JP4815977B2 - TERMINAL DEVICE, EXTERNAL DEVICE, TERMINAL DEVICE CONTROL METHOD - Google Patents

Description

  The present invention relates to a terminal device that performs positioning based on a signal from a positioning satellite, an external device, a terminal device control method, a terminal device control program, and a computer-readable recording medium that records the terminal device control program. is there.

Conventionally, a positioning system that measures the position of a GPS receiver by using, for example, a GPS (Global Positioning System) that is a satellite navigation system has been put into practical use.
A technique for performing map matching, which is a process for correcting a positioning result obtained using such a system to a position on a road, and outputting the corrected position is used for car navigation or the like.
And the technique which correct | amends the positioning result by a GPS receiver using the self-supporting positioning by a self-supporting sensor by providing a vehicle speed sensor and a direction sensor as a self-supporting sensor other than a GPS receiver is proposed (for example, Patent Document 1).
JP-A-5-18768 (FIG. 1 etc.)

  However, in a small portable terminal device such as a navigation device built in a mobile phone, if a self-supporting sensor is provided, the size may increase or the weight may increase, and the practicality may deteriorate. There is a problem that there is.

  Therefore, the present invention provides a terminal device, an external device, a terminal device control method, a terminal device control program, and a terminal device capable of outputting an accurate map matching result despite having no self-supporting sensor. An object of the present invention is to provide a computer-readable recording medium in which a control program is recorded.

  According to the first aspect of the present invention, there is provided the satellite signal receiving means for receiving a satellite signal that is a signal from a positioning satellite, and the positioning that can be observed based on the rough orbit information indicating the rough orbit of the positioning satellite. Observable positioning satellite information generating means for generating observable positioning satellite information indicating a satellite, and a positioning satellite which is a set of the positioning satellites used for positioning of the current position of the terminal device based on the observable positioning satellite information All-satellite set information generating means for generating all-satellite set information indicating all of the sets, and positioning corresponding to each positioning satellite set by performing the positioning for all of the positioning satellite sets indicated in the all-satellite set information All positioning position information generating means for generating all positioning position information indicating all positions, and map matching is performed for all the positioning positions, and output candidate position information indicating output candidate positions is obtained. Output candidate position information generating means for generating, output position information generating means for selecting the output candidate position with the smallest correction in the map matching as an output position, and generating output position information indicating the output position, and the output position It is achieved by a terminal device comprising output position information output means for outputting information.

According to the configuration of the first aspect of the invention, since the terminal device has the all positioning position information generating means, the positioning is performed for all the positioning satellite sets indicated in the all satellite set information, and each positioning is performed. All positioning position information indicating all positioning positions corresponding to the satellite set can be generated.
And since the said terminal device has the said output candidate position information production | generation means, it can map-match about all the said positioning positions, and can produce | generate the said output candidate position information.
Here, it is considered that the positioning position is closer to the true position as the positioning position is closer to the position on the passage where the terminal device is in progress. The positioning position close to the true position should be the smallest corrected by map matching.
As described above, since the terminal device performs map matching for all the positioning positions, one of the map matching results is based on the positioning position closest to the passage in which the terminal device is in progress.
And the said terminal device can select the said output candidate position with the smallest correction | amendment in the said map matching as an output position by the said output position information generation means.
The smallest correction in the map matching means that the positioning position is closest to the path where the terminal device is in progress and closest to the true position.
That is, the terminal device can select the map matching result of the positioning position closest to the true position by the output position information generating means.
Here, unlike the configuration of the present invention, when one of the positioning positions is selected and map matching is performed, if the positioning position is inappropriately selected, the map matching result is different from the true position. To do. In this case, it is not always possible to correct the map matching result to a position close to the true position.
On the other hand, according to the configuration of the first invention, map matching is performed for all the positioning positions, and the most appropriate map matching result is selected. Therefore, the terminal device does not have a self-supporting sensor. Nevertheless, an accurate map matching result can be output.

