JP2019219196A - Positioning device, positioning method, and positioning program - Google Patents

Abstract

To provide a positioning device, a positioning method, and a positioning program for accurate positioning.SOLUTION: The positioning device 10 performs steps comprising: sequentially positioning a current position of itself using a GNSS measurement section 13; sequentially deriving a traveling direction of itself using an angular velocity measurement section 14; sequentially deriving the traveling direction of itself using the GNSS measurement section 13; correcting the traveling direction derived by the angular velocity measurement section 14 using the traveling direction derived by the GNSS measurement section 13; predicting a next traveling direction on the basis of the corrected traveling direction; and correcting the positioned current position on the basis of the predicted next traveling direction (predicted direction dr4).SELECTED DRAWING: Figure 2

Description

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

  2. Description of the Related Art Conventionally, there has been disclosed a navigation device capable of displaying a summary of a trajectory indicating a movement position of a user or the like at a high speed (for example, see Patent Document 1).

JP 2000-193466 A

  However, in the navigation device disclosed in Patent Document 1, since positioning is performed by a GPS (Global Positioning System) module, the navigation device is greatly affected by the radio wave condition. In particular, when the user uses the navigation device while wearing it, the antenna may be continuously used in a state in which the direction of the antenna is largely different from the optimal direction. And it is difficult to perform accurate positioning.

  The present invention has been made in view of such a problem, and has as its object to provide a positioning device, a positioning method, and a positioning program that can perform accurate positioning.

In order to solve the above problems, the positioning device according to the present invention,
Positioning means for sequentially positioning the current position of the own device;
First deriving means for sequentially deriving the traveling direction of the own device;
Second deriving means for sequentially deriving the traveling direction of the own device by a method different from the first deriving means;
Prediction means for predicting the next traveling direction using the traveling direction derived by the first deriving means and the traveling direction derived by the second deriving means;
First correction means for correcting the current position measured by the positioning means based on the next traveling direction predicted by the prediction means;
It is characterized by having.

  According to the present invention, accurate positioning can be performed.

It is a conceptual diagram showing the whole running track display system composition. FIG. 2 is a block diagram illustrating a functional configuration of the positioning device. FIG. 3 is a block diagram illustrating a configuration of a logic circuit that performs a gyro bearing correction process. (A) is a graph showing an angular velocity around a vertical axis after being subjected to a low-pass filter, (b) is a graph showing an integral value (angle) of an angular velocity integrated by an integrator, and (c) is a graph showing It is a graph which shows the angle (integrated value of angular velocity) which was hold | maintained for every 1 cycle of running. FIG. 3 is a block diagram illustrating a configuration of a logic circuit that performs a GNSS position correction process. (A) And (b) is explanatory drawing which shows how to obtain | require a prediction direction. (A) And (b) is an explanatory view showing how to obtain the final present position output to the trajectory creation and display device.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the illustrated example.

  First, the overall configuration of the present embodiment will be described with reference to FIG. FIG. 1 is a conceptual diagram showing a traveling locus display system 1 according to the present embodiment.

  As shown in FIG. 1, the traveling locus display system 1 includes a positioning device 10 and a locus creation and display device 20.

  The positioning device 10 is a device in which various sensors capable of sequentially detecting the movement and position of a user wearing the device are built. The positioning device 10 is, for example, a device that is worn on a user's waist during running and sequentially performs positioning based on sensing information acquired during the running. In addition, the positioning device 10 outputs the positioning result obtained by performing the positioning to the trajectory creation and display device 20.

  The trajectory creation and display device 20 is a device that can be carried by the user during running, and creates trajectory information indicating a travel locus based on the positioning results obtained from the positioning device 10 and displays the travel locus. Examples of the trajectory creation and display device 20 include a smartphone and a wearable terminal such as a wristwatch-type display.

  Next, a functional configuration inside the positioning device 10 will be described with reference to FIG. FIG. 2 is a block diagram illustrating a functional configuration of the positioning device 10.

