is an underground crossing passage, the calculated reliability is lower than a predetermined threshold, and the acquired walking behavior is the walking speed or the strength of walking. When it is a fluctuation, the evaluation coefficient is corrected. When a pedestrian walks the stairs, a change in walking speed or a change in walking strength occurs. For this reason, when the reliability of the positioning data is lower than a predetermined threshold and the walking behavior is a change in walking speed or a change in walking strength, the probability that the pedestrian is walking on the underground pedestrian crossing is high. Then, the evaluation coefficient is corrected to be small by adding a predetermined numerical value of 1 or less to the calculated evaluation coefficient. As a result, when the position of the user is specified based on the estimated position, it is possible to continue to specify the position of the user based on the most likely estimated position even when there are a plurality of candidates for the estimated position. .

  In the twenty-third aspect, the position specifying device displays the specified position based on the corrected evaluation coefficient. For example, when there are a plurality of estimated positions, one estimated position (or specific position) having the smallest evaluation coefficient is displayed. In addition, when there are a plurality of estimated positions, after displaying each estimated position (or specific position), it is also possible to simultaneously display the ranking of the probability of each estimated position. Alternatively, when there are a plurality of estimated positions and there are a plurality of estimated positions of evaluation coefficients smaller than the predetermined threshold, only the positions where the evaluation coefficients are smaller than the threshold can be displayed.

  In the twenty-fourth invention, the position specifying device stops specifying the position when the walking behavior is a walking speed greater than a predetermined threshold or when the position is specified over a predetermined distance in the indoor area. To do. The predetermined threshold can be set to 60 km / h, for example, and when the walking speed becomes larger than the predetermined threshold, the pedestrian uses a vehicle such as a train or a car, or other transportation, and maps Stops pedestrian location by matching. In addition, the predetermined distance can be set to 5 km, for example, and when the position is specified over a predetermined distance in the indoor area, the pedestrian uses other transportation such as a train or a subway. As described above, the location of the pedestrian by map matching is stopped. Thereby, incorrect position specification can be prevented.

  In the twenty-fifth aspect, when the position specifying device specifies the position, the position specifying device registers the position error of the specific position. Here, the specific position is, for example, a position when the estimated position is registered and used as the starting point of the position of the pedestrian, and the estimated position is updated to a position in the road region (for example, a characteristic point such as a curve or an intersection). And the position when it is specified as its own position. In addition, for example, when registering an estimated position, the position error to be registered can be a positioning error (for example, a range of 20 to 200 m), and can be positioned at a characteristic point such as a curve or an intersection on a road. Is determined (that is, the estimated position is updated), the minimum error (for example, a range of about the road width) can be obtained. The position specifying device calculates an error range by adding a value corresponding to the moving distance or moving direction from the specific position to the registered position error. As a result, once the position of itself is determined (determined) and the error range at that position is set to a predetermined value, even if the positioning error increases with an increase in the positioning locus (movement distance or movement direction) An appropriate error range of the estimated position can be obtained according to the positioning locus.

  In the present invention, when specifying the position of a pedestrian, it is possible to prevent a situation in which the position of the pedestrian frequently flies on different roads on the map, and no matter where the pedestrian is walking The position of the pedestrian can be specified with higher accuracy than before.

  Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a block diagram showing an example of the configuration of a position detection apparatus 10 according to the present invention. The position detection apparatus 10 according to the present invention measures the position of itself (pedestrian) in time series, and detects (specifies) its own position based on positioning data obtained by positioning. In this case, detecting (specifying) its own position means detecting (specifying) its own position with higher accuracy than the measured positioning position. The position detection device 10 can be carried by a pedestrian (including a pedestrian traveling by bicycle), and includes a control unit 11, a communication unit 12, a positioning unit 13, a map database 14, a storage unit 15, and the like that control the entire device. An operation unit 16, a position detection processing unit 17, a display unit 18, an audio output unit 19, and the like are provided. The positioning unit 13 includes a GPS 131, a distance sensor 132, an orientation sensor 133, an altitude sensor 134, an orientation correction unit 135, a sensor calibration unit 136, and the like. The position detection processing unit 17 includes a position estimation unit 171, an error calculation unit 172, an attribute determination unit 173, a walking behavior determination unit 174, a position update unit 175, a reliability calculation unit 176, an evaluation unit 177, and the like.

  The communication unit 12 is an optical beacon, radio wave beacon, RFID or DSRC, a narrow area communication function for communicating with a road device, a mid-range communication function such as a wireless LAN such as UHF band or VHF band, or a mobile phone Wide-area communication functions such as PHS, multiplex FM broadcasting or Internet communication. The communication unit 12 uses, for example, mid-range communication such as wireless LAN in the vicinity of an intersection, and is communicated by road-to-road communication between road devices, road-to-vehicle communication between road devices and vehicles, or vehicle-to-vehicle communication. Map information or intersection signal information. Here, examples of the road device include a traffic information collection device such as an ultrasonic sensor, an optical beacon, or an image sensor, an information board device that provides traffic information in characters or figures, a signal control device, and the like. Moreover, the communication part 12 can also acquire the signal information or map information of the intersection around a pedestrian from center apparatuses, such as an information processing center or a traffic control center, using wide communication, such as a mobile telephone.

  The communication unit 12 has a communication function for communicating with a base station, receives radio waves from a plurality of base stations, and outputs reception results to the positioning unit 13. In addition, the communication unit 12 outputs the position information of the communication point obtained by the narrow area communication with the road device to the positioning unit 13.

  The positioning unit 13 measures the position of the pedestrian from time to time (for example, every time 0.5 seconds, 1 second, etc., every 1 m, 2 m, etc.) (determines the positioning position) The moving distance and moving direction (positioning direction) are stored in the storage unit 15 together with the time as a positioning locus.

  The GPS 131 receives radio waves from a plurality of GPS satellites and measures the position of the pedestrian. In addition to the GPS 131, a DGPS (differential GPS) can be mounted. DGPS can receive FM broadcasts or medium waves transmitted from a reference station whose position is known in advance, and can correct the displacement of the positioning position obtained by GPS 131, thereby improving the accuracy of the position of the pedestrian. . Note that it is also possible to perform positioning in a form that combines a method of roughly positioning a position with radio waves from a plurality of base stations of a mobile phone and GPS. As a result, even if it is difficult to receive radio waves from GPS satellites indoors, the probability that a position with poor position accuracy can be obtained is increased.

  The distance sensor 132 includes a speed in a very short time, an acceleration sensor that can detect a moving distance, a step number sensor that can detect a relatively long moving distance, and the like. Here, for example, if an acceleration sensor is used as the step sensor, steep data generated in accordance with the walking pitch can be obtained, and the number of steps and the walking speed can be obtained by counting this number. Also, in this case, when riding a bicycle and stroking the pedal, or when going up and down the stairs of a pedestrian bridge or an underground crossing passage, the characteristics of steep data, for example, peak values (walking strength) are different. Therefore, it is possible to specify a walking place to some extent. Thereby, the position of a pedestrian can be detected for each short-distance and short-distance walk in self-contained navigation. If the GPS satellite positioning accuracy is very good and there are no buildings or the like outside the metropolitan area, the walking distance is calculated based on the difference in GPS positioning without using the step sensor. Also good. In the present application, the walking speed is used as a concept including a walking pitch (the number of steps per unit time).

  The azimuth sensor 133 includes an angular velocity sensor or an angular acceleration sensor (relative azimuth sensor), a two-dimensional or three-dimensional geomagnetic sensor (absolute azimuth sensor), and the like. Thereby, in the self-contained navigation, the moving direction of the pedestrian can be detected for each short time and short distance walking. In addition, the geomagnetic sensor can detect that a pedestrian is present in a building surrounded by reinforcing bars, or that a pedestrian is present near a railroad crossing where there is a strong electric or magnetic field.

  The altitude sensor 134 detects the altitude at the position of the pedestrian using a barometer or an acceleration sensor. Note that the GPS 131, the distance sensor 132, the azimuth sensor 133, and the altitude sensor 134 may not be all provided.

  The azimuth correction unit 135 identifies the road on which the pedestrian walks by map matching, determines the estimated position of the pedestrian, and changes the positioning azimuth (movement azimuth) over a predetermined movement distance (for example, 20 m). If not, the positioning direction is corrected to the direction of the road on the map. Details of the azimuth correction will be described later.

  In the case of the relative azimuth sensor, the sensor calibration unit 136 specifies the scale factor of the relative azimuth sensor as the direction of the road map when the road on which the pedestrian walks is specified by the map matching method and the estimated position of the pedestrian is determined. Calibrate based on the difference. In the case of the step number sensor, when it is determined that the passage between two points is certain by the map matching method, the step number sensor is calibrated from the distance of the road map between them and the number of steps measured therebetween. Note that the walking distance may be corrected by a positioning locus between two points.

  The positioning unit 13 is based on the measured positioning data, the reception result of the radio wave from the base station obtained via the communication unit 12, or the position information of the communication point obtained by the narrow area communication with the road device. The positioning position and the positioning position error are calculated. Hereinafter, a positioning position and a calculation method of the error will be described.

FIG. 2 is an explanatory diagram showing an example of the error range of the positioning position. In the orthogonal coordinate system (x direction and y direction), as an example, a position error range detected by narrow-range communication with GPS, a base station, or a road device is a rectangular area (x direction length is 4a, y direction). Is set as 4b). That is, the positioning position is the center position of the rectangular area, and the error range extends from the center position by a range of ± 2a in the x direction and by a range of ± 2b in the y direction. For example, when 2a is set to 2 sigma, the variance in the x direction is a ² and the standard deviation can be set to a. When 2b is set to 2 sigma, the variance in the y direction is b ² and the standard deviation can be set to b2.

  Since the error due to the narrow area communication with the road device is smaller than that of the GPS or the base station communication (for example, the error range is several m), the error range is determined by using the narrow area communication with the road device or the GPS. Or, it depends on whether base station communication is used. Further, for example, when using GPS, the error range is temporally determined by environmental conditions, more specifically, GPS reception level, number of captured satellites, 2D or 3D positioning, CEP (Circular Error Probability). To change. In the case of base station communication, the error range varies with time depending on the communication level with the base station, the communication range of the base station, and the like. A predetermined constant in which the error range is set to be large in advance, a constant determined in advance according to the place or time, or the like may be used. The shape of the error range is not limited to a rectangular shape, and may be an arbitrary shape such as a circle or an ellipse. For example, when positioning is performed using only GPS, when the environmental conditions are favorable, an error range of about 10 to 20 m can be set.

