JP2014202617A - Positioning device, integrated circuit device, electronic device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning device, an integrated circuit device, an electronic device and a program that enable improvement in positioning accuracy.SOLUTION: A positioning device 1 includes: a first positioning part 10 that performs a first positioning process of performing positioning on the basis of a radio signal; an autonomous positioning sensor 20 that detects a status of the positioning device 1; a second positioning part 30 that performs a second positioning process of performing positioning on the basis of an output of the autonomous positioning sensor 20; a posture determination part 40 that determines whether or not a posture of the positioning device 1 changes on the basis of the output of the autonomous positioning sensor 20; and a correction part 50. When the posture determination part 40 determines that the posture of the positioning device 1 changed at first time at a position between a first point and a second point, the correction part 50 performs a correction process with respect to a movement direction to be calculated from a series of position data to be acquired after the first time.

Description

  The present invention relates to a positioning device, an integrated circuit device, an electronic device, and a program.

  Conventionally, by combining positioning by GPS (Global Positioning System) and autonomous positioning using an acceleration sensor, geomagnetic sensor, etc., the position data of each point in the movement route is accumulated. A device has been developed. Autonomous positioning can be performed by continuously measuring the relative amount and direction of movement even in areas where GPS satellite radio waves do not reach. In general, autonomous positioning can be performed with less power consumption than positioning by GPS.

  However, when a person holds a positioning device that uses autonomous positioning, it can be in a pocket, in a bag, or held in a hand. It is required to estimate the direction.

  In the technique described in Patent Document 1, the moving direction is estimated based on the direction of geomagnetism detected by the geomagnetic sensor and the output fluctuation pattern of the acceleration sensor.

  On the other hand, in the technique described in Patent Document 2, the holding state of the positioning device is determined, the autonomous positioning method is switched according to the determined state, and the positioning accuracy of the autonomous positioning is deteriorated even when the holding state changes. I try not to.

JP 2012-98263 A JP 2012-98137 A

  However, if the user changes the holding state of the positioning device during autonomous positioning, the moving direction may be incorrect due to the influence. As a result, there is a problem that, for example, the movement information is recognized as being changed when the holding state is changed even though the vehicle is traveling straight, and the movement locus is bent. Therefore, as described in Patent Document 1, even if correction is performed to rotate / enlarge / reduce the movement locus so that position data obtained by autonomous positioning overlaps position data obtained by GPS, the movement locus itself Since the shape is different from the original shape, a sufficient correction effect cannot be obtained, and the positioning accuracy is deteriorated.

  In addition, as long as there are about two or three types of holding states to be handled, it is possible to perform discrimination and switching of autonomous positioning according to each holding state as in Patent Document 2, but there are changes in holding states to be handled. In many cases, it is not practical to devise an optimal method for each state and switch between them. In addition, when autonomous positioning is performed in a holding state that is not supported, positioning accuracy may be deteriorated.

  The present invention has been made in view of the above technical problems. According to some aspects of the present invention, it is possible to provide a positioning device, an integrated circuit device, an electronic device, and a program that can improve positioning accuracy.

[Application Example 1]
The positioning device according to this application example is a positioning device, and includes a first positioning unit that performs a first positioning process for positioning based on a radio signal, an autonomous positioning sensor that detects a state of the positioning device, and the autonomous positioning. A second positioning unit that performs a second positioning process for positioning based on the output of the sensor, an attitude determination unit that determines whether the attitude of the positioning device has changed based on the output of the autonomous positioning sensor, and correction The first positioning unit intermittently performs the first positioning process at the first point and the second point in a process in which the positioning device moves from the first point to the second point. The second positioning unit acquires a series of position data through a process in which the positioning device moves from the first point to the second point, and the correction unit receives the second data from the first point. The positioning device at the first time at a position between the points If the posture determines said posture determination unit to those changes, the correction process with respect to the moving direction calculated from the set of position data obtained after the first time, a positioning device.

  When the attitude of the positioning device changes, the accuracy of autonomous positioning (particularly the accuracy related to the moving direction) tends to deteriorate. According to this application example, when the attitude of the positioning device changes, correction processing is performed with respect to the moving direction, so that a positioning device that can improve positioning accuracy can be realized.

[Application Example 2]
In the above positioning device, the correction unit is configured to acquire the moving direction calculated from the series of position data acquired after the first time in the correction process before the first time. It is preferable to correct based on the moving direction calculated from the position data.

  Thereby, the shift | offset | difference of the moving direction before and behind the attitude | position of a positioning apparatus can be correct | amended easily.

[Application Example 3]
In the above positioning device, the second positioning unit includes a movement direction calculation unit that calculates a movement direction of the positioning device, and a storage unit that stores a movement direction calculated by the movement direction calculation unit, and the correction When the posture determination unit determines that the posture of the positioning device has changed, the storage unit calculates the movement direction calculated by the second positioning unit from the movement direction calculated by the movement direction calculation unit. It is preferable to switch to the moving direction to be stored.

  Thereby, the correction unit can easily perform the correction process.

[Application Example 4]
In the positioning device described above, it is preferable that the first positioning unit performs the first positioning process at a second time after a predetermined time has elapsed from the first time.

  When the attitude of the positioning device changes at the first time, it is desirable to perform the first positioning at a time shorter than the intermittent first positioning time interval to correct the second positioning. In the above positioning device, when the attitude of the positioning device changes, a measurement request for the first positioning is made, and the first positioning process is performed at the second time. Thus, the first positioning process can be performed promptly after the attitude of the positioning device changes. Accordingly, a positioning device that can improve positioning accuracy can be realized.

[Application Example 5]
In the positioning device described above, the autonomous positioning sensor includes an acceleration sensor, and the posture determination unit determines whether or not the posture of the positioning device has changed based on a change in a gravity direction vector detected by the acceleration sensor. Is preferably determined.

  Thereby, a change in the attitude of the positioning device can be easily detected.

[Application Example 6]
In the positioning device described above, it is preferable that the posture determination unit determines whether or not the posture of the positioning device has changed based on a result of low-pass filtering the change in the gravity direction vector.

  Accordingly, for example, a small change in posture such as when the user is walking with a hand while looking at the positioning device can be ignored, so that it is possible to suppress performing correction processing more than necessary.