  As shown in FIG. 2, the positioning device 10 includes a control unit 11, a storage unit 12, a GNSS measurement unit 13, an angular velocity measurement unit 14, an accelerometer side unit 15, an axis correction unit 16, a signal processing unit 17 and a transmission unit 18.

  The control unit 11 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), and the like. The CPU of the control unit 11 reads out the system program and various processing programs stored in the storage unit 12 and expands them in the RAM, executes various processes according to the expanded programs, and controls the operation of each unit of the positioning device 10. .

  The storage unit 12 is configured by a nonvolatile semiconductor memory, a hard disk, or the like. The storage unit 12 stores various programs executed by the control unit 11 and parameters necessary for executing processing by the programs. Further, the storage unit 12 stores data such as a processing result of the signal processing unit 17.

  The GNSS measurement unit (positioning means, second deriving means) 13 is a part that measures the current position (latitude, longitude, altitude), azimuth, speed, and the like of the positioning device 10 and receives a GNSS (Global Navigation Satellite System). Machine is used. The GNSS measurement unit 13 outputs GNSS data indicating the current position, the azimuth, the speed, and the like of the positioning device 10 to the signal processing unit 17 every predetermined time (for example, one second).

  The angular velocity measuring unit (first deriving unit) 14 is a part that measures the angular velocity of the positioning device 10, and uses a gyro sensor. The angular velocity measuring unit 14 detects angular velocities around three orthogonal axes at a predetermined sampling period (for example, 200 Hz). Then, the angular velocity measurement unit 14 outputs angular velocity data corresponding to the detected angular velocity about each axis to the axis correction unit 16.

  The accelerometer side unit 15 is a part that measures the acceleration of the positioning device 10, and uses an acceleration sensor. The accelerometer side unit 15 detects accelerations in three axes orthogonal to each other at a predetermined sampling cycle (for example, 200 Hz). Then, the accelerometer side unit 15 outputs acceleration data corresponding to the detected acceleration of each axis to the axis correction unit 16.

  The axis correction unit 16 converts each data input from the angular velocity measurement unit 14 and the accelerometer side unit 15, that is, each data based on the sensor coordinate system into data based on the universal world coordinate system for the running operation. Convert. Then, the axis correction unit 16 outputs the converted data based on the world coordinate system to the signal processing unit 17. Since a method of converting data from the sensor coordinate system to the world coordinate system is known, detailed description thereof is omitted.

The signal processing unit (prediction unit, first correction unit, first calculation unit, second correction unit, second calculation unit, determination unit, and output unit) 17 uses the axis correction unit 16 from the sensor coordinate system to the world. A gyro azimuth correction process (described later) for correcting the angular velocity data about the vertical axis converted into the coordinate system using the azimuth data (GNSS azimuth data) measured by the GNSS measurement unit 13 is performed.
Further, the signal processing unit 17 predicts the next traveling direction of the positioning device 10 based on the angular velocity data corrected by the gyro azimuth correction process, and calculates the position data (GNSS position data) measured by the GNSS measurement unit 13. ) Is corrected based on the predicted next traveling direction.
Note that the signal processing unit 17 is configured by a predetermined logic circuit, but the configuration is an example and the configuration is not limited to this. For example, the signal processing unit 17 may share the processing between the logic circuit and the control unit 11 according to the content of the processing and execute the processing.

  The transmission unit 18 is a unit that transmits a positioning result executed by the positioning device 10 to the trajectory creation and display device 20. For example, a wired communication unit such as a USB terminal or a wireless standard such as Bluetooth (registered trademark) is used. This is the transmission unit that employs

  Next, the gyro azimuth correction processing executed by the signal processing unit 17 will be described with reference to FIGS. FIG. 3 is a block diagram illustrating a configuration of a logic circuit that performs a gyro azimuth correction process. FIG. 4A is a graph showing an angular velocity around a vertical axis after being applied to a low-pass filter (LPF) 103. FIG. 4B is a graph showing an integrated value (angle) of the angular velocity integrated by the integrator 104. FIG. 4C is a graph showing the angle (integrated value of angular velocity) held for each running cycle.