  Hereinafter, a method for calculating the positioning position of the pedestrian will be described. The positioning position is expressed by a two-dimensional vector in an orthogonal coordinate system, but in three dimensions, only altitude information is added and can be easily expanded. Further, in the following description, it is formulated by time, but in actual processing, processing may be performed for each unit travel distance instead of processing for each unit time. In the following, capital letters are assumed to be vectors or matrices.

  Assuming that the position P (t) of the pedestrian at time t is Equation (1), walking at time t + 1 (the interval between times t and t + 1 is a predetermined time, for example, 1 second, 0.5 seconds, etc.) The person's position P (t + 1) can be expressed by Expression (2). Alternatively, the time at which the pedestrian has traveled a predetermined travel distance (eg, 1 m, 2 m, etc.) from time t can be set as time t + 1. Note that “T” added to the vector means transposition. Moreover, Formula (2) shows a pedestrian's dynamic characteristic. Note that the position P (t) of the pedestrian at time t is the true position (actual position) of the pedestrian, and is an unobservable position due to the presence of an unknown error. That is, the positioning position of the pedestrian is to obtain an optimum estimated position with respect to the true position P (t).

  Here, D (t) is expressed by Equation (3), d (t) is the distance that the pedestrian has moved (walked) from time t to time t + 1, and θ (t) is relative to the orthogonal coordinate system. This is the azimuth angle of pedestrian movement (walking). E (t) is expressed by equation (4), and e (t) is an error of the moving distance d (t). Further, the variance Q (t) of the error E (t) is expressed by the equation (5), and q is the error variance in the unit distance movement and can be a constant value.

  In addition, the position S (t) detected by GPS, base station communication, or communication with a road device at time t can be expressed by Equation (6). Here, G (t) is an error of the position S (t), and the covariance matrix R (t) of the error G (t) can be expressed by Expression (7). In Expression (7), a and b are each one-fourth of the length in the x direction and the y direction of the rectangular region that is the error range shown in FIG. That is, the covariance matrix R (t) is composed of variances in the x and y directions when 2a and 2b are 2 sigma. Even if the average value of E (t) and G (t) is 0, generality is not lost.

  The optimum estimated position H (t) of the pedestrian position P (t) at time t is expressed by a recurrence formula as shown in Expression (8) by the Kalman filter.

Here, Γ (t) is a variance of the estimation error of the estimated position H (t), and can be expressed by a recurrence formula like Formula (9). Further, “−1” attached to a matrix means an inverse matrix of the matrix. Further, the estimated position H (0) at the initial time 0 and the variance Γ (0) of the estimation error can be expressed by Expression (10) and Expression (11), respectively. Here, M is a priori information on the initial position of the pedestrian, and Σ is its error variance. If there is no a priori information, M = 0 and Σ ⁻¹ = 0, and the estimated position H (0) at initial time 0 and the variance Γ (0) of the estimated error are respectively expressed by equations (12) and (13). ).

Equation (6) is obtained when a position is detected by GPS, base station communication, or communication with a road device, and therefore, while GPS, base station communication, or communication with a road device is not performed, equation (6) is obtained. Assuming that the errors a and b in (7) are sufficiently large, in Equation (8), if R ⁻¹ (t) = 0, the estimated position is repeatedly calculated using Equation (8) as it is. Can do. That is, in this case, it is equivalent to measuring the position only by the self-contained navigation.

  The error e (t) of the movement distance d (t) varies depending on the type of distance sensor. For example, when a plurality of types of distance sensors are used at the same time, a combined error obtained by combining the errors of the sensors may be set. For example, if the distances obtained by the two types of sensors are d1 and d2, and the variances of the errors are q1 and q2, respectively, the coupling distance is set by the equation (14), and the variance as the coupling error is the equation ( 15).

  In the above formulation, in order to simplify the description, it is assumed that there is no error in the azimuth (azimuth angle) θ, but linear approximation is performed in consideration of the error f (t) in the azimuth (azimuth angle) θ. Thus, the above formulation can be easily extended. In this case, the error variance of the error f (t) is defined similarly to the errors e (t) and G (t). Alternatively, the position error variance can be increased in consideration of the azimuth error.

  For example, when the error F (t) is added to the measured value of the azimuth θ at time t, if the higher-order error is ignored, the expression (2) can be expanded as the expressions (16) and (17). Can do.

  In this case, equation (5) may be replaced with equation (18). Here, u is the variance of the error of the azimuth θ. Note that Q (t) in equation (5) may be set to a larger value instead of equations (16) to (18). In the above mathematical formula, it is formulated as two-dimensional position detection, but it may be formulated in three dimensions by adding a height dimension.

  The map database 14 stores a wide range of map information. In addition, according to the position of a pedestrian, the map information of the vicinity can also be acquired by communication from the outside, such as a center apparatus or a road device, and memorize | stored.

  FIG. 3 is a schematic diagram illustrating an example of map information, and FIG. 4 is an explanatory diagram illustrating an example of an attribute of an area on the map. When detecting the position of a pedestrian, it becomes more complicated and difficult than when detecting the position of a vehicle. In other words, in the case of a vehicle, the position of the vehicle can be detected by map matching between the estimated position and the roadway on the map, whereas in the case of a pedestrian, walking other than the pedestrian sidewalk is possible. There are various areas where a person can walk. Moreover, the necessity of detecting the position of a pedestrian is high not only outdoors but indoors.

  In addition, when detecting the position of a pedestrian, detailed map matching such as separation of a sidewalk and a roadway is required, so detailed data is also required as map information. However, it is not necessary to store a wide range of map information in the storage unit 15 of the position detection device 10, and may be acquired by communication from the outside such as an information center device or a road device as appropriate according to the position of the pedestrian. .

  As shown in FIG. 3, there are various areas such as a pedestrian road (sidewalk), a roadway, a pedestrian crossing, a building, a retail store, a park, and a pond on the map. Therefore, as shown in FIG. 4, the region attributes on the map are defined to classify the regions on the map. The attribute is first divided into a walkable area and a prohibited area. Forbidden areas are areas where entry of pedestrians is generally prohibited, such as restricted areas, rivers, ponds, seas, lakes, swamps, ponds, cliffs, railway sites, imperial palaces, etc. It is.

  The walking area is divided into an indoor area, a road area, and other areas. The indoor area is, for example, a building, an underpass, a station building, a store, a retail store, a house, a factory, an underground mall, a building interior, and the like. Road areas include, for example, pedestrian roads, sidewalks in the case of main roads with separate sidewalks and roadways, pedestrian crossings, pedestrian overpasses (pedestrian bridges), underground crossing roads, railroad crossings, and other privately owned roads. Called a road). The other area is, for example, a roadway, a park, a playground, or any other outdoor area that can be freely walked. In addition, when a pedestrian's walk is limited in an indoor area | region or another area | region, a walk path (road) can be set in it and it can also be set as a road area | region.

  As shown in FIG. 3, the road areas are pedestrian roads, main road sidewalks, pedestrian crossings, pedestrian overpasses, underground cross roads, and indoor areas are buildings, retail stores, houses, retail stores There are roads. The prohibited areas are ponds, and the other areas are highway roads and parks. Based on the information in FIG. 3 and FIG. 4, roads on the map (road areas, line segments for map matching) can be set. In FIG. 4, the attributes are divided into walkable areas and prohibited areas, and then the walkable areas are divided into indoor areas, road areas, and other areas. As examples of each attribute, pedestrian roads, crosswalks, Although pedestrian overpasses are listed, the attributes are not limited to the hierarchical structure as described above, and pedestrian roads, pedestrian crossings, pedestrian overpasses, etc. can be defined as one attribute. . Moreover, the example of FIG. 4 is an example, Comprising: It is not limited to this.

  FIG. 5 is an explanatory diagram showing an example of setting a road on a map. As shown in Fig. 5, one or more line segments (standard gait line, road on the map) for map matching are defined for road areas, indoor areas, and other areas, and each line segment is connected. Set the relationship information. The road (road area) on the map can be constituted by links and nodes, or a width corresponding to the road width for the line segment can be set. A node is a part of a road on the map, and a link defines the connection point of the node, that is, the connectivity of the road on the map. The road to be set is synonymous with the road area.

  For example, with respect to the example of FIG. 3, the roads on the map are set as shown in FIG. Roads on the map can also include road width information and connection information. In addition, the indoor area and the prohibited area may include information on the range of each area. The other area may include area range information, or if it is determined that the other area is not a road area, indoor area, or prohibited area, do not include the area range information in the other area. May be. Although not shown in FIGS. 3 and 5, a point or a road (passage) connecting the regions may be set on the map. For example, when there is a communication port (stairs, elevator, escalator, etc.) on the road leading to an underground area in an indoor area or a subway station building, etc. Can be corrected.

  The storage unit 15 stores various information received via the communication unit 12, positioning data measured by the positioning unit 13, processing results processed by the position detection processing unit 17, and the like. When the control unit 11, the position detection processing unit 17 and the like are constituted by a CPU, a RAM, and the like, a computer program that defines the processing procedures of the control unit 11 and the position detection processing unit 17 can be stored.

  The operation unit 16 includes various operation buttons and functions as a user interface between the pedestrian and the position detection device 10. For example, the operation unit 16 receives an operation for starting or stopping the operation of the position detection device 10 by an operation of a pedestrian.

  The position detection processing unit 17 may be configured by a dedicated hardware circuit, or may be configured to execute a computer program having a predetermined processing procedure.

  The position estimation unit 171 updates the estimated position or estimated position calculated last time (for example, may be the latest or may be two or three times before), and is detected as the position of the pedestrian. Based on the positioning position trajectory (positioning trajectory) calculated by the positioning unit 13, the estimated position (estimated position trajectory) on the map is calculated. More specifically, the trajectory and the estimated position of the estimated position are calculated by obtaining a trajectory along the positioning trajectory from the estimated position or the detection position calculated last time to the positioning position.

  The error calculation unit 172 calculates the error range of the estimated position estimated by the position estimation unit 171. More specifically, the error calculation unit 172 sets the error range of the estimated position to a predetermined value when initially registering the estimated position, as described later, or when updating the estimated position. For example, when the estimated position is initially registered, the error range of the estimated position can be set to an error range of the positioning position (for example, 20 to 200 m). Further, when the estimated position is updated at a characteristic point such as a curve or an intersection on the road, the minimum error (for example, a range of about the road width) can be obtained.