  According to a second aspect of the present invention, in the configuration of the first aspect of the invention, based on the previous output position information, the accessible range information for generating the accessible range information indicating the accessible range in which the terminal device can exist is provided. The terminal device is characterized in that it has a generating means, and the output position information generating means is configured to select any one of the output candidate positions within the passable range.

  According to the configuration of the second invention, the output position information generating means of the terminal device is configured to select any of the output candidate positions within the passable range as the output position. The output candidate position outside the passable range can be reliably excluded.

  According to a third aspect of the present invention, in the configuration of the second aspect of the present invention, the accessible range information generating means is based on the continuity with the passage to which the previous output position indicated by the previous output position information belongs and the previous output position. Characterized in that the traversable range information is generated using all or part of an element consisting of a deviation distance between the terminal device and a traveling direction and traveling speed of the terminal device corresponding to the previous output position. Is a terminal device.

  According to the configuration of the third invention, the terminal device can generate the accessible range information based on the continuity with the passage to which the previous output position belongs.

  According to a fourth aspect of the present invention, in the configuration of any one of the first to third aspects, the reliability of the positioning position is indicated based on the arrangement of the positioning satellite in the sky when the positioning position information is generated. Positioning reliability information generating means for generating positioning reliability information is provided, and the output position information generating means is further configured to select the output candidate position based on the positioning reliability information. Is a terminal device.

  According to the configuration of the fourth invention, the output position information generating means of the terminal device is further configured to generate the output position information based on the positioning reliability information. The output candidate position information that is considered to be closer to the true position can be selected from the output candidate position information having the same correction, and the output position information can be generated.

  According to the fifth aspect of the present invention, the object is an external device that measures the current position of a terminal device that receives a satellite signal, which is a signal from a positioning satellite, and that is capable of observing each of the aforementioned observable from the terminal device. All of the pseudo-range information receiving means for receiving pseudo-range information indicating the distance between the positioning satellite and the terminal device, and all of the positioning satellite sets that are a set of the positioning satellites used for positioning of the current position of the terminal device are shown. All satellite set information generating means for generating all satellite set information, and the positioning position corresponding to each positioning satellite set by performing the positioning for all of the positioning satellite sets indicated in the all satellite set information. The external device side all positioning position information generating means for generating all positioning position information indicating all, and map matching is performed on all the positioning positions to generate output candidate position information indicating the output candidate positions. External device side output candidate position information generating means; and external device side output position information generating means for selecting the output candidate position with the smallest correction in the map matching as an output position and generating output position information indicating the output position; And an output position information transmitting means for transmitting the output position information to the terminal device.

According to the configuration of the fifth invention, since the external device has the all pseudo-range information receiving means, the pseudo-device indicating the distances between all the positioning satellites observable from the terminal device and the terminal device. Distance information can be received.
Then, like the terminal device of the first invention, the external device performs map matching for all the positioning positions and selects the output candidate position with the smallest correction in the map matching as the output position. be able to.
And since the said external device has the said output position information transmission means, it can transmit the said output position information to the said terminal device.
Thereby, the external device provides the output position information for outputting an accurate map matching result even when the terminal device does not have a self-supporting sensor to the terminal device. Can do.

  According to the sixth aspect of the present invention, the terminal device that receives a satellite signal, which is a signal from a positioning satellite, can detect the positioning satellite that can be observed based on the approximate orbit information indicating the approximate orbit of the positioning satellite. An observable positioning satellite information generation step for generating observable positioning satellite information to be shown, and the terminal device is a set of the positioning satellites used for positioning the current position of the terminal device based on the observable positioning satellite information. An all-satellite set information generating step for generating all-satellite set information indicating all of a certain positioning satellite set; and the terminal device performs the positioning for all of the positioning satellite sets indicated in the all-satellite set information A total positioning position information generating step for generating all positioning position information indicating all positioning positions corresponding to the positioning satellite set; and the terminal device maps map maps for all the positioning positions. Output candidate position information generating step for generating output candidate position information indicating an output candidate position, and the terminal device selects the output candidate position with the smallest correction in the map matching as an output position, An output position information generating step for generating output position information indicating an output position and an output position information output step for outputting the output position information by the terminal device are achieved by a control method for a terminal device. Is done.