  As shown in FIG. 3, first, the traveling detection unit 101 determines whether or not traveling by the user has been started based on velocity data (GNSS velocity data) output from the GNSS measurement unit 13 every second. . Specifically, for example, when the value of the GNSS speed data exceeds 6 km / h for two consecutive seconds, the travel detection unit 101 determines that travel has been started, and outputs a signal indicating the time at which travel was started. Output.

  Next, the traveling start direction detecting unit 102 starts traveling based on the direction data (GNSS direction data) output from the GNSS measuring unit 13 every second and the signal output from the traveling detecting unit 101. The GNSS azimuth data corresponding to the time is acquired, and the GNSS azimuth data is output.

Next, based on the GNSS direction data output from the traveling start direction detection unit 102, the integrator 104 sets the value of the GNSS data as an integration initial value. Then, the integrator 104 integrates the value of the angular velocity based on the angular velocity data about the vertical axis after being applied to the low-pass filter (LPF) 103 (see FIG. 4A). On the other hand, based on the angular velocity data about the vertical axis after being applied to the low-pass filter (LPF) 103 (see FIG. 4A), the over-zero detector 105 changes the angular velocity about the vertical axis from negative to positive. Each turning timing is detected as a starting point for each running cycle, and data indicating the starting point is output.
Here, the angular velocity data about the vertical axis is the angular velocity data converted by the axis correction unit 16 from the sensor coordinate system to the world coordinate system.

  The low-pass filter 103 is a filter set to a cut-off frequency (for example, 1 Hz) that removes noise due to impact or the like when the user's foot lands on the ground, but does not remove components due to direction change.

The retainer 106 stores data indicating the integral value (angle) of the angular velocity integrated by the integrator 104 (see FIG. 4B), and the starting point of each running cycle detected by the cross-over detection unit 105. Based on the indicated data, data (see FIG. 4C) indicating the angle (integrated value of the angular velocity) held for each running cycle is output. Then, an error between the angle held for each running cycle and the GNSS azimuth is calculated based on the data indicating the angle held for each running cycle and the GNSS azimuth data. The error is filtered by the low-pass filter 107 (cutoff is about several tens of seconds), and the filtered error is fed back to the angle held in each running cycle and corrected, so that data indicating the gyro azimuth is output. Will be done.
In the above-described processing, the gyro orientation calculated from the angular velocity of the gyro sensor is not affected by the environment (the error for each location is small), but the accumulated error of the gyro offset occurs, while the GNSS orientation is determined by the surrounding buildings and the like. Using the feature that an error occurs every time but no accumulated error occurs, an accurate direction is obtained by locking the gyro direction to the GNSS direction for a long period (about several tens of seconds).

  Next, a GNSS position correction process executed by the signal processing unit 17 will be described with reference to FIGS. FIG. 5 is a block diagram illustrating a configuration of a logic circuit that performs a GNSS position correction process. FIGS. 6A and 6B are explanatory diagrams showing how to obtain the predicted orientation. FIGS. 7A and 7B are explanatory diagrams showing how to obtain a final current position, which is a positioning result output to the trajectory creation and display device 20. FIG.

  As shown in FIGS. 5 and 6, first, the first mixing unit 111 compares the previous (one second before) traveling azimuth dr1 (= dr2) and the gyro azimuth dr3 obtained by the gyro azimuth correction processing described above. An orientation mixed at a predetermined ratio (for example, a ratio of 1: 4) is output as a predicted orientation dr4 (see FIGS. 6A and 6B). Here, the running direction dr2 is obtained by extending the running direction dr1 of the previous time (one second before).

  Next, as shown in FIGS. 5 and 7A, the vector updating unit 112 moves the position advanced by the speed adopted by the later-described comparing unit 113 on the predicted direction dr4 output from the first mixing unit 111. Is output as the next position coordinate P2.