  After setting the error range of the initially registered estimated position or the updated estimated position to a predetermined value, the error calculation unit 172 moves the pedestrian's moving distance or movement from the initially registered or updated estimated position to the set predetermined value. An error range is calculated by adding a value corresponding to the direction (for example, an increase in positioning error). As a result, once the position of the pedestrian is determined (confirmed), and after setting the error range at that position to a predetermined value, the positioning error increases with an increase in the positioning trajectory (movement distance or direction) However, an appropriate error range of the estimated position can be obtained according to the positioning locus. Note that the error range can always be an appropriate predetermined constant value (for example, 100 m).

  The attribute determination unit 173 determines the attribute of the area on the map that exists within the error range of the estimated position calculated by the error calculation unit 172. If a plurality of attributes exist within the error range of the estimated position, it can be determined that the attribute is the area closest to the estimated position (the distance is short). Alternatively, a priority order can be set for each attribute, and it can be determined that the attribute has the highest priority order. In this case, the priority order of the attributes may be, for example, the road area, the indoor area, and the other area from the higher rank, or the road area, the other area, and the indoor area from the highest rank. .

  The walking behavior determination unit 174 determines the walking behavior of the pedestrian based on the positioning data obtained by the positioning unit 13. The walking behavior indicates a walking characteristic of a pedestrian and includes a traveling characteristic when riding a bicycle. The walking behavior is, for example, the start of walking, walking speed, fluctuation in walking speed, walking strength (for example, the level intensity indicated by acceleration by the step sensor), fluctuation in walking strength, per unit time The number of steps (in the case of a bicycle, the number of pedaling), the variation in the number of steps, the walking direction, the walking stop, and the like.

  The walking behavior determination unit 174 determines whether or not walking is disturbed based on the walking behavior. For example, when the walking speed is low or the number of steps is small with reference to the predetermined walking speed or the number of steps per unit time, the walking speed is not substantially constant and the walking speed varies frequently, This is the case when there is meandering or circulation, or when the strength of walking is unstable.

  The position update unit 175 performs initial registration of the estimated position based on the positioning position. Further, the position update unit 175 uses the map matching method to walk within the error range based on the attribute within the error range determined by the attribute determination unit 173 and the estimated position calculated by the position estimation unit 171. The estimated position is updated to a position considered to be present, and the updated position is detected as the position of the pedestrian. In this case, the most likely estimated position is detected as the position of the pedestrian based on the evaluation coefficient calculated by the evaluation unit 177. Details of the evaluation coefficient will be described later. Note that the reciprocal of the evaluation coefficient can be defined as the degree of correlation, and the degree of correlation can be used.

  The reliability calculation unit 176 calculates the reliability of the positioning data measured by the positioning unit 13. More specifically, the reliability calculation unit 176 performs self-inconsistency of data in a single sensor such as the distance sensor 132, the azimuth sensor 133, and the altitude sensor 134, or inconsistency of data between sensors or inconsistency with map information. The determination of the presence / absence of abnormality such as GPS, the positioning data of the GPS 131 and the calculation of the usage environment index indicating the reliability of base station communication are performed. In addition, when it is determined that there is an abnormality in the sensor or the like, a usable sensor is selected, and for an unusable sensor, a process for making the error variance of the sensor infinite (or increased) is performed. Do. Thereby, the availability of the sensor is always monitored. Hereinafter, details of the processing in the reliability calculation unit 176 will be described.

  The determination of the presence or absence of abnormality of the GPS 131 is performed by, for example, determining whether or not there is self-contradiction in temporal changes such as a positioning position determined based on the positioning data obtained by the GPS 131, a walking speed of the pedestrian, and a moving direction. be able to. If there is an abnormality, the error variance of the GPS 131 data is set to infinity and is not used. Further, when such an abnormal situation continues for a predetermined time and / or a predetermined distance, it is assumed that the reliability of the GPS 131 is low. Further, when such an abnormal situation disappears, the GPS 131 data is used, and if the normal situation continues for a predetermined time or a predetermined distance, the reliability of the GPS is returned to a normal value. .

  As the usage environment index of the GPS 131, for example, if the reception level of the GPS 131, the number of captured satellites, 2D or 3D positioning, and CEP (Circular Error Probability) is below a predetermined standard value, it is determined that the GPS 131 is abnormal. Make the error variance of the data infinite and avoid using it. Further, when such an abnormal situation continues for a predetermined time and / or a predetermined distance, it is assumed that the reliability of the GPS 131 is low. Further, when such an abnormal situation disappears, the GPS 131 data is used, and if the normal situation continues for a predetermined time or a predetermined distance, the reliability of the GPS 131 is returned to a normal value. .

  Base station communication usage environment indicators include, for example, when the communication level with the base station, the communication range of the base station, etc. falls below a predetermined standard value, the error distribution of data due to base station communication is infinite as abnormal And avoid using it. In addition, when such an abnormal situation continues for a predetermined time and / or a predetermined distance, it is assumed that the reliability of base station communication is low. In addition, when such an abnormal situation disappears, the base station communication data is used, and if the normal situation continues for a predetermined time and / or a predetermined distance, the reliability of the base station communication is increased. Return to normal value. In the above description, GPS and base station communication are distinguished from each other, but a positioning method combining GPS and base station communication may be used.

  In the case of a geomagnetic sensor, noise is added to detection data due to the presence of a surrounding iron plate or reinforcing bar, and the presence of an electric field or magnetic field such as a railroad crossing, and the detection accuracy often decreases. In such a case, even if there is no error, the geomagnetic sensor may not be used. Further, since noise is added to the detection data of the geomagnetic sensor in the building (indoor) or in the vicinity of the railroad crossing, it can be determined that there is a high possibility that a pedestrian is present indoors or in the vicinity of the railroad crossing.

  The determination of whether there is a contradiction between the data of the sensors, for example, is obtained by adding the data increment of the relative direction sensor from that time to the current time to the positioning direction (estimated direction) measured at a certain time in the past, If there is a large difference from the data of the geomagnetic sensor, the data of the geomagnetic sensor can be regarded as abnormal and the geomagnetic sensor can not be used. In addition, when such an abnormal situation continues for a predetermined time and / or a predetermined distance, it is assumed that the reliability of the geomagnetic sensor is low. In addition, when such an abnormal situation disappears, the geomagnetic sensor data is used, and if the normal situation continues for a predetermined time and / or a predetermined distance, the reliability of the geomagnetic sensor becomes normal. Return to value.

  Also, when formulating in consideration of azimuth errors, the error variance of the geomagnetic sensor is, for example, infinite (or a sufficiently large value) in the case of abnormality, and standard value (for example, average) in the normal state Error). The error variance of the relative orientation sensor is set to a minimum when calibrated, for example, and increases with time or distance. The error variance by a plurality of sensors may be combined with the variance of each sensor. In addition, as another mutual check, if the estimated position at a certain time in the past and the distance estimated from the step number sensor deviate greatly from the positioning position measured by the GPS 131 at the current time, the positioning data of the GPS 131 Can be considered abnormal.

  The evaluation unit 177 calculates an evaluation coefficient for evaluating the estimated position calculated by the position estimation unit 171 and the estimated position updated by the position update unit 175. The evaluation coefficient is a coefficient for evaluating the certainty of the estimated position. For example, the smaller the evaluation coefficient, the larger the certainty (probability) of the estimated position. The evaluation coefficient is, for example, the positional deviation between the estimated position and the positioning position, the average of the positional deviation between the estimated position at the characteristic point such as a curve or an intersection, and the estimated position and the road at the characteristic point such as a curve or an intersection. And the average of the positional deviation (distance deviation). Details of the evaluation coefficient will be described later.

  The display unit 18 is a liquid crystal display panel, for example, and displays its position on a map to a pedestrian.

  When the pedestrian's position is displayed on the display unit 18, the audio output unit 19 outputs audio or sound to notify the pedestrian of necessary information or to call attention.

  Next, the position detection process by the map matching method of the position detection apparatus 10 will be described. In the following description, it is assumed that no passage (road) is set in the indoor area and other areas. When a passage is set, the passage can be handled as a road.

  FIG. 6 is an explanatory diagram illustrating an example of new registration of an estimated position. The new registration (initial registration) of the estimated position is a process performed when the map matching process is started or when there is no estimated position candidate.

  Whether or not to newly register the estimated position is determined by, for example, the following condition (1) and condition (2). That is, when both the condition (1) and the condition (2) are satisfied, the new registration of the estimated position is not performed, and when either the condition (1) or the condition (2) is not satisfied, the new registration of the estimated position is performed. I do. Condition (1) is a case where the reliability of the sensor or the like is equal to or less than a predetermined threshold value (poor reliability). For example, the reliability of the GPS 131 is bad or the reliability of the geomagnetic sensor is bad. Further, the condition (2) is a case where there is a disturbance of walking over a predetermined range (time and / or distance). That is, when the condition (1) and the condition (2) are satisfied, there is a high possibility that the position of the pedestrian is in the indoor area. Therefore, the map matching process is not performed until the pedestrian enters the outdoor area from the indoor area.

  As shown in FIG. 6, it is determined whether or not there is a road region, that is, a road on the map, within the error range of the positioning position A. If there is a road (road region), the closest to the positioning position A The point on the road is registered as a new estimated position corresponding to the positioning position A. In FIG. 6, since there are two roads within the error range, the points M and N closest to the positioning position A on each road are registered as estimated positions. In this case, it is also possible to register in advance a road whose orientation substantially coincides with the orientation of the positioning locus up to the positioning location A or the positioning orientation at the positioning location A. If there is no road where the orientation of the positioning trajectory or the positioning orientation substantially matches the road orientation, the system waits without newly registering the estimated position until there is a road that can be registered within the error range.

  When the estimated position is newly registered, the error range of the positioning position corresponding to the estimated position is set (registered) as the error range of the newly registered estimated position. In the example of FIG. 6, the error range of the estimated positions M and N inherits the error range of the estimated position A. Further, based on the positional deviation between the newly registered estimated positions M and N and the corresponding positioning position A, evaluation coefficients for the estimated positions M and N are calculated.