[Application Example 7]
In the above positioning device, the autonomous positioning sensor further includes a geomagnetic sensor, and the posture determination unit is further based on a change in yaw angle per unit time detected by the acceleration sensor and the geomagnetic sensor, It is preferable to determine whether or not the position of the positioning device has changed.

  In the case of a posture change in which the yaw angle of the positioning device described above mainly changes, it is difficult to detect the posture change by detection using an acceleration sensor. Therefore, the posture change is determined based on the detection result of the yaw angle by the geomagnetic sensor. Thereby, even when the traveling direction of the positioning device changes suddenly, it can be detected as a change in the posture of the positioning device.

[Application Example 8]
The integrated circuit device according to this application example receives a first input unit that receives position-related information that is information about a position based on a radio signal, and a first positioning process that performs positioning based on the position-related information. A positioning unit; a second input unit that receives input of detection result information that is information related to a detection result of the autonomous positioning sensor; a second positioning unit that performs a second positioning process for positioning based on the detection result information; and the detection An attitude determination unit that determines whether or not the attitude of the autonomous positioning sensor has changed based on the result information; and a correction unit, wherein the first positioning unit is configured such that the autonomous positioning sensor is a first point from the first point. In the process of moving to two points, the first positioning process is intermittently performed at the first point and the second point, and the second positioning unit is configured such that the autonomous positioning sensor is moved from the first point to the second point. Move to the point A series of position data obtained through a process is acquired, and the correction unit is a position between the first point and the second point, and the posture of the autonomous positioning sensor changed at the first time and the posture When the determination unit determines, the integrated circuit device performs correction processing on a moving direction calculated from the series of position data acquired after the first time.

  When the attitude of the autonomous positioning sensor changes, the accuracy of autonomous positioning (particularly the accuracy related to the moving direction) tends to deteriorate. According to this application example, when the attitude of the autonomous positioning sensor changes, correction processing is performed with respect to the moving direction, so that an integrated circuit device that can improve positioning accuracy can be realized.

[Application Example 9]
The electronic device according to this application example is an electronic device including the above positioning device or the above integrated circuit device.

  Thus, an electronic device that can improve positioning accuracy can be realized.

[Application Example 10]
The program according to this application example includes a first input unit that receives input of position related information that is information related to a position based on a radio signal, and a first positioning unit that performs a first positioning process of positioning based on the position related information. A second input unit that receives an input of detection result information that is information related to a detection result of an autonomous positioning sensor that performs detection related to movement and direction, and a second positioning process that performs second positioning processing based on the detection result information And a program for causing the computer to function as an attitude determination unit that determines whether or not the attitude of the autonomous positioning sensor has changed based on the detection result information, and a correction unit. A unit that intermittently performs the first positioning process at the first point and the second point in a process in which the autonomous positioning sensor moves from the first point to the second point; The unit obtains a series of position data through a process in which the autonomous positioning sensor moves from the first point to the second point, and the correction unit includes a position between the first point and the second point. When the posture determination unit determines that the posture of the autonomous positioning sensor has changed at a first time at a position, with respect to the moving direction calculated from the series of position data acquired after the first time. This is a program that performs correction processing.

  When the attitude of the autonomous positioning sensor changes, the accuracy of autonomous positioning (particularly the accuracy related to the moving direction) tends to deteriorate. According to this application example, when the attitude of the autonomous positioning sensor changes, the correction process is performed with respect to the moving direction, so that a program capable of improving the positioning accuracy can be realized.

It is a functional block diagram of the positioning apparatus 1 which concerns on this embodiment. It is a block diagram which shows the specific structural example of the positioning apparatus 1 which concerns on this embodiment. The block diagram which shows the specific structural example of the 2nd positioning part 30a in a prior art, It is a block diagram which shows the specific structural example of the 2nd positioning part 30 in this embodiment. 4A, 4 </ b> B, and 4 </ b> C are diagrams illustrating an example of an appearance of the electronic device 1000. It is a flowchart which shows the operation example of the positioning apparatus 1 which concerns on this embodiment. It is a flowchart which shows the operation example of the positioning apparatus 1 which concerns on this embodiment. FIG. 6A is a graph showing an example of detection results of the triaxial acceleration sensor 21, and FIG. 6B is a graph showing an example of detection results of an axis in which the gravity direction vector is dominant. FIG. 7A and FIG. 7B are diagrams for explaining the correction process (first correction process and second correction process). FIG. 8A and FIG. 8B are diagrams for explaining the correction processing according to the prior art. FIG. 9A is a diagram showing an example of mapping on the map the simulation result of the movement trajectory obtained by the positioning device 1 of the present embodiment, and FIG. 9B is the simulation result of the movement trajectory obtained by the prior art. It is a figure which shows the example which mapped on the map.

  Preferred embodiments of the present invention will now be described in detail with reference to the drawings. The drawings used are for convenience of explanation. In addition, the Example described below does not unduly limit the content of the present invention described in the claims. Also, not all of the configurations described below are essential constituent requirements of the present invention.

1. Overall Configuration FIG. 1 is a functional block diagram of a positioning device 1 according to this embodiment. In the following embodiments, a portable positioning device 1 that can be easily carried by a user will be described as an example.

  The positioning device 1 according to the present embodiment includes a first positioning unit 10 that performs a first positioning process for positioning based on a radio signal, an autonomous positioning sensor 20 that detects a state of the positioning device 1, and an output of the autonomous positioning sensor 20. A second positioning unit 30 that performs second positioning processing based on the positioning, an attitude determination unit 40 that determines whether the attitude of the positioning device 1 has changed based on the output of the autonomous positioning sensor 20, and a correction unit 50.

  The first positioning unit 10 performs a first positioning process for positioning based on a radio signal. As a wireless signal, various types of positioning can be performed such as a wireless signal from a positioning satellite such as GPS or GLONASS (Global Navigation Satellite System), a wireless signal from a mobile phone base station, or a wireless signal using Wi-Fi (Wireless Fidelity). Can be used. In this embodiment, the case where a radio signal is a radio signal from a GPS satellite will be described as an example. In the first positioning process, the first positioning unit 10 can acquire position data representing the current position by performing a predetermined positioning calculation based on data included in a radio signal from a GPS satellite.