As shown in FIGS. 5 and 7A, the comparing unit 113 calculates the ratio between the speed component of the GNSS update vector dr6 obtained by projecting the next GNSS coordinate vector dr5 onto the predicted direction dr4 and the predicted speed. If the value of the ratio of the speed component of the GNSS update vector dr6 to the predicted speed is within a predetermined range (eg, 0.8 to 1.5), the comparing unit 113 determines the speed of the GNSS update vector dr6. The component is adopted as the speed. On the other hand, when the value of the ratio of the speed component of the GNSS update vector dr6 to the predicted speed exceeds the upper limit of the predetermined range, the speed component corresponding to the upper limit is adopted as the speed, and the value of the ratio is equal to the predetermined value. If the speed falls below the lower limit of the range, the speed component corresponding to the lower limit is adopted as the speed.
In this way, the speed to be adopted is limited by the predicted speed, for example, when passing under an overpass, the GNSS position coordinates are pushed back in front of the overpass, and a problem such as jumping at once after passing through the overpass is suppressed. That's why.
Here, the predicted speed is calculated using the pitch and the stride indicating the running state of the user. The stride is calculated by dividing a past traveling distance by a pitch.

  The second mixing unit 115 mixes the original GNSS position coordinates P1 based on the mixture ratio created by the mixture ratio creation unit 114, as shown in FIG. 5 and FIG. The coordinates P2 are corrected, and the updated GNSS position coordinates (final coordinates) P3 are output. Here, the GNSS position coordinates updated as the final coordinates are sequentially output to the trajectory creation and display device 20, so that the trajectory creation and display device 20 creates a traveling trajectory.

The mixture ratio creation unit 114 determines the mixture ratio by determining the degree of curve of the route when the user travels based on the difference between the gyro directions obtained at predetermined time intervals.
Specifically, for example, when the angle difference between the entrance and exit of the curve (gyro estimation) is less than 20 degrees, the mixture ratio creation unit 114 sets the mixture ratio of the original GNSS position coordinates P1 to 0.1. As described above, when the degree of curve is low, the undulation of the route is suppressed by increasing the weight of the next position coordinate P2 based on the predicted orientation.
When the angle difference between the entrance and exit of the curve is not less than 20 degrees and less than 60 degrees, the mixture ratio creation unit 114 sets the mixture ratio of the original GNSS position coordinates P1 to 0.1 to 1 in accordance with the angle difference. Coordinate between.
When the angle difference between the entrance and exit of the curve is 60 degrees or more, the mixture ratio creation unit 114 sets the mixture ratio of the original GNSS position coordinates P1 to 1. As described above, when the degree of curve is high, the position shift is suppressed by increasing the weight of the original GNSS position coordinates P1.
Note that the above angle difference and mixture ratio are merely examples, and can be changed as appropriate.

As described above, according to the present embodiment, the positioning device 10 sequentially measures the current position of the own device by the GNSS measuring unit 13, sequentially derives the traveling direction of the own device by the angular velocity measuring unit 14, The measuring unit 13 sequentially derives the traveling direction of the own device, corrects the traveling direction derived by the angular velocity measuring unit 14 using the traveling direction derived by the GNSS measuring unit 13, and based on the corrected traveling direction. Then, the next traveling direction is predicted, and based on the predicted next traveling direction (predicted azimuth dr4), the measured current position is corrected to be the final positioning result.
For this reason, according to the positioning device 10, by using the traveling direction derived by the GNSS measuring unit 13 and the traveling direction derived by the angular velocity measuring unit 14 together, for example, a place with many multipaths such as an urban area However, accurate positioning results can be obtained.

  Further, according to the present embodiment, the positioning device 10 connects the current position measured by the GNSS measurement unit 13 and the current position measured immediately before the positioning of the current position (the next GNSS coordinate vector dr5). Is projected onto the predicted orientation dr4, so that the current position is corrected, so that a positioning result for creating a smooth trajectory can be obtained.

Further, according to the present embodiment, the positioning device 10 calculates the ratio of the speed component of the vector (GNSS update vector dr6) to the predicted speed predicted from the running state of the user, and the value of the ratio falls within a predetermined range. , The position P2 advanced by the speed component of the vector in the next traveling direction (predicted azimuth dr4) is set as the corrected current position.
For this reason, according to the positioning device 10, it is possible to obtain a positioning result for creating a smoother trajectory by restricting using the predicted speed when obtaining the next position P2.