  FIG. 7 is an explanatory diagram showing an example of calculation of an evaluation coefficient for a newly registered estimated position. The example of FIG. 7 shows a case where the estimated position M is newly registered in association with the positioning position A. If the coordinates of the positioning position A are (X, Y) and the coordinates of the newly registered estimated position M are (x, y), the evaluation coefficient C of the estimated position M can be C = C1 + C2. Here, C1 = | x−X | and C2 = | y−Y |. That is, the evaluation coefficient C of the estimated position M can be the difference between the x coordinate of the estimated position M and the positioning position A, and the difference of the y coordinate between the estimated position M and the positioning position A. In this case, the smaller the evaluation coefficient, the higher the probability (probability) of the estimated position. The evaluation coefficient C is not only calculated for each x coordinate and each y coordinate, but can also be used as one index by the sum of absolute values of the x coordinate and the y coordinate or the square root of the square sum. Thereby, it is possible to grasp how much the estimated position M is relative to the positioning position A.

  Next, an example of calculating the locus of the estimated position after new registration will be described. FIG. 8 is an explanatory diagram showing a calculation example of the locus of the estimated position. The example of FIG. 8 shows a case where the estimated position M is newly registered in association with the positioning position A. The calculation example of the locus of the estimated position shown in FIG. 8A is to obtain the locus of the estimated position by translating (shifting) the positioning locus from the positioning position A with the estimated position M as a starting point. .

  In the case of FIG. 8B, in the case of FIG. 8A, when the azimuth difference between the azimuth of the road on the map and the azimuth of the estimated position locus or the estimated position is smaller than a predetermined threshold value. The estimated position is updated (corrected) on the road every time the predetermined time has elapsed and / or the predetermined distance has been moved. Note that when the estimated position is updated to a position on the road, a value corresponding to the positional deviation may be added to the evaluation coefficient.

  In the case of FIG. 8C, in the case of FIG. 8A, when the azimuth difference between the azimuth of the road on the map and the azimuth of the estimated position locus or the estimated position is smaller than a predetermined threshold value. Always update (correct) the estimated position on the road. Note that when the estimated position is updated to a position on the road, a value corresponding to the positional deviation may be added to the evaluation coefficient.

  The example of FIG. 8D is the case of FIG. 8C when the azimuth difference between the azimuth of the road on the map and the azimuth of the locus of the estimated position or the azimuth at the estimated position exceeds a predetermined threshold. Indicates that updating (correcting) the position on the road is not performed. In addition, in the case of FIG. 8A and FIG. 8B, it can also correct on a map, when displaying on the display part 18. FIG.

  The example of FIG. 8E is an example of correcting the estimated position when the road is represented by a line segment, while the estimated position is obtained when the road is represented by a two-dimensional figure as it is. This is an example of correction.

  The error range of the estimated position can be a positioning error (for example, a range of 20 to 200 m) in the new registration (initial registration) of the estimated position. Further, the error range of the estimated position can be set to the minimum error range (for example, about the road width) when the estimated position is updated (corrected) to a position on the road at a characteristic point such as a curve or an intersection. . Thereafter, as the pedestrian walks, positioning errors are accumulated, so that the error range of the estimated position can be increased. As a result, once the position of the pedestrian is determined (confirmed), and after setting the error range at that position to a predetermined value, the positioning error increases with an increase in the positioning trajectory (movement distance or direction) However, an appropriate error range of the estimated position can be obtained according to the positioning locus. The error range of the estimated position can always be an appropriate predetermined constant value (for example, 100 m). Thereby, the processing effort of position detection can be reduced.

  Next, a method for updating the estimated position will be described. The update of the estimated position includes, for example, the attribute of the area on the map within the error range of the estimated position, the connection characteristic of the road, the connection characteristic between the road area and other areas, the walking behavior of the pedestrian, the reliability of the positioning data ( Reliability), evaluation coefficient of estimated position, etc. If the estimated position is not valid, the estimated position is rejected.

  FIG. 9 is an explanatory diagram showing an example of updating the estimated position. In the example of FIG. 9, it is assumed that the pedestrian is walking outdoors. Corresponding to the positioning trajectory up to the positioning position A, the positioning position A is changed to the positioning position A by the trajectory of the estimated position from the estimated position updated last time (for example, may be the most recent time or may be two or three times before). Correspondingly, there are two estimated positions M and N. Since a road (road area) exists within the error range of the estimated position M, the estimated position M is updated to a position on the road. Further, a value corresponding to the positional deviation between the estimated position M and the updated estimated position may be added to the evaluation coefficient of the estimated position M and inherited as the updated estimated coefficient of the estimated position. In addition, at a point having a characteristic such as a curve or an intersection, the estimated position can be updated by correcting the displacement of the estimated position M, and the evaluation coefficient and error range can be updated. In this case, as the error range to be updated, for example, a minimum value (a range about the road width) can be set. It is possible to determine whether or not the azimuth difference between the azimuth of the estimated position and the azimuth of the road is smaller than a predetermined threshold, and when the azimuth difference is larger than the threshold, the estimated position may not be updated on the road.

  Within the error range of the estimated position N, the road (road area) in which the estimated position updated last time is outside the error range, so it is determined whether there is another road within the error range. If another road exists, the estimated position is updated to the position of the road, and the error range of the estimated position N, the error range of the estimated position with the updated evaluation coefficient, and the evaluation coefficient are taken over. If it is determined that there is no road to be updated, the attribute of the estimated position is determined, and if the determined attribute is another region, the position obtained by accumulating the amount of change in the walking trajectory accompanying the walking of the pedestrian from the estimated position N Is assumed to be the locus of the estimated position, and the evaluation coefficient and error range are taken over. If the determined attribute is a prohibited region, the estimated position N is rejected (see FIG. 9).

  FIG. 10 is an explanatory diagram showing another example of updating the estimated position. The example of FIG. 10 is a case where a road where the estimated position updated last time (for example, may be the latest or may be two or three times before) branches into two roads. Assume that there is one estimated position M corresponding to the positioning position A by the locus of the estimated position from the previously updated estimated position corresponding to the positioning locus up to the positioning position A. Since one branched road (road region) exists within the error range of the estimated position M, the estimated position M is updated to a position on the road. Further, a value corresponding to the positional deviation between the estimated position M and the updated estimated position may be added to the evaluation coefficient of the estimated position M and inherited as the updated estimated coefficient of the estimated position. The estimated position on the other road that is outside the error range of the estimated position M is rejected. Even in this case, the estimated position can be updated by correcting the displacement of the estimated position M at a characteristic point such as a curve or an intersection, and the evaluation coefficient and error range can be updated.

  FIG. 11 is an explanatory diagram showing another example of updating the estimated position. The example of FIG. 11 is also a case where the road where the estimated position updated last time (for example, the most recent time or two or three times before) exists may branch into two roads. Assume that there is one estimated position M corresponding to the positioning position A by the locus of the estimated position from the previously updated estimated position corresponding to the positioning locus up to the positioning position A. Since both branched roads (road areas) exist within the error range of the estimated position M, the estimated position M is updated to a position on each road. The updated estimated position is set as the estimated position of the first candidate and the estimated position of the second candidate. Further, a value corresponding to the positional deviation between the estimated position M and the estimated position of the first candidate and the estimated position of the second candidate is added to the evaluation coefficient of the estimated position M, and the estimated position of the first candidate and the second candidate You may make it inherit as an evaluation coefficient of an estimated position. Even in this case, the estimated position can be updated by correcting the displacement of the estimated position M at a characteristic point such as a curve or an intersection, and the evaluation coefficient and error range can be updated.

  Next, a method for calculating the evaluation coefficient of the estimated position at a characteristic point such as a curve or an intersection will be described. FIG. 12 is an explanatory diagram showing an example of calculation of the evaluation coefficient of the estimated position at the feature point. In the example of FIG. 12, it is assumed that there are estimated positions M1, M2, and M3 updated to positions on the road corresponding to the positioning positions A1, A2, and A3 at the characteristic points B1, B2, and B3 such as a curve. The positional deviation between the positioning position A1 and the estimated position M1 is (x1, y1), the positional deviation between the positioning position A2 and the estimated position M2 is (x2, y2), and the positional deviation between the positioning position A3 and the estimated position M3 is Let (x3, y3). In addition, the positional deviation between the estimated position updated last time (for example, the latest position or a plurality of previous times such as two times or three times) and the corresponding positioning position is (x0, y0). The evaluation coefficient of the estimated position (for example, estimated position M3) can be obtained as an average value of the difference in positional deviation between the estimated position and the positioning position.

  That is, the average value of the difference in positional deviation in the x direction is {| x1-x0 | + | x2-x1 | + | x3-x2 |} / 3, and the average value of the positional deviation in the y direction is { | Y1-y0 | + | y2-y1 | + | y3-y2 |} / 3. It can be said that as the positional deviation at each of the feature points B1, B2, and B3 is equal, the evaluation coefficient becomes smaller and the probability (probability) of the estimated position is larger. Thereby, it is possible to grasp how much the estimated position is relative to the positioning position.

  In addition, as an evaluation coefficient, the square of the difference of the position shift in each feature point is totaled and averaged, and the square root of the average value can be obtained. Further, instead of the average value, other statistical values such as a median value and a numerical value that is a half of the sum of the maximum value and the minimum value can be used.

  FIG. 13 is an explanatory diagram showing another example of calculating the evaluation coefficient of the estimated position at the feature point. In the example of FIG. 13, it is assumed that there are estimated positions M1, M2, and M3 corresponding to the positioning positions A1, A2, and A3 at characteristic points B1, B2, and B3 such as a curve. The positional deviation (distance) between the position of the point B1 and the estimated position M1 is d1, the positional deviation (distance) between the position of the point B2 and the estimated position M2 is d2, and the positional deviation between the position of the point B3 and the estimated position M3. Let (distance) be d3. The evaluation coefficient of the estimated position (for example, estimated position M3) can be obtained as an average value (d1 + d2 + d3) / 3 of the positional deviation (distance) between the feature point on the road and the estimated position.

  That is, it can be said that the shorter the distance between the estimated position and the road position, the smaller the evaluation coefficient and the greater the probability (probability) of the estimated position. Thereby, it is possible to grasp how much the estimated position is relative to the road.

  FIG. 14 is an explanatory diagram showing another example of the evaluation coefficient of the estimated position. When calculating the evaluation coefficient of the estimated position, the evaluation coefficient is calculated at a point where there is an obvious azimuth change such as a characteristic point such as a curve or an intersection on the road as shown in the examples of FIGS. For example, as shown in FIG. 14, matching between the estimated position locus or the positioning locus and the road shape on the map can be evaluated. In addition, it is possible to evaluate using any one of the plurality of types of evaluation coefficients as described above. Alternatively, the plurality of types of evaluation coefficients may be appropriately weighted and combined to be used as one evaluation coefficient. it can.