  Moreover, the 1st positioning part 10 performs a 1st positioning process intermittently in a 1st point and a 2nd point in the process in which the positioning apparatus 1 moves from a 1st point to a 2nd point. The first positioning unit 10 may perform the first positioning process intermittently at a predetermined time interval. The first positioning unit 10 may intermittently perform the first positioning process every time the moving distance of the positioning device 1 obtained by the second positioning process becomes a predetermined moving distance. Further, the first positioning unit 10 may perform the intermittent first positioning process by combining these predetermined time intervals and a predetermined moving distance.

  The autonomous positioning sensor 20 performs detection related to at least one of movement and direction. The autonomous positioning sensor 20 is provided in the positioning device 1 so that the posture changes in conjunction with a change in the posture of the positioning device 1. The autonomous positioning sensor 20 outputs a detection result relating to movement and direction to the second positioning unit 30 and the posture determination unit 40. In the present embodiment, the autonomous positioning sensor 20 includes a triaxial acceleration sensor 21 and a triaxial geomagnetic sensor 22. The acceleration sensor 21 detects the magnitude of acceleration in each direction of three axes orthogonal to each other. The geomagnetic sensor 22 detects the magnitude of the magnetic field in each direction of three axes orthogonal to each other.

  The second positioning unit 30 performs a second positioning process for positioning based on the output of the autonomous positioning sensor 20. In the present embodiment, the second positioning unit 30 receives measurement data from the acceleration sensor 21 and the geomagnetic sensor 22 at a predetermined sampling period in the second positioning process, and moves and moves the positioning device 1 from the received measurement data. Calculate the amount.

  More specifically, the second positioning unit 30 calculates the movement direction from the output fluctuation pattern specific to the walking motion that appears in the output of the acceleration sensor 21. During walking, the user's torso is greatly tilted back and forth and rolled to the left and right. At this time, if the positioning device 1 is attached to the user's torso, the positioning device 1 also performs the same motion, and this motion appears in the output of the acceleration sensor 21. The second positioning unit 30 can calculate which direction of the positioning device 1 the user is traveling by analyzing the output variation pattern. Further, it is determined which direction of the positioning device 1 is the direction of gravity based on the output of the acceleration sensor 21, and based on the output of the geomagnetic sensor 22, it is possible to calculate which direction of the positioning device 1 is the direction of magnetic north. . Therefore, the moving direction of the user can be obtained from the direction based on these results.

  Further, the second positioning unit 30 detects the vertical movement of the positioning device 1 from the output of the acceleration sensor 21, and counts the number of steps from the detection of the vertical movement. Then, the amount of movement by walking is calculated by multiplying the preset stride data and the number of steps.

Further, the second positioning unit 30 acquires a series of position data through a process in which the positioning device 1 moves from the first point to the second point. The series of position data is data in which position information obtained by the second positioning is associated with time information. The time information of the series of position data may be index information indicating the order of positioning. The series of position data may include information on the moving direction or moving speed of the positioning device 1. Alternatively, the second positioning unit 30 may calculate the moving direction or moving speed of the positioning device 1 from the position information and time information of a series of position data.

  The attitude determination unit 40 determines whether the attitude of the positioning device 1 has changed based on the output of the autonomous positioning sensor 20. In the present embodiment, the posture determination unit 40 determines that the posture of the positioning device 1 has changed when the posture of the positioning device 1 has changed to a predetermined value or more. For example, you may determine with the attitude | position of the positioning apparatus 1 having changed, when roll angle or pitch angle changes more than predetermined. The posture determination unit 40 outputs the determination result to the correction unit 50.

  The correction unit 50 is acquired after the first time when the posture determination unit 40 determines that the posture of the positioning device 1 has changed at the first time at a position between the first point and the second point. Correction processing (first correction processing) is performed on the movement direction calculated from the series of position data.

  When the attitude of the positioning device 1 changes, the accuracy of the second positioning process (autonomous positioning) (particularly the accuracy related to the moving direction) tends to deteriorate. According to the present embodiment, when the posture of the positioning device 1 changes, the movement direction is corrected, so that the positioning device 1 that can improve the positioning accuracy can be realized.

  In the correction process (first correction process), the correction unit 50 calculates the moving direction calculated from the series of position data acquired after the first time from the series of position data acquired before the first time. You may correct | amend based on the moving direction. In the correction process (first correction process), the correction unit 50 calculates the movement direction calculated from the series of position data acquired after the first time from the series of position data acquired immediately before the first time. You may correct | amend based on the moving direction.

  Thereby, the shift | offset | difference of the moving direction before and behind the attitude | position of the positioning apparatus 1 can be correct | amended easily.

  In the positioning device 1, the first positioning unit 10 may perform the first positioning process at a second time after a predetermined time has elapsed from the first time. In order to improve positioning accuracy, it is desirable that the time interval between the first time and the second time is as short as possible. However, when the first positioning process is a GPS positioning, for example, even if the first positioning process is requested after the first time, it takes several seconds until the GPS positioning result is obtained. The predetermined time is preferably shorter than the time interval of the intermittent first positioning process.

  Thereby, the first positioning process can be performed promptly after the attitude of the positioning device 1 changes. Therefore, the positioning device 1 that can improve the positioning accuracy can be realized.

  The posture determination unit 40 may determine whether or not the posture of the positioning device 1 has changed based on a change in the gravity direction vector detected by the acceleration sensor 21. For example, when the detection axis in which the gravity direction vector is dominant changes, it may be determined that the attitude of the positioning device 1 has changed. Thereby, a change in the posture of the positioning device 1 can be easily detected. A more specific operation example will be described later in the section “2. Operation Example”.

  The posture determination unit 40 may determine whether or not the posture of the positioning device 1 has changed based on the result of low-pass filtering the change in the gravity direction vector. Thereby, for example, since a small change in posture such as when the user is walking while holding the positioning device 1 can be ignored, it is possible to suppress correction processing more than necessary.

The posture determination unit 40 may further determine whether or not the posture of the positioning device 1 has changed based on a change in the yaw angle per unit time detected by the acceleration sensor 21 and the geomagnetic sensor 22. Thereby, even when the traveling direction of the positioning device 1 changes suddenly, it can be detected as a change in the posture of the positioning device 1.

  The correction unit 50 is a point where one end of the movement track corresponds to the positioning result of the first point by the first positioning unit 10 so that the movement track corresponding to the series of position data has a similar shape before and after the correction process. A correction process (first operation) for correcting a series of position data by uniformly rotating and expanding and contracting so that the other end of the movement locus overlaps a point corresponding to the positioning result of the second point by the first positioning unit 10. 2 correction processing) may be performed. As a result, the movement trajectory obtained by the second positioning process can be corrected so as to approach the actual movement path.