Further, according to the present embodiment, when the value of the ratio exceeds the upper limit of the predetermined range, the positioning device 10 advances the speed component corresponding to the upper limit in the next traveling direction (predicted direction dr4). When the position P2 is the corrected current position, and the value of the ratio is lower than the lower limit of the predetermined range, the corrected position is the position P2 advanced by the speed component corresponding to the lower limit in the next traveling direction. It will be.
For this reason, according to the positioning device 10, it is possible to obtain a positioning result for creating a smoother trajectory by restricting using the predicted speed when obtaining the next position P2.

  Further, according to the present embodiment, the positioning device 10 further corrects the corrected current position P2 according to the degree of curve of the route when the user travels, so that a more accurate positioning result can be obtained. .

Further, according to the present embodiment, the positioning device 10 calculates the curve degree of the route when the user travels, determines the mixing ratio based on the calculated curve degree, and determines the mixing ratio based on the determined mixing ratio. Thus, by mixing the position coordinates corresponding to the corrected current position P2 and the position coordinates corresponding to the current position P1 before the correction, the corrected current position P2 is further corrected.
For this reason, according to the positioning device 10, when the curve degree is low, for example, the swell of the route can be suppressed by increasing the weight of the next position coordinate P2 based on the predicted direction dr4. On the other hand, when the degree of curve is high, the displacement can be suppressed by increasing the weight of the original GNSS position coordinates P1.

  Although the embodiments of the present invention have been described above, it goes without saying that the present invention is not limited to such embodiments, and that various modifications can be made without departing from the scope of the invention.

  For example, the updated GNSS position coordinates (final coordinates) are transmitted to the trajectory creation and display device 20 via the transmission unit 18 every time they are output from the signal processing unit 17 under the control of the control unit 11. It is not limited to the case. In addition to this case, for example, under the control of the control unit 11, the updated GNSS position coordinates (final coordinates) are sequentially stored in the storage unit 12, and are stored in the storage unit 12 after the running is completed. The updated GNSS position coordinates (final coordinates) may be read and transmitted to the trajectory creation and display device 20 via the transmission unit 18.

  In the present embodiment, positioning is sequentially performed by the positioning device 10, and the positioning result obtained by the positioning is output to the trajectory creation and display device 20. Although the trajectory information indicating the trajectory is created based on the result and the trajectory is displayed, the positioning device 10 may execute the positioning and create the trajectory information and output the created trajectory information.

In the present embodiment, the traveling direction derived by the angular velocity measuring unit 14 is corrected using the traveling direction derived by the GNSS measuring unit 13, and the next traveling direction is changed based on the corrected traveling direction. Although it is predicted, the traveling direction derived by the GNSS measuring unit 13 is corrected using the traveling direction derived by the angular velocity measuring unit 14, and the next traveling direction is predicted based on the corrected traveling direction. Good.
In other words, the next traveling direction may be predicted from the traveling direction derived by the angular velocity measuring unit 14 and the traveling direction derived by the GNSS measuring unit 13.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to the above-described embodiments, and includes the scope of the invention described in the claims and equivalents thereof.
Hereinafter, the inventions described in the claims appended to the application form of this application are appended. The item numbers of the appended claims are as set forth in the claims originally attached to the application form of this application.