  According to the configuration of the sixth invention, similarly to the configuration of the first invention, the terminal device can output an accurate map matching result even though it does not have a self-supporting sensor.

  According to the seventh aspect of the present invention, the terminal device that receives a satellite signal, which is a signal from a positioning satellite, can be observed on a computer based on the approximate orbit information indicating the approximate orbit of the positioning satellite. An observable positioning satellite information generating step for generating observable positioning satellite information indicating a positioning satellite, and the positioning satellite used for positioning the current position of the terminal device based on the observable positioning satellite information; All satellite set information generating step for generating all satellite set information indicating all of the positioning satellite sets that are the set of, and the terminal device performs the positioning for all of the positioning satellite sets indicated in the all satellite set information. All positioning position information generating step for generating all positioning position information indicating all of the positioning positions corresponding to each positioning satellite set, and the terminal device is connected to all the positioning positions. Output candidate position information generation step for generating output candidate position information indicating the output candidate position by performing map matching, and the terminal device selects the output candidate position with the smallest correction in the map matching as the output position An output position information generation step for generating output position information indicating the output position, and an output position information output step for the terminal apparatus to output the output position information. Achieved by the control program.

  According to an eighth aspect of the present invention, the terminal device that receives a satellite signal, which is a signal from a positioning satellite, can be observed on the computer based on the approximate orbit information indicating the approximate orbit of the positioning satellite. An observable positioning satellite information generating step for generating observable positioning satellite information indicating a positioning satellite, and the positioning satellite used for positioning the current position of the terminal device based on the observable positioning satellite information; All satellite set information generating step for generating all satellite set information indicating all of the positioning satellite sets that are the set of, and the terminal device performs the positioning for all of the positioning satellite sets indicated in the all satellite set information. All positioning position information generating step for generating all positioning position information indicating all of the positioning positions corresponding to each positioning satellite set, and the terminal device is connected to all the positioning positions. Output candidate position information generation step for generating output candidate position information indicating the output candidate position by performing map matching, and the terminal device selects the output candidate position with the smallest correction in the map matching as the output position An output position information generation step for generating output position information indicating the output position, and an output position information output step for the terminal apparatus to output the output position information. This is achieved by a computer-readable recording medium on which a control program is recorded.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
The embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these embodiments.

FIG. 1 is a schematic diagram showing a positioning system 10 according to an embodiment of the present invention.
As shown in FIG. 1, the positioning system 10 has a terminal 20. The terminal 20 has a GPS device 34 and can receive signals S1, S2, S3, S4, S5, and S6 from a plurality of positioning satellites, for example, GPS satellites 12a, 12b, 12c, 12d, 12e, and 12f. it can. The signal S1 and the like are examples of satellite signals. The terminal 20 is an example of a terminal device.
The current position of the terminal 20 is the previous output position Pm0 on the road R1 in FIG. 1 and is moving in the speed and direction indicated by the previous speed vector v0.
The terminal 20 is, for example, a mobile phone with a navigation function, but may be a PHS (Personal Handy-phone System), a PDA (Personal Digital Assistance _), or the like having a navigation function, or a car navigation device installed in an automobile. It may be.

  Unlike the present embodiment, the number of GPS satellites 12a and the like is not limited to 6, but may be 5 or less, or 7 or more.

(Main hardware configuration of terminal 20)
FIG. 2 is a schematic diagram showing the main hardware configuration of the terminal 20.
As shown in FIG. 2, the terminal 20 has a computer, and the computer has a bus 22.
A CPU (Central Processing Unit) 24, a storage device 26, and the like are connected to the bus 22. The storage device 26 is, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory).
An external storage device 28 is connected to the bus 22. The external storage device 28 is, for example, an HDD (Hard Disk Drive).