  FIG. 2 is a block diagram illustrating a specific configuration example of the positioning device 1 according to the present embodiment. The same components as those in FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted.

  The positioning device 1 shown in FIG. 2 includes an integrated circuit device 2, an autonomous positioning sensor 20, an antenna 110, a receiving unit 120, a storage unit 210, a map database 220, and a display unit 230.

  The integrated circuit device 2 includes a first input unit 60 that receives input of position related information that is information related to a position based on a radio signal, and a first positioning unit 10 that performs a first positioning process for positioning based on the position related information. The second input unit 70 that receives input of detection result information that is information related to the detection result of the autonomous positioning sensor 20, the second positioning unit 30 that performs the second positioning process for positioning based on the detection result information, and the detection result information , A posture determination unit 40 that determines whether or not the posture of the autonomous positioning sensor 20 has changed, and a correction unit 50 are included. The first positioning unit 10 performs the first positioning process intermittently at the first point and the second point while the autonomous positioning sensor 20 moves from the first point to the second point. The second positioning unit 30 acquires a series of position data through a process in which the autonomous positioning sensor 20 moves from the first point to the second point. The correction unit 50 is acquired after the first time when the posture determination unit 40 determines that the posture of the autonomous positioning sensor 20 is changed at the first time at a position between the first point and the second point. A correction process (first correction process) is performed on the moving direction calculated from the series of position data.

  The first positioning unit 10, the second positioning unit 30, the posture determination unit 40, the correction unit 50, the first input unit 60, and the second input unit 70 of the integrated circuit device 2 may be realized by dedicated circuits, For example, a CPU (Central Processing Unit) may be realized by executing a program stored in the storage unit 210 or the like and functioning as a computer.

  That is, the function of the integrated circuit device 2 includes a first input unit 60 that receives input of position related information that is information related to a position based on a radio signal, and a first positioning process that performs positioning based on the position related information. The positioning unit 10, a second input unit 70 that receives input of detection result information that is information related to the detection result of the autonomous positioning sensor 20, and a second positioning unit 30 that performs a second positioning process for positioning based on the detection result information A program that causes the computer to function as an attitude determination unit 40 that determines whether or not the attitude of the autonomous positioning sensor 20 has changed based on the detection result information, and a correction unit 50. In the process of the autonomous positioning sensor 20 moving from the first point to the second point, the first positioning process is intermittently performed at the first point and the second point, and the second positioning unit 30 The sir 20 acquires a series of position data through the process of moving from the first point to the second point, and the correction unit 50 performs autonomous positioning at the first time at a position between the first point and the second point. When the posture determination unit 40 determines that the posture of the sensor 20 has changed, correction processing (first correction processing) is performed on the movement direction calculated from a series of position data acquired after the first time. It may be realized as a program. Moreover, you may implement | achieve as an information storage medium with which the above-mentioned program was memorize | stored.

  The antenna 110 receives a radio signal. In this embodiment, a radio signal (GPS signal) from a GPS satellite is received. The antenna 110 outputs the received data to the receiving unit 120 as a signal S1.

  The receiving unit 120 performs various conversion processes based on the signal S1, and outputs position related information, which is information related to the position, to the first input unit 60 as a signal S2. In the present embodiment, the receiving unit 120 performs a process of demodulating the GPS signal received by the antenna 110.

  The autonomous positioning sensor 20 outputs detection result information, which is information related to the detection result, to the second input unit 70 as a signal S3.

  The first input unit 60 receives an input of the signal S <b> 2 including the position related information and outputs the received position related information to the first positioning unit 10. The second input unit 70 receives an input of the signal S3 including the detection result information, and outputs the received detection result information to the second positioning unit 30.

  The storage unit 210 may store a program that realizes the function of the integrated circuit device 2. The program stored in the storage unit 210 may be stored in advance, or may be stored via an information storage medium or a communication line. Further, the storage unit 210 may store positioning data obtained by the first positioning process and the second positioning process. The storage unit 210 can adopt various configurations such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a non-volatile memory depending on the purpose. The integrated circuit device 2 may include the storage unit 210.

  In the map database 220, map image data of each point is registered. A plurality of map image data sets with different scales may be registered in the map database 220.

  The display unit 230 performs various information displays and image displays. For example, the display unit 230 may display an image obtained by superimposing the movement trajectory obtained in the first positioning process and the second positioning process on the map image data registered in the map database 220. The display unit 230 can employ various configurations such as a liquid crystal display and an electrophoretic display according to the purpose.

  FIG. 3A is a block diagram illustrating a specific configuration example of the second positioning unit 30a in the related art.

  The second positioning unit 30a in the prior art includes a movement amount calculation unit 310, a movement direction calculation unit 320, a north / east direction separation unit 330, a distance integration unit 340, and a distance integration unit 350.

  The movement amount calculation unit 310 calculates a movement distance per unit time of the positioning device 1 based on the signal S11 that is an output signal of the acceleration sensor 21, and outputs the movement distance to the north / east direction separation unit 330 as a signal S13.

  The moving direction calculation unit 320 calculates the moving direction of the positioning device 1 based on the signal S11 that is the output signal of the acceleration sensor 21 and the signal S12 that is the output signal of the geomagnetic sensor 22, and the north direction / Output to the east direction separation unit 330.

The north / east direction separation unit 330 calculates the travel distance in the north direction and the travel distance in the east direction based on the signal S13 and the signal S14, and the distance accumulation unit 340 uses the travel distance in the north direction as a signal S15. And the moving distance in the east direction is output to the distance integrating unit 350 as a signal S16.

  The distance integrating unit 340 calculates the latitude by integrating the moving distance in the north direction based on the signal S15, and outputs it as a signal S17.

  The distance integrating unit 350 calculates the longitude by integrating the moving distance in the east direction based on the signal S16, and outputs it as the signal S18.

  FIG. 3B is a block diagram illustrating a specific configuration example of the second positioning unit 30 in the present embodiment. Note that the same components as those in FIG. 3A are denoted by the same reference numerals, and detailed description thereof is omitted.

  The second positioning unit 30 in the present embodiment includes a moving direction calculating unit 320 that calculates the moving direction of the positioning device 1 and a storage unit 360 that stores the moving direction calculated by the moving direction calculating unit 320. Yes. The second positioning unit 30 includes a switching unit 370.