(Appendix)
<Claim 1>
Positioning means for sequentially positioning the current position of the own device;
First deriving means for sequentially deriving the traveling direction of the own device;
Second deriving means for sequentially deriving the traveling direction of the own device by a method different from the first deriving means;
Prediction means for predicting the next traveling direction using the traveling direction derived by the first deriving means and the traveling direction derived by the second deriving means;
First correction means for correcting the current position measured by the positioning means based on the next traveling direction predicted by the prediction means;
A positioning device comprising:
<Claim 2>
The prediction means corrects the traveling direction derived by the first deriving means using the traveling direction derived by the second deriving means, and based on the corrected traveling direction, the next traveling direction The positioning device according to claim 1, wherein
<Claim 3>
The positioning device according to claim 1, wherein the prediction unit predicts a next traveling direction by correcting a current traveling direction based on the corrected traveling direction.
<Claim 4>
4. The device according to claim 1, wherein the first deriving unit sequentially derives a traveling direction of the own device based on an angular velocity about a vertical axis sequentially detected by a gyro sensor. Positioning device.
<Claim 5>
The positioning means sequentially measures the current position of the own device by a satellite positioning system,
The positioning device according to claim 1, wherein the second deriving unit sequentially derives a traveling direction of the own device based on a current position sequentially measured by the positioning unit. apparatus.
<Claim 6>
The first correction unit sets a vector connecting the current position measured by the positioning unit and the current position measured immediately before the positioning of the current position in the next traveling direction predicted by the prediction unit. The positioning device according to claim 1, wherein the current position is corrected by projecting.
<Claim 7>
A first calculating unit configured to calculate a ratio of a speed component of the vector to a predicted speed predicted from a traveling state of the user,
The first correction means, when the value of the ratio calculated by the first calculation means is within a predetermined range, corrects a position advanced by the velocity component of the vector in the next traveling direction. The positioning device according to claim 6, wherein the current position is set.
<Claim 8>
When the value of the ratio calculated by the first calculation means exceeds an upper limit value in a predetermined range, the first correction means advances the speed in the next traveling direction by a speed component corresponding to the upper limit value. The position is set as the corrected current position, and when the value of the ratio falls below the lower limit of the predetermined range, the position advanced by the speed component corresponding to the lower limit in the next traveling direction is set as the corrected current position. The positioning device according to claim 7, wherein:
<Claim 9>
9. The apparatus according to claim 1, further comprising a second correction unit configured to further correct the current position corrected by the first correction unit in accordance with a degree of curve of the route when the user travels. 10. The positioning device according to claim 1.
<Claim 10>
A second calculation unit that calculates the degree of curve of the route based on the traveling direction predicted by the prediction unit and based on each traveling direction obtained at a predetermined time interval;
Determining means for determining a mixing ratio based on the curve degree calculated by the second calculating means,
The second correction means, based on the mixture ratio determined by the determination means, corresponds to a position coordinate corresponding to the current position corrected by the first correction means and a current position before correction. The positioning device according to claim 9, wherein the current position corrected by the first correction unit is further corrected by mixing the current position and the position coordinates.
<Claim 11>
The positioning device according to any one of claims 1 to 10, further comprising an output unit that outputs a current position corrected by the first correction unit.
<Claim 12>
A positioning method using a positioning device,
A positioning process for sequentially positioning the current position of the own device,
A first deriving step of sequentially deriving the traveling direction of the own device;
A second deriving step of sequentially deriving the traveling direction of the own device by a method different from the first deriving step;
A prediction step of predicting a next traveling direction using the traveling direction derived by the first deriving step and the traveling direction derived by the second deriving step;
Based on the next traveling direction predicted by the prediction step, a correction step of correcting the current position measured by the positioning step,
A positioning method characterized by including:
<Claim 13>
The positioning device computer,
Positioning means for sequentially positioning the current position of the own device,
First deriving means for sequentially deriving the traveling direction of the own device,
A second deriving unit for sequentially deriving the traveling direction of the own device by a method different from the first deriving unit; a traveling direction derived by the first deriving unit and a traveling derived by the second deriving unit. Prediction means for predicting the next traveling direction using the direction,
Correction means for correcting the current position measured by the positioning means, based on the next traveling direction predicted by the prediction means,
A positioning program characterized by functioning as:

DESCRIPTION OF SYMBOLS 1 Travel locus display system 10 Positioning device 11 Control part 12 Storage part 13 GNSS measurement part (positioning means, 2nd derivation means)
14. Angular velocity measuring unit (first deriving means)
15 acceleration measurement unit 16 axis correction unit 17 signal processing unit (prediction unit, first correction unit, first calculation unit, second correction unit, second calculation unit, determination unit, output unit)
18 transmission unit 20 locus creation and display device