  The bus 22 is connected to an input device 30 for receiving input of various information and commands, a power supply device 32, a GPS device 34, and a display device 36 for displaying various information.

(About main software configuration of terminal 20)
FIG. 3 is a schematic diagram showing a main software configuration and the like of the terminal 20.
As shown in FIG. 3, the terminal 20 includes a GPS unit 102 corresponding to the GPS device 34 of FIG. 2, a display unit 104 corresponding to the display device 36, and the like.
The terminal 20 also includes a first storage unit 110 that stores various programs and a second storage unit 150 that stores various information.

  As illustrated in FIG. 3, the terminal 20 stores the previous information 151 in the second storage unit 150. The previous information 151 includes previous output position information 151a and previous speed vector information 151b. The previous output position information 151a is the output position information 170 previously generated by the control unit 100 using the output position information generation program 126 described later. The previous speed vector information 151b is a speed vector corresponding to the previous output position Pm0 among the speed vectors indicated by the speed vector information 162 generated by the control unit 100 using the speed vector information generation program 118 described later. The previous output position information 151a is an example of output position information, and the previous output position Pm0 is an example of the previous output position.

  As illustrated in FIG. 3, the terminal 20 stores satellite orbit information 152 in the second storage unit 150. The satellite orbit information 152 includes an almanac 152a indicating the approximate satellite orbit of all the GPS satellites 12a and the like (see FIG. 1), and an ephemeris 152b indicating the precise satellite orbit of each GPS satellite 12a and the like. The terminal 20 uses the satellite orbit information 152 for receiving the signal S1 and the like and for positioning.

  As illustrated in FIG. 3, the terminal 20 stores road information 154 in the second storage unit 150. The road information 154 is information indicating roads throughout Japan, for example, and includes information indicating roads R1 to R5 in FIG.

As illustrated in FIG. 3, the terminal 20 stores an observable satellite information generation program 112 in the first storage unit 110. In the observable satellite information generation program 112, the control unit 100 generates observable satellite information 156 indicating the GPS satellites 12a and the like that can be observed at the current time at the previous output position Pm0 (see FIG. 1) based on the almanac 152a. It is a program for.
The observable satellite information 156 is an example of observable positioning satellite information, observable positioning satellite information generation program 112 and the control section 100 is an example of observable positioning satellite information generation means.
For example, the control unit 100 generates observable satellite information 156 indicating the GPS satellites 12a to 12f.
The control unit 100 stores the generated observable satellite information 156 in the second storage unit 150.

As illustrated in FIG. 3, the terminal 20 stores a satellite set information generation program 114 in the first storage unit 110. The satellite set information generation program 114 is based on the observable satellite information 156 and the satellite set information 158 indicating all of the satellite sets G1 and the like that are a set of GPS satellites used for positioning the current position of the terminal 20. Is a program for generating The satellite set G1 and the like are examples of positioning satellite sets, the satellite set information 158 is an example of all satellite set information, and the satellite set information generation program 114 and the control unit 100 are examples of all satellite set information generation means.
For example, the control unit 100 calculates the satellite sets G1 to G15 as all combinations of the six GPS satellites 12a and the like shown in the satellite set information generation program 114, and shows the satellite sets G1 to G15. Information 158 is generated.
The control unit 100 stores the generated satellite set information 158 in the second storage unit 150.

  As illustrated in FIG. 3, the terminal 20 stores a positioning position information generation program 116 in the first storage unit 110. The positioning position information generation program 116 causes the control unit 100 to perform positioning for all the satellite sets G1 to G15 indicated in the satellite set information 158, and generate positioning position information 160 indicating the positioning positions P1 to P15. It is a program. The positioning position information 160 is an example of all positioning position information, and the positioning position information generating program 116 and the control unit 100 are examples of all positioning position information generating means.