  The moving direction calculation unit 320 calculates the moving direction of the positioning device 1 based on the signal S11 that is the output signal of the acceleration sensor 21 and the signal S12 that is the output signal of the geomagnetic sensor 22, and the switching unit 370 as the signal S14. Output to.

  The storage unit 360 stores information on the movement direction calculated by the movement direction calculation unit 320, and outputs the stored information on the movement direction to the switching unit 370 as a signal S19. Further, based on the signal S21 that is a control signal output from the correction unit 50, the storage unit 360 operates whether or not to overwrite the stored information on the moving direction with the moving direction information included in the signal S14. Is switched.

  The switching unit 370 receives the signal S14 and the signal S19, selects one of the signal S14 and the signal S19 on the basis of the signal S21 that is a control signal output from the correction unit 50, and selects the signal S20 as the north direction. Output to the east direction separation unit 330.

  The correction unit 50 stores the moving direction calculated by the second positioning unit 30 from the moving direction calculated by the moving direction calculating unit 320 when the posture determining unit 40 determines that the posture of the positioning device 1 has changed. 360 is switched to the moving direction stored. More specifically, when the posture determination unit 40 first determines that the posture of the positioning device 1 has changed, the posture determination unit 40 outputs a signal S22 to the correction unit 50. When the correction unit 50 receives the signal S22, the correction unit 50 outputs the signal S21 to switch the state where the switching unit 370 selects the signal S14 to the state where the signal S19 is selected. Further, when the correction unit 50 receives the signal S22, the correction unit 50 outputs the signal S21, and the operation of the storage unit 360 is overwritten with the information on the movement direction stored in the information on the movement direction included in the signal S14. Switch to an operation that does not overwrite.

  According to the 2nd positioning part 30 comprised in this way, the correction | amendment part 50 can perform a correction process easily.

  4A, 4 </ b> B, and 4 </ b> C are diagrams illustrating an example of an appearance of the electronic device 1000.

The electronic device 1000 includes the positioning device 1 or the integrated circuit device 2. The electronic device 1000 may be a terminal such as a smartphone or a mobile phone as shown in FIG. In addition, the electronic device 1000 may be an electronic device of a type that is placed in a clothing pocket or the like, as shown in FIG. 4B, or fixed to the user's body or clothing with a band or clip. Further, the electronic device 1000 may be a wristwatch type electronic device as shown in FIG. The electronic device 1000 may be a navigation terminal.

2. Operation Example In the following, the first positioning unit 10 performs the first positioning process intermittently at the first point and the second point during the movement process from the first point to the second point, and the second positioning unit 30. Will be described by taking as an example a case where the second positioning process is performed to obtain a series of position data through the moving process from the first point to the second point.

  FIG. 5A is a flowchart illustrating an operation example of the positioning device 1 according to the present embodiment. In FIG. 5A, the operation | movement relevant to the 1st positioning process which the 1st positioning part 10 mainly performs is shown.

  The positioning device 1 first performs reception processing (step S100). In the present embodiment, the receiving unit 120 demodulates the GPS signal received via the antenna 110 and outputs the position related information to the first input unit 60 as the signal S2.

  Following step S100, the positioning device 1 performs a first positioning process (step S102). In the present embodiment, the first positioning unit 10 performs the first positioning process based on the signal S2 received by the first input unit 60.

  After step S102, the positioning device 1 registers the first reference point (step S104). In the present embodiment, the first positioning unit 10 causes the storage unit 210 to store the position information obtained by the first positioning process as the first reference point. As the first reference point, the position information obtained by the first positioning process may be used as the position information of a point obtained by map-matching a nearby road with reference to the map data stored in the map database 220. Good. The first reference point serves as a starting point for positioning in a second positioning process described later and a reference point for second correction processing.

  After step S104, the positioning device 1 resets the counter (step S106). In the present embodiment, the integrated circuit device 2 has a counter (timer) (not shown) that counts the time for performing the second positioning process, and the integrated circuit device 2 resets the counter.

  After step S106, the positioning device 1 determines whether or not there is a positioning request (step S108). In the present embodiment, when the posture determination unit 40 performs posture determination processing based on the signal S3 received by the second input unit 70, and the posture determination unit 40 determines that the posture of the positioning device 1 has changed. The posture determination unit 40 outputs a positioning request to the first positioning unit 10. Details of the operation of the posture determination unit 40 will be described later.

  If it is determined in step S108 that there is no positioning request (NO in step S108), it is determined whether or not a predetermined time (first predetermined time) has elapsed since the counter was reset in step S106. (Step S110). In the present embodiment, the integrated circuit device 2 refers to a counter (not shown) to determine whether or not a first predetermined time has elapsed. The first predetermined time may be, for example, 5 minutes.

  If it is determined in step S110 that the first predetermined time has not elapsed (NO in step S110), steps S108 to S110 are repeated.

If it is determined in step S108 that there is a positioning request (YES in step S108) and if it is determined in step S110 that the first predetermined time has elapsed (YES in step S110), positioning is performed. The device 1 performs reception processing (step S112).
). The contents of the reception process are the same as in step S100.

  Following step S112, the positioning device 1 performs a first positioning process (step S114). The contents of the first positioning process are the same as in step S102.

  Following step S114, the positioning device 1 registers the second reference point (step S116). In the present embodiment, the first positioning unit 10 causes the storage unit 210 to store the position information obtained by the first positioning process as the second reference point. As the second reference point, the position information obtained by the first positioning process may be the position information of a point obtained by map matching with a nearby road with reference to the map data stored in the map database 220. Good. The second reference point is a reference point for the second correction process described later.

  After step S116, the positioning device 1 performs a second correction process (step S118). In the present embodiment, the correction unit 50 performs the second correction process. In the present embodiment, the correction unit 50 stores the position data after the second correction process in the storage unit 210 by adding a correction flag indicating that the position data has been corrected by the correction process. . In this case, the position data before the second correction process may be overwritten with the position data after the second correction process and stored in the storage unit 210.

  After step S118, the positioning device 1 registers the second reference point registered in step S116 as the first reference point (step S120). In the present embodiment, the correction unit 50 stores the position information stored as the second reference point in the storage unit 210 as the first reference point.