Claims (13)

Positioning means for sequentially positioning the current position of the own device;
First deriving means for sequentially deriving the traveling direction of the own device;
Second deriving means for sequentially deriving the traveling direction of the own device by a method different from the first deriving means;
Prediction means for predicting the next traveling direction using the traveling direction derived by the first deriving means and the traveling direction derived by the second deriving means;
First correction means for correcting the current position measured by the positioning means based on the next traveling direction predicted by the prediction means;
A positioning device comprising:   The prediction means corrects the traveling direction derived by the first deriving means using the traveling direction derived by the second deriving means, and based on the corrected traveling direction, the next traveling direction The positioning device according to claim 1, wherein   The positioning device according to claim 1, wherein the prediction unit predicts a next traveling direction by correcting a current traveling direction based on the corrected traveling direction.   4. The device according to claim 1, wherein the first deriving unit sequentially derives a traveling direction of the own device based on an angular velocity about a vertical axis sequentially detected by a gyro sensor. Positioning device. The positioning means sequentially measures the current position of the own device by a satellite positioning system,
The positioning device according to claim 1, wherein the second deriving unit sequentially derives a traveling direction of the own device based on a current position sequentially measured by the positioning unit. apparatus.   The first correction unit sets a vector connecting the current position measured by the positioning unit and the current position measured immediately before the positioning of the current position in the next traveling direction predicted by the prediction unit. The positioning device according to claim 1, wherein the current position is corrected by projecting. A first calculating unit configured to calculate a ratio of a speed component of the vector to a predicted speed predicted from a traveling state of the user,
When the value of the ratio calculated by the first calculation means is within a predetermined range, the first correction means corrects a position advanced by the velocity component of the vector in the next traveling direction. The positioning device according to claim 6, wherein the current position is set.   When the value of the ratio calculated by the first calculation means exceeds an upper limit value in a predetermined range, the first correction means advances the speed in the next traveling direction by a speed component corresponding to the upper limit value. The position is set as the corrected current position, and when the value of the ratio falls below the lower limit of the predetermined range, the position advanced by the speed component corresponding to the lower limit in the next traveling direction is set as the corrected current position. The positioning device according to claim 7, wherein:   9. The apparatus according to claim 1, further comprising a second correction unit configured to further correct the current position corrected by the first correction unit in accordance with a degree of curve of the route when the user travels. 10. The positioning device according to claim 1. A second calculation unit that calculates the degree of curve of the route based on the traveling direction predicted by the prediction unit and based on each traveling direction obtained at a predetermined time interval;
Determining means for determining a mixing ratio based on the curve degree calculated by the second calculating means,
The second correction means, based on the mixture ratio determined by the determination means, corresponds to a position coordinate corresponding to the current position corrected by the first correction means and a current position before correction. The positioning device according to claim 9, wherein the current position corrected by the first correction unit is further corrected by mixing the current position and the position coordinates.   The positioning device according to claim 1, further comprising an output unit that outputs a current position corrected by the first correction unit. A positioning method using a positioning device,
A positioning process for sequentially positioning the current position of the own device,
A first deriving step of sequentially deriving the traveling direction of the own device;
A second deriving step of sequentially deriving the traveling direction of the own device by a method different from the first deriving step;
A prediction step of predicting a next traveling direction using the traveling direction derived by the first deriving step and the traveling direction derived by the second deriving step;
Based on the next traveling direction predicted by the prediction step, a correction step of correcting the current position measured by the positioning step,
A positioning method comprising: The positioning device computer,
Positioning means for sequentially positioning the current position of the own device,
First deriving means for sequentially deriving the traveling direction of the own device,
A second deriving unit for sequentially deriving the traveling direction of the own device by a method different from the first deriving unit; a traveling direction derived by the first deriving unit and a traveling derived by the second deriving unit. Prediction means for predicting the next traveling direction using the direction,
Correction means for correcting the current position measured by the positioning means, based on the next traveling direction predicted by the prediction means,
A positioning program characterized by functioning as:

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