  Next, a method for updating (correcting) the evaluation coefficient of the estimated position will be described. When the estimated position updated to the position on the road is at or near the pedestrian crossing, if the increase of the walking speed of the pedestrian or the stop of walking is detected, the probability that the pedestrian is in the pedestrian crossing or near the pedestrian crossing Assuming that the evaluation coefficient is high, the evaluation coefficient is updated to be small by adding a predetermined numerical value of 1 or less (for example, m1 = 1/3) to the evaluation coefficient of the estimated position. When updating the evaluation coefficient so that the evaluation coefficient becomes smaller by adding a numerical value of 1 or less to the evaluation coefficient, actually, data of the evaluation coefficient and the numerical value (default value is 1) is prepared. The stored value of the evaluation coefficient is kept as it is, and the numerical value to be integrated is changed, and the above integrated value can be used as an apparent evaluation coefficient when comparing with other estimated positions. Thereby, subsequent calculation of the evaluation coefficient can be performed without contradiction.

  When the estimated position updated to the position on the road is at or near the pedestrian crossing, the evaluation coefficient is updated according to the walking behavior at the start of the green light or the walking behavior at the start of the red signal. For example, if the walking starts from the stop when the green light starts, it is assumed that the pedestrian is walking on a pedestrian crossing, and the calculated evaluation coefficient is a predetermined numerical value of 1 or less (for example, m2 = 1/5). ) Is updated so that the evaluation coefficient becomes smaller. Further, if there is an increase in walking speed at the start of the red signal, it is assumed that the probability that the pedestrian is walking on the pedestrian crossing is high, and the calculated evaluation coefficient is a predetermined numerical value of 1 or less (for example, m3 = 1/5). ) Is updated so that the evaluation coefficient becomes smaller.

  In addition, when the estimated position updated to the position on the road is on the pedestrian overpass, if the pedestrian walks on the pedestrian overpass when a change in walking speed or a change in walking strength is detected during stair walking As a result, the evaluation coefficient is updated so that the evaluation coefficient becomes smaller by adding a predetermined numerical value of 1 or less (for example, m4 = 1/5) to the calculated evaluation coefficient. In this case, it is determined whether or not there is an increase or decrease in altitude. If there is an increase or decrease in altitude, the evaluation coefficient can be updated to be smaller.

  In addition, when the estimated position updated to the position on the road is in the underground crossing passage, if a change in walking speed or walking strength in stair walking is detected, the pedestrian walks through the underground crossing passage. Assuming that there is a high probability, the evaluation coefficient is updated to be smaller by adding a predetermined numerical value of 1 or less (for example, m5 = 1/5) to the calculated evaluation coefficient. In this case, for example, m5 = 1/5 can be used as the predetermined numerical value due to low reliability of the GPS 131, low reliability of the geomagnetic sensor, fluctuation in walking speed or fluctuation in walking strength, and the like. It is also possible to determine whether or not there is an increase or decrease in altitude, and when there is an increase or decrease in altitude, the evaluation coefficient can be updated to be smaller.

  Also, when the estimated position updated to the position on the road is in the vicinity of the railroad crossing, if a pedestrian stoppage is detected, or if noise is added to the detection level of the geomagnetic sensor, the pedestrian will Assuming that there is a high probability of stopping before this, the evaluation coefficient is updated to be smaller by adding a predetermined numerical value of 1 or less (for example, m6 = 1/3) to the calculated evaluation coefficient.

  As described above, it is possible to update the evaluation coefficient so as to decrease, to increase the certainty of the estimated position, and to determine the accuracy of position detection. Further, when detecting the own position based on the estimated position, it is possible to continue detecting the own position based on the most likely estimated position even when there are a plurality of estimated position candidates. Instead of reducing the value of the evaluation coefficient, all other estimated positions may be rejected. This corresponds to specifying the initial position of the estimated position.

  When there are a plurality of estimated position candidates, the estimated position having the smallest evaluation coefficient among the estimated position candidates is regarded as the position of the pedestrian, and the estimated position having an evaluation coefficient larger than a predetermined threshold is rejected from the candidate target. be able to. Further, when the estimated position of the other area and the estimated position of the road area exist at a walking distance that is equal to or greater than the threshold, the estimated position of the other area may be rejected because the existence probability is low. Furthermore, the estimated position that is outside the error range of the positioning position can be rejected. In addition, when there is only one estimated position and the estimated position is on the road for a predetermined time and / or distance, the estimated position is determined as the position of the pedestrian and the estimated The position evaluation coefficient is set to zero. Further, when there is no estimated position, a position obtained by accumulating the positioning position or the positioning locus from the latest estimated position until a new estimated position is obtained is set as a temporary estimated position (temporary position). Can do.

  FIG. 15 is an explanatory diagram showing an example of updating the estimated position M from the other area to the road area. As shown in FIG. 15, when it is determined that there is a road area and other areas within the error range of the estimated position M, the estimated position M is updated to a position on the road with a high probability that a pedestrian is on the road. . In this case, it is determined whether or not the walking azimuth at the estimated position M and the azimuth of the road substantially coincide with each other, and when it is determined that the azimuths of both coincide substantially, the estimated position M is updated to a position on the road. You may do it. When the estimated position M is updated, the evaluation coefficient and the error range can be updated or taken over as in the above example.

  FIG. 16 is an explanatory diagram showing an example of updating the estimated position M to the indoor area. When a pedestrian carrying the position detection device 10 is indoors, it is considered that both the following condition (1) and condition (2) are satisfied. That is, the condition (1) is when the reliability of the sensor or the like is equal to or lower than a predetermined threshold (low reliability). For example, the reliability of the GPS 131 is bad or the reliability of the geomagnetic sensor is bad. . Further, the condition (2) is a case where there is a disturbance of walking over a predetermined range (time and / or distance). For example, when the walking speed is low or the number of steps is small with reference to the predetermined walking speed or the number of steps per unit time, the walking speed is not substantially constant and the walking speed varies frequently, This is the case when there is meandering or circulation, or when the strength of walking is unstable. As another way of thinking other than the above conditions, when the altitude is greatly increased, the fact that the probability of being indoors is high may be used. In addition, when a pedestrian goes out on the roof of an indoor building or on the veranda of the building, the GPS or geomagnetic sensor data may be temporarily improved, but the reliability is not determined by the instantaneous value. Therefore, it is considered that there is no problem. If there is a problem, the presence / absence of indoors may be determined in combination with the altitude described above.

  Therefore, when it is determined that there is an indoor region within the error range of the estimated position M, when it is determined that the reliability of the sensor or the like is smaller than a predetermined threshold and there is a disturbance in walking, the pedestrian is in the indoor region. As described above, the estimated position M is updated to a position in the indoor area (for example, the position of the indoor area closest to the estimated position M). The estimated position after updating the estimated position is a position obtained by accumulating the amount of change in the walking trajectory from the update point. Further, the evaluation coefficient and error range can be updated or taken over. Thereby, even when a pedestrian moves from the outside to the inside, it is possible to continue supplementing the position with high accuracy.

  FIG. 17 is an explanatory diagram showing an example of updating the estimated position M from the indoor area to another indoor area. As shown in FIG. 17, when the indoor region exists within the error range of the estimated position updated last time (for example, the most recent time or two or three times before), the estimated position M When it is determined that the previous indoor area is out of the error range and there is another indoor area, the estimated position M is updated to a position within the other indoor area. Accordingly, when there is a situation in which a plurality of indoor areas are adjacent to each other, it is possible to continue to supplement the position of the pedestrian even when the pedestrian passes through the indoor area.

  FIG. 18 is an explanatory diagram showing an example of updating the estimated position M from the indoor area to the road area or other area. When a pedestrian carrying the position detection device 10 moves from indoor to outdoor, it is considered that both the following condition (1) and condition (2) are satisfied. That is, the condition (1) is a case where the reliability of the sensor or the like is equal to or higher than a predetermined threshold (recovery of reliability). For example, when the reliability of the GPS 131 is recovered, the reliability of the geomagnetic sensor is recovered Etc. Further, the condition (2) is a case where the disturbance of walking is recovered over a predetermined range (time or distance).

  Therefore, when it is determined that there is a road area or a walkable outdoor area (other area) within the error range of the estimated position M, it is determined that the reliability of the sensor or the like is greater than a predetermined threshold and there is no disturbance in walking. Then, the estimated position M is updated to a position in the road area or a position in the outdoor area. The estimated position after updating the estimated position is a position obtained by accumulating the amount of change in the walking trajectory from the update point. Further, the evaluation coefficient and error range can be updated or taken over. Thereby, even when a pedestrian moves from indoors to the outdoors, it becomes possible to continue supplementing the position with high accuracy.

  When the error range of the estimated position is an indoor area, if any of the following conditions (1) to (3) is satisfied, the estimated position is determined not to be in the indoor area, and the estimated position is Dismiss. Condition (1) is when the reliability of the sensor (GPS131, geomagnetic sensor, etc.) is recovered, and Condition (2) is when the disturbance of walking is recovered over a predetermined range (time and / or distance) The condition (3) is a predetermined distance (for example, 300 m) or more, and the walking speed is in a predetermined range (for example, 10 km / h to 20 km / h) (that is, the indoor area assuming that the pedestrian is riding a bicycle). There is no possibility of being in).

  If the error range of the estimated position is entirely an indoor area or a prohibited area, the estimated position may be rejected because the estimated position is inconsistent.

  Next, the correction of the positioning direction will be described. When the road is identified and its estimated position is determined by the map matching method, and the positioning direction does not change more than a predetermined walking distance (for example, 20 m), the positioning direction can be corrected to the road direction on the map. it can. The timing for correcting the positioning direction is, for example, when a situation where the specified estimated position is unique continues for a predetermined time (for example, 1 minute) or a predetermined distance (for example, 50 m), or for all specified positions The situation where the road direction on the map corresponding to the estimated position is within a predetermined threshold (for example, 2 degrees) continues for a predetermined time (for example, 1 minute) and / or for a predetermined distance (for example, 50 m). In this case, the positioning azimuth does not change more than a predetermined walking distance (for example, 20 m).