  After step S120, the positioning device 1 returns to step S106, and repeats the process described above in the same manner.

  FIG. 5B is a flowchart illustrating an operation example of the positioning device 1 according to the present embodiment. In FIG. 5B, the operation | movement relevant to the 2nd positioning process which the 2nd positioning part 30 mainly performs is shown.

  The positioning device 1 first performs detection processing by the autonomous positioning sensor 20 (step S200). In the present embodiment, the acceleration sensor 21 and the geomagnetic sensor 22 included in the autonomous positioning sensor 20 perform detection processing, and the autonomous positioning sensor 20 outputs detection result information to the second input unit 70 as a signal S3. More specifically, the movement amount calculation unit 310 of the second positioning unit 30 receives the signal S11 output from the acceleration sensor 21, and the movement direction calculation unit 320 of the second positioning unit 30 outputs a signal from the acceleration sensor 21. S11 and the signal S12 output from the geomagnetic sensor 22 are received.

  Following step S200, the positioning device 1 performs a posture determination process for determining whether or not the posture of the positioning device 1 has changed (step S202). In the present embodiment, the posture determination unit 40 performs posture determination processing based on the signal S3 received by the second input unit 70. In the present embodiment, it may be determined that the posture of the positioning device 1 has changed when the axis on which the gravity direction vector is dominant changes.

FIG. 6A is a graph showing an example of detection results of the triaxial acceleration sensor 21, and FIG. 6B is a graph showing an example of detection results of an axis in which the gravity direction vector is dominant. In FIG. 6A, the horizontal axis represents time, and the vertical axis represents the normalized magnitude of acceleration in each axis of the acceleration sensor 21. In FIG. 6B, the horizontal axis represents time, and the vertical axis represents the axis on which the gravity direction vector is dominant. In the vertical axis of FIG. 6B, values 1, 2, and 3 indicate that the positive directions of the X, Y, and Z axes are dominant gravity direction vectors, respectively. Also, value-1, value-2, and value-3 are X
The negative direction of the axis, the Y axis, and the Z axis (the direction opposite to the positive direction) is the dominant gravity direction vector.

  In the example shown in FIGS. 6A and 6B, at time t1, the axis on which the gravity direction vector dominates changes from the negative direction of the X axis to the negative direction of the Y axis. At time t2, the axis on which the gravity direction vector is dominant changes from the negative direction of the Y axis to the positive direction of the Y axis. At time t3, the axis on which the gravity direction vector is dominant changes from the positive direction of the Y axis to the negative direction of the X axis. Therefore, in the example shown in FIGS. 6A and 6B, the posture determination unit 40 determines that the posture of the autonomous positioning sensor 20 has changed at time t1, time t2, and time t3.

  Returning to FIG. 5B, if it is determined in step S202 that the attitude of the positioning device 1 has not changed (NO in step S202), the positioning device 1 performs the second positioning process (step S204 to step S204). S210). In the present embodiment, based on the signal S3 received by the second input unit 70, the second positioning unit 30 performs the second positioning process. In the present embodiment, the second positioning unit 30 indicates that the position data acquired in the second positioning process is an index number indicating the acquisition order and that the position data has not been corrected in the second correction process. A correction flag or the like may be added and stored in the storage unit 210.

  The second positioning process will be described more specifically. First, the second positioning unit 30 calculates the amount of movement of the positioning device 1 (step S204). In the present embodiment, the movement amount calculation unit 310 of the second positioning unit 30 calculates the movement amount per unit time of the positioning device 1 based on the signal S11, and outputs it to the north / east direction separation unit 330 as the signal S13. To do.

  After step S204 or in parallel with step S204, the second positioning unit 30 calculates the moving direction of the positioning device 1 (step S206). In the present embodiment, the movement direction calculation unit 320 of the second positioning unit 30 calculates the movement direction of the positioning device 1 based on the signal S11 and the signal S12, and outputs it as the signal S14 to the switching unit 370. The switching unit 370 selects the signal S14 and outputs the signal S14 to the north / east direction separation unit 330 as the signal S20.

  After step S206, the second positioning unit 30 performs a north direction / east direction separation process (step S208). In the present embodiment, the north direction / east direction separation unit 330 calculates the travel distance in the north direction and the travel distance in the east direction based on the signals S13 and S20, and the travel distance in the north direction is set as the signal S15. It outputs to the distance integrating unit 340 and outputs the moving distance in the east direction to the distance integrating unit 350 as a signal S16.

  After step S208, the second positioning unit 30 performs latitude / longitude calculation processing (step S210). In the present embodiment, the distance integrating unit 340 calculates the latitude based on the signal S15 and outputs it as the signal S17. Further, the distance integrating unit 350 calculates longitude based on the signal S16 and outputs it as the signal S18.

  After step S210, the positioning device 1 performs step S200 again, and the positioning device 1 performs processing according to the flow described above.

  When it is determined in step S202 that the posture of the positioning device 1 has changed (YES in step S202), the posture determination unit 40 outputs a positioning request to the first positioning unit 10 (step S212). Based on the positioning request output in step S212, the positioning device 1 performs step S108 of FIG. 5A. Note that step S212 may be performed after a predetermined time (second predetermined time) has elapsed since it was determined in step S202 that the position of the positioning device 1 has changed.

  After step S212, the positioning device 1 performs a correction process (first correction process) (step S214). In the present embodiment, the correction unit 50 performs a correction process (first correction process). The correction unit 50 performs correction processing (first correction processing) on the movement direction calculated from a series of position data acquired after the first time when it is determined in step S112 that the attitude of the autonomous positioning sensor 20 has changed. )I do.

  In the present embodiment, the correction unit 50 acquires, in the correction process (first correction process), the moving direction calculated from a series of position data acquired after the first time immediately before the first time. Correction is performed based on the moving direction calculated from the series of position data. More specifically, the correction unit 50 acquires, in the correction process (first correction process), the movement direction calculated from a series of position data acquired after the first time immediately before the first time. Corrections are made to match the movement direction calculated from the series of position data.

  More specifically, the correction unit 50 outputs the signal S21 to the switching unit 370, and the switching unit 370 switches from the state where the signal S14 is selected to the state where the signal S19 is selected. Further, the correction unit 50 outputs the signal S21 to the storage unit 360, and the operation of the storage unit 360 is not overwritten from the operation of overwriting the stored information on the moving direction with the information on the moving direction included in the signal S14. Switch to.