  Further, the following correction timing conditions can be added. As the condition (1), if the difference between the estimated position and the positioning position is within a predetermined threshold (for example, 50 m) for a predetermined time (for example, 1 minute) or a predetermined distance (for example, 50 m), (2) When the probability that the geomagnetic sensor is normal for a predetermined time (for example, 1 minute) or a predetermined distance (for example, 50 m) is low, for example, continuous for a predetermined walking distance (for example, 20 m) or more When the geomagnetic sensor is not normal, as the condition (3), when the probability that the GPS 131 is normal for a predetermined time (for example, 1 minute) and / or a predetermined distance (for example, 50 m) is low, for example, This is a case where the GPS 131 is not normal continuously for a predetermined walking distance (for example, 50 m). The correction of the positioning direction may be limited to the case where the road direction on the map is straight.

  Next, a display example for displaying the position of a pedestrian on a map will be described. When the position of the pedestrian is displayed on the display unit 18, when there is no estimated position, the positioning position or the temporary position is displayed, and when there is an estimated position, the estimated position (including the updated estimated position) is displayed. .

  FIG. 19 is an explanatory diagram showing an example of the display of the position of the pedestrian. When there is one estimated position, the estimated position (or including the updated estimated position) is displayed on the map, and the error range of the displayed estimated position is also displayed at the same time. When there are a plurality of estimated positions, one estimated position with the smallest evaluation coefficient can be displayed.

  FIG. 20 is an explanatory view showing another example of the display of the position of the pedestrian. When there are a plurality of estimated positions, an area including the plurality of estimated positions is displayed as the estimated position. In this case, a range including the error range of each estimated position may be displayed. In addition, the estimated position and its error range can be displayed at the same time by expanding or reducing the size of the estimated position error range according to the size of the estimated position evaluation coefficient. In the case where there are a plurality of values, a range including an error range of each estimated position may be displayed. Moreover, you may display the gravity center position of several estimated position.

  FIG. 21 is an explanatory view showing another example of the display of the position of the pedestrian. When there are a plurality of estimated positions, each estimated position is displayed, and the error range of each estimated position or the rank of probability is simultaneously displayed. In FIG. 21, the estimated position of the first candidate is the position of the pedestrian with the highest probability, and the estimated position of the second candidate indicates the position of the pedestrian with the next highest probability. In addition, when there are a plurality of estimated positions and there are a plurality of estimated positions of evaluation coefficients smaller than the predetermined threshold, only the positions where the evaluation coefficients are smaller than the threshold can be displayed. Thereby, the pedestrian can easily determine his / her position and can know not only the most likely position but also a possible position.

  FIG. 22 is an explanatory view showing another example of the display of the position of the pedestrian. In FIG. 22, when the display surface of the display unit 18 is small and the map information cannot be displayed in detail (for example, when the scale of the map cannot be increased), the road is displayed as a line segment. The position of the pedestrian can also be displayed as a single point.

  As described above, when the position specified (detected) by updating the estimated position is displayed as the position of the pedestrian, when there are a plurality of specified positions, it is most certain according to the magnitude of the calculated or corrected evaluation coefficient. The specific positions may be displayed, or a plurality of specific positions may be displayed, or some of the specified positions may be selected and displayed. Also, at a certain point in the process of detecting the position of the pedestrian, the position cannot be detected temporarily with high accuracy, and if the evaluation coefficient increases and the detected position is displayed, the pedestrian Even if there is a possibility that the wrong position is displayed, if the accuracy of the specific position is sufficiently secured as a result of the subsequent positioning, the position will be identified after the time when the certainty of the position can be secured. The position can also be displayed.

  Next, the procedure of the position detection process will be described. 23, 24 and 25 are flowcharts showing the procedure of the position detection process. The control unit 11 performs position detection processing in cooperation with each unit in the position detection device 10. The control unit 11 determines whether or not a search for an initial position is necessary (S11).

  Unlike in the case of pedestrians, in the case of a vehicle, position detection is almost impossible, and even when the power is turned off, the detected position is saved, so there is almost no need to search for the initial position. There is nothing. However, in the case of a pedestrian, the position may not be detected when coming out of the basement and the initial position needs to be searched. The search for the initial position is usually performed by communication with the base station because positioning by the GPS 131 takes time.

  When the search for the initial position is necessary (YES in S11), the control unit 11 searches for the initial position (S12), and sets the search position as a temporary positioning position (S13). When the search for the initial position is not necessary (NO in S11), that is, when one or more estimated positions are already held, the control unit 11 does not perform the processes of Step S12 and Step S13, but will be described later in Step S14. Perform the process.

  The control unit 11 determines whether or not there is communication with the road device (S14), and when there is communication with the road device (YES in S14), the positioning position is corrected to the communication position (S15), and the estimated that has been held. All positions are rejected (S16). The error due to narrow area communication (local communication) with the on-road device is considerably smaller than GPS etc., and the accuracy is high. Therefore, when the communication position is obtained by local communication, this communication position is the most reliable. It can be an estimated position.

  The control unit 11 registers the corrected positioning position as the estimated position (S17), and registers the attribute, error range, and evaluation coefficient of the map area of the estimated position (S18). Thereby, the new registration (initial registration) of the estimated position is completed, and the error range of the estimated position and the evaluation coefficient are set. When there is no communication with the road device (NO in S14), the control unit 11 performs the process of step S17 and registers the provisional positioning position as the estimated position.

  The control unit 11 acquires the positioning data (S19), confirms whether the positioning data is abnormal (S20), and calculates the reliability of the positioning data according to the confirmation result (S21). The control unit 11 calculates a positioning position based on the positioning data (S22), and calculates a positioning error of the positioning position (S23). As described above, the positioning position can be calculated by a combination of the independent navigation using the distance sensor 132, the direction sensor 133, and the like and the satellite navigation using the GPS 131 or the like. However, when there is no high obstacle such as a building around and the positioning performance of the GPS satellite is very good, it is possible to perform positioning using only the GPS satellite without using self-contained navigation.

  The control unit 11 acquires the walking behavior of the pedestrian (S24), and determines whether the map information and the signal information from the external device are updated (S25). When the map information and the signal information are updated (YES in S25), the control unit 11 acquires the map information and the signal information (S26). When the map information and the signal information are not updated (NO in S25), the control unit 11 performs the process of step S27 described later without performing the process of step S26.

  The control unit 11 determines whether the map matching function is stopped (S27). The condition for determining whether or not the map matching function is stopped is, for example, when the walking speed of the pedestrian is larger than a predetermined threshold or when the position of the pedestrian is detected over a predetermined distance in the indoor area. . The predetermined threshold can be set to 60 km / h, for example, and when the walking speed becomes larger than the predetermined threshold, the pedestrian uses a vehicle such as a train or a car, or other transportation, and maps Stops pedestrian position detection by matching. Further, the predetermined distance can be set to 5 km, for example, and when the position of the pedestrian is detected over a predetermined distance in the indoor area, the pedestrian can use other transportation such as a train or a subway. Is used, the position detection of the pedestrian by map matching is stopped. Thereby, erroneous position detection can be prevented.

  If the map matching function is not stopped (NO in S27), the control unit 11 performs an estimated position update process (S28). Details of the update process of the estimated position will be described later. After updating the estimated position, the control unit 11 determines whether the map matching function needs to be stopped (S29). If there is a need to stop (YES in S29), the control unit 11 stops the map matching function and estimates. All positions are rejected (S30).

  The control unit 11 determines whether or not the condition for initial registration (new registration) of the estimated position is satisfied (S31). If the condition is satisfied (YES in S31), the initial registration of the estimated position is performed based on the positioning position. (New registration) is performed (S32). When the map matching function is stopped (YES in S27), the control unit 11 performs the process of step S31. If there is no need to stop the map matching function (NO in S29), the control unit 11 performs a process in step S33 described later, and does not satisfy the initial registration (new registration) condition of the estimated position (NO in S31). ), Similarly, the process of step S33 described later is performed.

  The control unit 11 determines the presence / absence of the estimated position (including the updated estimated position) (S33). If there is an estimated position (YES in S33), the estimated position is displayed on the display unit 18 (S34). If there is no (NO in S33), the positioning position or the temporary position is displayed on the display unit 18 (S35).

  The control unit 11 determines whether or not the positioning azimuth correction condition is satisfied (S36), and when the condition is satisfied (YES in S36), the positioning azimuth is corrected to the road direction on the map (S37). If the positioning azimuth correction condition is not satisfied (NO in S36), the control unit 11 performs the process of step S38 described later without performing the process of step S37.

  The control unit 11 determines whether or not the sensor needs to be calibrated (S38). If calibration is necessary (YES in S38), the sensor 11 is calibrated (S39). When sensor calibration is not necessary (NO in S38), the control unit 11 performs the process of Step S40 described later without performing the process of Step S39. The control unit 11 determines whether or not there is an instruction to end the process (S40). If there is no instruction (NO in S40), the process from step S11 is continued, and if there is an instruction (YES in S40), the process ends. .

  Next, the update process of the estimated position will be described. 26, 27, 28, 29, 30 and 31 are flowcharts showing the procedure of the estimated position update process. The control unit 11 calculates an estimated position based on the positioning position and the positioning trajectory (S100), and determines whether or not the change amount of the positioning azimuth (azimuth angle difference) is larger than a predetermined azimuth threshold (S101). That is, the control unit 11 determines whether or not the orientation of the positioning locus is changing.

  When the amount of change in positioning azimuth is not larger than the predetermined azimuth threshold value (NO in S101), that is, when the azimuth of the positioning trajectory is not changing, the control unit 11 is a map within the error range of the estimated position calculated in step S100. The attribute of the area is determined (S102). If there are a plurality of attributes within the error range, the attributes can be specified according to the priority order of the attributes. The control unit 11 determines whether or not the attribute is a road area (S103). If the attribute is not a road area (NO in S103), the control unit 11 determines whether or not the attribute is an indoor area (S104).

  When the attribute is not the indoor area (NO in S104), the control unit 11 determines that the attribute is the other area and determines whether or not the reliability of the positioning data is smaller than a predetermined threshold (S105). When the reliability is smaller than the threshold (YES in S105), the control unit 11 determines that the reliability of the positioning data is low, and determines whether or not the pedestrian is disturbed in walking (S106).

  When there is a pedestrian disturbance (YES in S106), the control unit 11 determines whether there is an indoor area within the error range of the estimated position (S107), and when there is an indoor area (YES in S107). ), Update the estimated position to the position in the indoor area (S108), change the attribute of the estimated position to the indoor area (S109), update or inherit the error range and evaluation coefficient of the estimated position (S110), finish. Thereby, the error range and evaluation coefficient of the updated estimated position can be obtained. If the change amount of the positioning azimuth is larger than the predetermined azimuth threshold (YES in S101), that is, if the azimuth of the positioning locus is changing, the control unit 11 ends the process.

  When the reliability of the positioning data is not smaller than the predetermined threshold (NO in S105), or when there is no disturbance of walking of the pedestrian (NO in S106), the control unit 11 is unlikely to be inside the pedestrian. Then, it is determined whether or not there is a road area within the error range of the estimated position (S111). When there is a road area within the error range (YES in S111), the control unit 11 determines whether or not the positioning direction and the road direction substantially match (S112).

  When the positioning azimuth and the road azimuth substantially coincide (YES in S112), the control unit 11 updates the estimated position to a position in the road area (S113), changes the attribute of the estimated position to the road area (S114), The error range of the estimated position and the evaluation coefficient are updated or inherited (S115), and the process ends. If the positioning direction and the road direction do not substantially match (NO in S112), the control unit 11 ends the process.

  When there is no road area within the error range of the estimated position (NO in S111), the control unit 11 determines whether or not there is another area within the error range of the estimated position (S116), and the other area within the error range. If there is any (YES in S116), the process is terminated. When there is no other region within the error range (NO in S116), the control unit 11 rejects the estimated position (S117) and ends the process. When there is no indoor area within the error range of the estimated position (NO in S107), the control unit 11 performs the process of step S117.

  When the attribute within the error range of the estimated position is a road region (YES in S103), the control unit 11 determines whether or not the reliability of the positioning data is smaller than a predetermined threshold (S118). When the reliability is smaller than the threshold (YES in S118), the control unit 11 determines that the reliability of the positioning data is low, and determines whether or not the pedestrian is disturbed in walking (S119).

  When there is a pedestrian disturbance (YES in S119), the control unit 11 determines whether there is an indoor area within the error range of the estimated position (S120), and when there is an indoor area (YES in S120). ), Update the estimated position to a position in the indoor area (S121), change the attribute of the estimated position to the indoor area (S122), update or inherit the error range and evaluation coefficient of the estimated position (S123), finish. Thereby, the error range and evaluation coefficient of the updated estimated position can be obtained.

  When the reliability of the positioning data is not smaller than the predetermined threshold (NO in S118), or when there is no disturbance of walking of the pedestrian (NO in S119), the control unit 11 is unlikely to be inside the pedestrian. In consideration of the connection relationship of the road areas, it is determined whether or not the road area whose previous position has been updated is outside the error range of the estimated position (S124). If it is not outside the error range (NO in S124), the control unit 11 determines whether or not the positioning direction and the road direction substantially match (S125).

  If the positioning azimuth and the road azimuth are substantially the same (YES in S125), the control unit 11 updates the estimated position to a position in the road area (S126), updates the evaluation coefficient of the estimated position (S127), and performs the processing. finish. If the positioning azimuth and the road azimuth do not substantially match (NO in S125), the control unit 11 ends the process.

  If the road area where the previous position has been updated is outside the error range of the estimated position (YES in S124), the control unit 11 determines whether there is another road area within the error range of the estimated position (S128). If there is another road area (YES in S128), it is determined whether or not the positioning direction and the road direction substantially coincide (S129).

  When the positioning direction and the road direction substantially coincide (YES in S129), the control unit 11 updates the estimated position to a position in the road area (another road area) (S130), and the estimated position error range and evaluation coefficient Is updated or inherited (S131), and the process is terminated. If the positioning direction and the road direction do not substantially match (NO in S129), the control unit 11 ends the process.

  If there is no other road region within the error range of the estimated position (NO in S128), the control unit 11 changes the attribute of the estimated position to another region (S132), and inherits the error range and evaluation coefficient of the estimated position. (S133), the process ends. When there is no indoor area within the error range of the estimated position (NO in S120), the control unit 11 performs the process of step S117.

  When the attribute within the error range of the estimated position is an indoor area (YES in S104), the control unit 11 determines whether or not the reliability of the positioning data is smaller than a predetermined threshold (S134). When the reliability is smaller than the threshold (YES in S134), the control unit 11 determines that the reliability of the positioning data is low, and determines whether or not the pedestrian is disturbed in walking (S135).

  If there is a pedestrian disturbance (YES in S135), the control unit 11 determines whether or not the walking speed is within a predetermined range for a predetermined distance or more (S136), and is not within the predetermined range. In the case (NO in S136), it is determined whether there is an indoor area within the error range of the estimated position (S137). When there is an indoor area within the error range of the estimated position (YES in S137), the control unit 11 updates the estimated position to a position in the indoor area (S138), and changes the attribute of the estimated position to the indoor area (S139). ) Update or inherit the error range and evaluation coefficient of the estimated position (S140), and end the process.

  When the reliability of the positioning data is not smaller than the predetermined threshold (NO in S134), or when there is no disturbance of walking of the pedestrian (NO in S135), the control unit 11 is unlikely to be indoors. Then, it is determined whether or not there is a road area within the error range of the estimated position (S141). If there is a road area (YES in S141), it is determined whether or not the positioning direction and the road direction substantially match ( S142).

  When the positioning azimuth and the road azimuth substantially coincide (YES in S142), the control unit 11 updates the estimated position to a position in the road area (S143), changes the attribute of the estimated position to the road area (S144), The error range of the estimated position and the evaluation coefficient are updated or inherited (S145), and the process ends.

  When there is no road region within the error range of the estimated position (NO in S141), or when the positioning direction and the road direction do not substantially match (NO in S142), the control unit 11 determines that the other region is within the error range of the estimated position. It is determined whether or not there is any other area (YES in S146), the attribute of the estimated position is changed to the other area (S147), and the error range and evaluation coefficient of the estimated position are inherited (S148). The process is terminated. When there is no other region within the error range of the estimated position (NO in S146), the control unit 11 performs the process of step S117.

  When the walking speed is within a predetermined range for a predetermined distance or more (YES in S136), or when there is no indoor area within the error range of the estimated position (NO in S137), the control unit 11 performs the process of step S117. I do.

  As described above, according to the present invention, when the position of a pedestrian is specified, the situation where the position of the pedestrian frequently flies on different roads on the map is prevented, and Even when walking, the position of the pedestrian can be detected with higher accuracy than in the past. In addition, it can be used for dealing with emergency situations such as traffic accidents between pedestrians and vehicles, or for crime prevention, and it is possible to enhance the safety and security of pedestrians.

  As described above, several examples have been shown as methods for specifying the position of a pedestrian by associating the walking behavior and reliability of positioning data together with the map information together with the physical position or orientation. Elevator when riding on an elevator or escalator, identification of the escalator position (considering walking stop, change in altitude or atmospheric pressure, reliability of positioning data), access to the access point when getting down to the underground city or subway access point Identification (considering changes in walking speed and walking strength, changes in altitude or barometric pressure, reliability of positioning data), identification of ticket vending machine position when stopped at a ticket vending machine in a subway station (walking stop, positioning) Considering the reliability of data), if you get on a bus or streetcar at a stop, it is possible to specify the stop (walking stop, change in position), etc. if you register the specific position of public objects etc. in the map information Become.

  In the above example, the map area attribute, position detection, position detection error range, etc. are all expressed in two dimensions to simplify the expression. However, even if altitude information is included, it can be expressed in three dimensions. Good. This can improve the accuracy of pedestrian overpasses and underground crossing passages that are related to altitude, and it is also possible to estimate whether it is on the floor of a building in an indoor area, whether it is on the rooftop, etc. It becomes. In addition, the above description describes a case where a pedestrian wears a portable device during normal walking or bicycle riding, but the present invention is not limited to this, and the pedestrian directly Put your bag or mobile device in a travel case with wheels, carts, prams, wheelchairs, etc., temporarily install or temporarily place it, carry it by a pedestrian, push or pull the car, or pull the wheel by hand. It may be a case where it is rotating and passing through an area where a pedestrian can pass. In this case, these conditions may be estimated from the data of the step sensor, and the distance may be calculated by detecting the number of steps of the pedestrian or the period of rotation by hand.

  In addition, in the above, position detection is stopped when a pedestrian gets on a train or a car, but a map matching type position detection system is prepared separately when a person gets on a train or gets on a car. Thus, the position detection may be continuously performed. Thereby, it is not necessary to perform position detection from the beginning, and a more effective system can be constructed. Furthermore, in the above example, the form in which all the data required for position detection is collected and detected in the mobile device is shown. However, the present invention is not limited to this, and the necessary data is transmitted from the mobile device to the server installed on the road or in the center. For example, the server may execute the position detection process on the server, and the result may be transmitted to the mobile device. Or you may share execution of a process. This can reduce the burden on the mobile device.

  The position detection device described above can be applied to an information terminal device such as a mobile phone, a PDA (Personal Digital Assistant), a PHS, a notebook personal computer, a music player, and a mobile game device, or a mobile terminal device.

  In the above-described embodiment, the position detection device may include an inclination angle sensor. As a result, when the position detection device tilts due to vibration or posture change of the position detection device accompanying walking, taking out, operation, etc. of the pedestrian, the function stops or the performance deteriorates depending on the type of the direction sensor or the distance sensor. There are things to do. Accordingly, the tilt angle can be detected by the tilt angle sensor, and the azimuth sensor or the distance sensor can be corrected.