  Following step S214, the second positioning unit 30 calculates the amount of movement of the positioning device 1 (step S216). In the present embodiment, the movement amount calculation unit 310 of the second positioning unit 30 calculates the movement amount per unit time of the positioning device 1 based on the signal S11, and outputs it to the north / east direction separation unit 330 as the signal S13. To do.

  After step S216, the second positioning unit 30 performs north / east separation processing (step S218). In the present embodiment, the north direction / east direction separation unit 330 calculates the travel distance in the north direction and the travel distance in the east direction based on the signals S13 and S20, and the travel distance in the north direction is set as the signal S15. It outputs to the distance integrating unit 340 and outputs the moving distance in the east direction to the distance integrating unit 350 as a signal S16.

  After step S218, the second positioning unit 30 performs latitude / longitude calculation processing (step S220). In the present embodiment, the distance integrating unit 340 calculates the latitude based on the signal S15 and outputs it as the signal S17. Further, the distance integrating unit 350 calculates longitude based on the signal S16 and outputs it as the signal S18.

  Following step S220, the positioning device 1 determines whether or not the first positioning process is completed (step S222). In the present embodiment, the correction unit 50 performs the determination process of step S222 based on whether or not the correction unit 50 has received the positioning result from the first positioning unit 10.

  If it is determined in step S222 that the first positioning process has been completed (YES in step S222), the positioning device 1 ends the correction process (first correction process) (step S224). In the present embodiment, the correction unit 50 outputs the signal S21 to the switching unit 370, and the switching unit 370 switches from the state in which the signal S19 is selected to the state in which the signal S14 is selected. Further, the correction unit 50 outputs the signal S21 to the storage unit 360, and the operation of the storage unit 360 is overwritten from the operation that does not overwrite the stored information on the moving direction with the information on the moving direction included in the signal S14. Switch to.

In step S222, the positioning device 1 may determine that the first positioning process is completed when the second correction process of step S118 of FIG. 5A is performed based on the positioning request of step S212. Further, in step S222, the posture change determination process similar to that in step S202 may be performed, and it may be determined that the first positioning process has been completed when no posture change is detected.

  After step S224, the positioning device 1 performs step S200 again, and the positioning device 1 performs processing according to the flow described above.

  If it is determined in step S222 that the first positioning process has not been completed (NO in step S222), the positioning device 1 performs a detection process with the autonomous positioning sensor 20 (step S226). The process in step S226 is the same as the process in step S200.

  After step S226, the positioning device 1 performs step S216 again, and the positioning device 1 performs processing according to the above-described flow.

  FIG. 7A and FIG. 7B are diagrams for explaining the correction process (first correction process and second correction process). 7A shows a state before the correction process (first correction process and second correction process), and FIG. 7B shows a state after the correction process (first correction process and second correction process). Represent.

  In the example shown in FIG. 7A, after the first reference point is positioned by the first positioning process, the locus of the position data measured by the second positioning process becomes a true locus in the moving direction and the moving amount. On the other hand, an error is included.

  When the attitude of the positioning device 1 changes at the attitude change point at the first time, the true locus in FIG. 7A is obtained by the second positioning process even though the moving direction does not change as indicated by the dotted black arrow. The movement direction based on the position data to be measured may change from the posture change point as indicated by a dotted white arrow. Therefore, in the present embodiment, when the orientation of the positioning device 1 changes, a correction process (first correction process) is performed. In the example shown in FIG. 7A, the correction unit 50 indicates the movement direction calculated from a series of position data acquired after the first time in the correction process (first correction process) at the first time. Corrections are made to match the movement direction calculated from a series of position data acquired immediately before.

  In the second correction process, as shown in FIG. 7B, the movement trajectory corresponding to the series of position data obtained by the second positioning process has a similar shape before and after the correction process. One end of the movement locus overlaps with a point corresponding to the positioning result of the first reference point obtained by the first positioning process, and the other end of the movement locus corresponds to the positioning result of the second reference point obtained by the first positioning process. A series of position data obtained by the second positioning process is corrected by rotating and expanding and contracting uniformly so as to overlap with the point to be performed.

  As described above, by performing the correction process (first correction process and second correction process), a true locus is obtained in the movement direction and the movement amount of the movement locus corresponding to the series of position data obtained in the second positioning process. On the other hand, even when errors are included, these errors can be effectively removed.

  In order to further clarify the superiority of the positioning device 1 according to the present embodiment over the prior art, the prior art will be briefly described. The example of the related art described below is an example in which only the second correction process is performed without performing the first correction process as the correction process.

  FIG. 8A and FIG. 8B are diagrams for explaining the correction processing according to the prior art. FIG. 8A shows a state before the correction process, and FIG. 8B shows a state after the correction process.

  In the prior art, when the orientation of the positioning device 1 changes, the true trajectory in FIG. 8A does not change the moving direction, but the moving direction based on the position data measured by the second positioning process. However, it has changed from the posture change point. In such a case, without performing the first correction process, when the first positioning process is performed to acquire the second reference point and the second correction process is performed, the true locus and the second positioning process are obtained. The movement trajectory corresponding to a series of position data is not similar. As a result, as shown in FIG. 8B, a sufficient effect cannot be obtained even if the second correction process is performed.

  Thus, according to the positioning device 1 according to the present embodiment, the movement locus obtained by the second positioning process can be corrected so as to approach the actual movement route as compared with the conventional technique.

  FIG. 9A is a diagram showing an example of mapping on the map the simulation result of the movement trajectory obtained by the positioning device 1 of the present embodiment, and FIG. 9B is the simulation result of the movement trajectory obtained by the prior art. It is a figure which shows the example which mapped on the map. In FIG. 9 (A) and FIG. 9 (B), the corrected movement trajectory is indicated by a thick solid line. Further, a place where the way of holding the positioning device 1 is changed (that is, a place where the posture of the positioning device 1 is changed) is indicated by a dotted circle. The actual movement route is a route that walks along the wide road shown in FIGS. 9A and 9B (the road that goes from the upper left to the lower right in FIGS. 9A and 9B). is there. The prior art is the same as that described with reference to FIG.

  As shown in FIG. 9A, in the simulation result of the movement trajectory obtained by the positioning device 1 of the present embodiment, the corrected movement trajectory is disturbed even when the holding method of the positioning device 1 is changed. Absent. On the other hand, as shown in FIG. 9B, in the simulation result of the movement locus obtained by the conventional technique, the movement locus after correction is disturbed when the holding method of the positioning device is changed.