  The mathematical formulas for estimating the position of the pedestrian shown in the above-described embodiment are merely examples, and the mathematical formulas are not limited thereto, and mathematical formulas appropriately modified can be used.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a block diagram which shows an example of a structure of the position detection apparatus which concerns on this invention. It is explanatory drawing which shows the example of the error range of a positioning position. It is a schematic diagram which shows an example of map information. It is explanatory drawing which shows an example of the attribute of the area | region on a map. It is explanatory drawing which shows the example of a setting of the road on a map. It is explanatory drawing which shows an example of the new registration of an estimated position. It is explanatory drawing which shows an example of calculation of the evaluation coefficient of the newly registered estimated position. It is explanatory drawing which shows the example of calculation of the locus | trajectory of an estimated position. It is explanatory drawing which shows an example of the update of an estimated position. It is explanatory drawing which shows the other example of the update of an estimated position. It is explanatory drawing which shows the other example of the update of an estimated position. It is explanatory drawing which shows an example of calculation of the evaluation coefficient of the estimated position in a feature point. It is explanatory drawing which shows the other example of calculation of the evaluation coefficient of the estimated position in a feature point. It is explanatory drawing which shows the other example of the evaluation coefficient of an estimated position. It is explanatory drawing which shows the example of an update of the estimated position from another area | region to a road area | region. It is explanatory drawing which shows the example of an update of the estimated position to an indoor area | region. It is explanatory drawing which shows the example of an update of the estimated position from an indoor area | region to another indoor area | region. It is explanatory drawing which shows the example of an update of the estimated position from an indoor area | region to a road area | region or another area | region. It is explanatory drawing which shows an example of the display of a pedestrian's position. It is explanatory drawing which shows the other example of a display of the position of a pedestrian. It is explanatory drawing which shows the other example of a display of the position of a pedestrian. It is explanatory drawing which shows the other example of a display of the position of a pedestrian. It is a flowchart which shows the procedure of a position detection process. It is a flowchart which shows the procedure of a position detection process. It is a flowchart which shows the procedure of a position detection process. It is a flowchart which shows the procedure of the update process of an estimated position. It is a flowchart which shows the procedure of the update process of an estimated position. It is a flowchart which shows the procedure of the update process of an estimated position. It is a flowchart which shows the procedure of the update process of an estimated position. It is a flowchart which shows the procedure of the update process of an estimated position. It is a flowchart which shows the procedure of the update process of an estimated position.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Position detection apparatus 11 Control part 12 Communication part 13 Positioning part 131 GPS
132 Distance Sensor 133 Direction Sensor 134 Altitude Sensor 135 Direction Correction Unit 136 Sensor Calibration Unit 14 Map Database 15 Storage Unit 16 Operation Unit 17 Position Detection Processing Unit 171 Position Estimation Unit 172 Error Calculation Unit 173 Attribute Determination Unit 174 Walking Behavior Determination Unit 175 Position Update unit 176 Reliability calculation unit 177 Evaluation unit 18 Display unit 19 Audio output unit

Claims (27)

In a position identification device that measures its position in time series and identifies its position on a map,
Storage means for storing map information including attributes for classifying regions on the map;
An estimation means for estimating its position on a map based on positioning data obtained by positioning;
An error range calculation means for calculating an error range indicating an estimation error range of the estimated position estimated by the estimation means;
Attribute determination means for determining the attribute of the area within the error range calculated by the error range calculation means;
A position specifying device comprising: specifying means for specifying an own position by associating the estimated position estimated by the estimating means with the attribute determined by the attribute determining means. It can be carried by pedestrians,
A walking behavior acquisition means for acquiring the walking behavior of a pedestrian is provided,
The specifying means is:
The position specifying device according to claim 1, wherein the position is specified by further associating the walking behavior acquired by the walking behavior acquiring means. A reliability calculation means for calculating the reliability of positioning data is provided.
The specifying means is:
The position specifying device according to claim 2, wherein the position is specified by further associating the reliability calculated by the reliability calculating means. Evaluation coefficient calculating means for calculating an evaluation coefficient for evaluating the likelihood of the estimated position estimated by the estimating means,
The specifying means is:
The position specifying device according to claim 2 or 3, wherein the position is specified by further associating the evaluation coefficient calculated by the evaluation coefficient calculating means. In accordance with the position specified by the specifying means and the walking behavior acquired by the walking behavior acquiring means, the correction means for correcting the evaluation coefficient calculated by the evaluation coefficient calculating means,
The specifying means is:
The position specifying device according to claim 4, wherein the position is specified by further associating the evaluation coefficient corrected by the correcting unit. The storage means
The road area for pedestrians is stored as an attribute,
The specifying means is:
The structure according to any one of claims 2 to 5, wherein when the attribute determining means determines that the road area is for a pedestrian, the position in the road area is specified. The positioning device described in 1. Comprising an azimuth difference calculating means for calculating an azimuth difference between the azimuth of the moving direction of the pedestrian at the estimated position estimated by the estimating means and the road azimuth of the road area determined by the attribute determining means;
The specifying means is:
The position specifying device according to claim 6, wherein the position specifying device is configured to specify a position in the road region when the direction difference calculated by the direction difference calculating means is smaller than a predetermined threshold value. The specifying means is:
When it is determined by the attribute determination means that the attribute determination means is not a road area for a pedestrian previously determined by the attribute determination means, but a position in the other road area is specified. The position specifying device according to claim 6, wherein the position specifying device is configured. The storage means
The indoor area is stored as an attribute,
Walking determination means for determining the presence or absence of disturbance of walking based on the walking behavior acquired by the walking behavior acquisition means,
The specifying means is:
When the attribute determining means determines that the area is an indoor area, the reliability calculated by the reliability calculating means is lower than a predetermined threshold value, and the walking determining means determines that there is a disturbance in walking. The position specifying device according to claim 3, wherein the position specifying apparatus is configured to specify a position in an area. The specifying means is:
When the attribute determining unit determines that the attribute determining unit is not the indoor area previously determined but another indoor area, the attribute determining unit is configured to identify a position in the different indoor area. The position specifying device according to claim 9. The storage means
The walking outdoor area is stored as an attribute,
Walking determination means for determining the presence or absence of disturbance of walking based on the walking behavior acquired by the walking behavior acquisition means,
The specifying means is:
When it is determined that the attribute determining unit is a road area or a walkable outdoor region, the reliability calculated by the reliability calculating unit is higher than a predetermined threshold, and there is no disturbance in walking by the walking determining unit. The position specifying device according to claim 3, wherein the position specifying device is configured to specify a position in the road area or an outdoor area when the determination is made. Walking determination means for determining the presence or absence of disturbance of walking based on the walking behavior acquired by the walking behavior acquisition means;
When the reliability calculated by the reliability calculation means is higher than a predetermined threshold, or when it is determined by the walking determination means that there is no disturbance in walking, estimated position registration means for registering an estimated position, and
The estimation means includes
4. The position specifying apparatus according to claim 3, wherein the position is estimated from the estimated position registered by the estimated position registration means as a starting point.   The position specifying device according to any one of claims 1 to 12, further comprising display means for displaying the position specified by the specifying means. The evaluation coefficient calculation means includes
5. The position specifying device according to claim 4, wherein an evaluation coefficient is calculated based on a positional deviation between a positioning position on a map based on positioning data and an estimated position corresponding to the positioning position. . A positional deviation calculating means for calculating a positional deviation between a positioning position based on positioning data at each of a plurality of points on the map and an estimated position corresponding to the positioning position;
The evaluation coefficient calculation means includes
The position specifying device according to claim 4, wherein the evaluation coefficient is calculated based on a statistical value indicating a variation in the difference in misregistration calculated by the misregistration calculating means. A positional deviation calculating means for calculating a positional deviation between the point and an estimated position corresponding to the point at each of a plurality of points in the road region;
The evaluation coefficient calculation means includes
The position specifying device according to claim 4, wherein an evaluation coefficient is calculated based on a statistical value indicating a position shift calculated by the position shift calculating unit.   The position specification according to any one of claims 14 to 16, further comprising display means for displaying the position specified by the specification means based on the evaluation coefficient calculated by the evaluation coefficient calculation means. apparatus. The storage means
I remember the pedestrian crossing as an attribute,
The correction means includes
When the position specified by the specifying means is at or near a pedestrian crossing, and the walking behavior acquired by the walking behavior acquisition means is an increase in walking speed or stop walking, the evaluation coefficient is corrected. The position specifying device according to claim 5, wherein the position specifying device is provided. The storage means
I remember the pedestrian crossing as an attribute,
Further comprising signal information acquisition means for acquiring signal information including a green light start time or a red light start time of the pedestrian crossing,
The correction means includes
When the position specified by the specifying means is at or near a pedestrian crossing, the evaluation coefficient is corrected according to the walking behavior at the start of the green signal or the walking behavior at the start of the red signal. The position specifying device according to claim 5, wherein The storage means
I remember the pedestrian bridge as an attribute,
The correction means includes
When the position specified by the specifying means is on a pedestrian bridge, when the walking behavior acquired by the walking behavior acquisition means is a change in walking speed or a change in walking strength, the evaluation coefficient is corrected. The position specifying device according to claim 5, wherein the position specifying device is provided. The storage means
I remember the railroad crossing as an attribute,
The correction means includes
The configuration is such that, when the position specified by the specifying means is in the vicinity of a railroad crossing, the evaluation coefficient is corrected when the walking behavior acquired by the walking behavior acquisition means is walking stop. Item 6. The position specifying device according to Item 5. The storage means
I remember the underground crossing passage as an attribute,
The correction means includes
When the position specified by the specifying means is an underground crossing passage, the reliability calculated by the reliability calculation means is lower than a predetermined threshold, and the walking behavior acquired by the running behavior acquisition means is a change in walking speed or The position specifying device according to claim 5, wherein the position identifying device is configured to correct the evaluation coefficient when the walking intensity varies.   23. The position specifying device according to claim 18, further comprising display means for displaying the position specified by the specifying means based on the evaluation coefficient corrected by the correcting means.   When the walking behavior acquired by the walking behavior acquisition means is a walking speed greater than a predetermined threshold, or when the position is specified over a predetermined distance in the indoor area by the specifying means, the position specification is stopped. The position specifying device according to any one of claims 2 to 23, further comprising stop means. When the position is specified by the specifying means, a position error registration means for registering a position error of the specific position is provided,
The error range calculation means includes
The error range is calculated by adding a value corresponding to the moving distance or moving direction from the specific position to the position error registered by the position error registering unit. The position specifying device according to any one of claims 1 to 24. In a computer program for causing a computer to determine its position in time series and specifying its position on a map,
An estimation means for estimating the position of the computer based on positioning data obtained by positioning the computer;
An error range calculation means for calculating an error range indicating an estimated error range of the estimated position;
Attribute determination means for determining an attribute for classifying an area on the map within the calculated error range;
A computer program which functions as a specifying means for specifying an own position by associating an estimated position with a determined attribute. In a position identification method that measures its position in time series and identifies its position on a map,
Stores map information including attributes for classifying areas on the map,
Estimate your position on the map based on the positioning data obtained by positioning,
Calculate the error range indicating the range of the estimated error of the estimated position,
Determine the attributes of the area within the calculated error range,
A position specifying method characterized by associating an estimated position with a determined attribute to specify its own position.

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