  As described above, according to the present embodiment, it was confirmed that the correction can be performed so as to approach the actual movement path as compared with the conventional technique.

  As mentioned above, although this embodiment or the modification was demonstrated, this invention is not limited to these this embodiment or a modification, It is possible to implement in a various aspect in the range which does not deviate from the summary.

  For example, the autonomous positioning sensor 20 of FIG. 1 or 2 may be provided as a device different from the positioning device 1 and receive the signal S3 of FIG. 2 wirelessly. The correction unit 50 in FIG. 1 or 2 may be configured as a device different from the positioning device 1. For example, the function of the correction unit 50 may be realized by a program executed by a client / server system.

  The present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations that have the same functions, methods, and results, or configurations that have the same objects and effects). In addition, the invention includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. In addition, the present invention includes a configuration that exhibits the same operational effects as the configuration described in the embodiment or a configuration that can achieve the same object. In addition, the invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

DESCRIPTION OF SYMBOLS 1 ... Positioning device, 2 ... Integrated circuit device, 10 ... 1st positioning part, 20 ... Autonomous positioning sensor, 21 ... Acceleration sensor, 22 ... Geomagnetic sensor, 30 ... 2nd positioning part, 30a ... 2nd positioning part, 40 ... Posture determination unit, 50 ... correction unit, 60 ... first input unit, 70 ... second input unit, 110 ... antenna, 120 ... receiving unit, 210 ... storage unit, 220 ... map database, 230 ... display unit, 310 ... movement Amount calculation unit, 320 ... movement direction calculation unit, 330 ... north direction / east direction separation unit, 340 ... distance accumulation unit, 350 ... distance accumulation unit, 360 ... storage unit, 370 ... switching unit, 1000 ... electronic device, S1- S3 ... signal, S11-S23 ... signal

Claims (10)

A positioning device,
A first positioning unit that performs a first positioning process for positioning based on a radio signal;
An autonomous positioning sensor that detects the state of the positioning device;
A second positioning unit for performing a second positioning process for positioning based on the output of the autonomous positioning sensor;
An attitude determination unit that determines whether the attitude of the positioning device has changed based on the output of the autonomous positioning sensor;
A correction unit;
Including
The first positioning unit is
In the process in which the positioning device moves from the first point to the second point, the first positioning process is intermittently performed at the first point and the second point,
The second positioning unit is
Obtaining a series of position data through a process in which the positioning device moves from the first point to the second point;
The correction unit is
The position acquired after the first time when the posture determination unit determines that the posture of the positioning device has changed at a first time at a position between the first point and the second point. A positioning device that performs correction processing on a moving direction calculated from a series of position data. The positioning device according to claim 1,
In the correction process, the correction unit includes:
Positioning that corrects the moving direction calculated from the series of position data acquired after the first time based on the moving direction calculated from the series of position data acquired before the first time. apparatus. The positioning device according to claim 1 or 2,
The second positioning unit is
A moving direction calculation unit for calculating a moving direction of the positioning device;
A storage unit for storing a movement direction calculated by the movement direction calculation unit;
Including
The correction unit is
When the posture determination unit determines that the posture of the positioning device has changed, the movement stored by the storage unit stores the movement direction calculated by the second positioning unit from the movement direction calculated by the movement direction calculation unit. A positioning device that changes direction. The positioning device according to any one of claims 1 to 3,
The first positioning unit is
A positioning device that performs the first positioning process at a second time after a predetermined time has elapsed from the first time. The positioning device according to any one of claims 1 to 4,
The autonomous positioning sensor includes an acceleration sensor,
The posture determination unit
A positioning device that determines whether or not the posture of the positioning device has changed based on a change in a gravity direction vector detected by the acceleration sensor. The positioning device according to claim 5,
The posture determination unit
A positioning device that determines whether or not the posture of the positioning device has changed based on a result of low-pass filtering the change in the gravity direction vector. The positioning device according to claim 5 or 6,
The autonomous positioning sensor further includes a geomagnetic sensor,
The posture determination unit further includes:
A positioning device that determines whether or not an attitude of the positioning device has changed based on a change in yaw angle per unit time detected by the acceleration sensor and the geomagnetic sensor. A first input unit that receives input of position related information that is information related to a position based on a wireless signal;
A first positioning unit that performs a first positioning process for positioning based on the position-related information;
A second input unit that receives input of detection result information that is information related to a detection result of the autonomous positioning sensor;
A second positioning unit for performing a second positioning process for positioning based on the detection result information;
An attitude determination unit that determines whether or not the attitude of the autonomous positioning sensor has changed based on the detection result information;
A correction unit;
Including
The first positioning unit is
In the process in which the autonomous positioning sensor moves from the first point to the second point, the first positioning process is intermittently performed at the first point and the second point.
The second positioning unit is
Obtaining a series of position data through a process in which the autonomous positioning sensor moves from the first point to the second point;
The correction unit is
Acquired after the first time when the posture determination unit determines that the posture of the autonomous positioning sensor has changed at a first time at a position between the first point and the second point. An integrated circuit device that performs correction processing on a moving direction calculated from the series of position data.   An electronic device comprising the positioning device according to claim 1 or the integrated circuit device according to claim 8. A first input unit that receives input of position related information that is information related to a position based on a wireless signal;
A first positioning unit that performs a first positioning process for positioning based on the position-related information;
A second input unit that receives input of detection result information that is information related to a detection result of an autonomous positioning sensor that performs detection related to movement and direction;
A second positioning unit for performing a second positioning process for positioning based on the detection result information;
An attitude determination unit that determines whether or not the attitude of the autonomous positioning sensor has changed based on the detection result information;
A correction unit;
Is a program that makes a computer function,
The first positioning unit is
In the process in which the autonomous positioning sensor moves from the first point to the second point, the first positioning process is intermittently performed at the first point and the second point.
The second positioning unit is
Obtaining a series of position data through a process in which the autonomous positioning sensor moves from the first point to the second point;
The correction unit is
Acquired after the first time when the posture determination unit determines that the posture of the autonomous positioning sensor has changed at a first time at a position between the first point and the second point. A program for performing correction processing on a moving direction calculated from the series of position data.