FIG. 4 is a diagram illustrating an example of the positioning position P1 and the like.
In FIG. 4, only the positioning positions P1 to P5 are shown, and the other positioning positions P6 to P15 are not shown.
As shown in FIG. 4, a different positioning position P1 or the like is calculated for each satellite set G1 or the like.
The control unit 100 stores the generated positioning position information 160 in the second storage unit 150.

As illustrated in FIG. 3, the terminal 20 stores a speed vector information generation program 118 in the first storage unit 110. The speed vector information generation program 118 is controlled by the control unit 100.
For all satellite sets G1 and the like shown in the satellite set information 158, velocity vectors v1 to v15 indicating the traveling direction and traveling speed of the terminal 20 are calculated, and velocity vector information 162 indicating all the velocity vectors v1 and the like is generated. It is a program for.
Specifically, the control unit 100, for example, for each satellite set G1 or the like, based on the Doppler shift of the frequency of the radio wave carrying the signal S1 or the like generated by the relative movement between each GPS satellite 12a and the terminal 20 or the like. Then, the velocity vector v1 and the like are calculated (see, for example, paragraphs [0016] to [0018] of JP-A-8-68651).
The control unit 100 stores the generated speed vector information 162 in the second storage unit 150.

3, the terminal 20 in the first storage unit 110 stores the HDOP (Horiz o ntal Dilu t ion Of Precision) information generating program 120. The HDOP information generation program 120 is a program for the control unit 100 to calculate HDOP α1 to α15 for all satellite sets G1 indicated in the satellite set information 158 and generate HDOP information 164 indicating all HDOP α1 and the like. is there. The HDOP information 164 is an example of positioning reliability information, and the HDOP information generation program 120 and the control unit 100 are examples of positioning reliability information generating means.
Specifically, for example, the control unit 100 calculates HDOPα1 and the like for each satellite set G1 and the like based on the arrangement in the sky of the GPS satellites 12a and the like constituting the satellite set G1.
The control unit 100 stores the generated HDOP information 164 in the second storage unit 150.

  As illustrated in FIG. 3, the terminal 20 stores an all-positioned position map matching program 122 in the first storage unit 110. The total positioning position map matching program 122 is an output candidate that the control unit 100 performs map matching for all the positioning positions P1 to P15 indicated in the positioning position information 160 and outputs them to the display device 36 (see FIG. 2). This is a program for calculating certain output candidate positions Pm1 to Pm15 and generating output candidate position information 166 indicating all the output candidate positions Pm1 to Pm15. The output candidate position Pm1 and the like are examples of output candidate positions, and the all-positioned position map matching program 122 and the control unit 100 are examples of output candidate position information generating means.

For example, as illustrated in FIG. 4, the control unit 100 corrects the positioning position P1 and the like to the position Pm1 and the like on the road R1 and the like, thereby calculating the output candidate position Pm1 and the like.
Specifically, the control unit 100 sets the center position in the width direction of the road R1 or the like as the output candidate position Pm1 or the like, which is the shortest distance from the positioning position P1 or the like.
The control unit 100 stores the generated output candidate position information 166 in the second storage unit 150.

  As illustrated in FIG. 3, the terminal 20 stores a possible road range information generation program 124 in the first storage unit 110. The existence possible road range information generation program 124, the control unit 100, based on the previous output position Pm0, the existence possible road range information 168 indicating the existence possible road range X as a possible range where the terminal 20 can exist. Is a program for generating The possible road range information 168 is an example of passable range information, and the possible road range information generation program 124 and the control unit 100 are an example of a passable range information generating unit.

FIG. 5 is a diagram illustrating an example of the accessible road range X and the like.
The control unit 100 calculates the possible road range X based on the previous output position Pm0.
At this time, in addition to the previous output position Pm0, the control unit 100 calculates the possible road range X using continuity with the road R1 where the previous output position Pm0 exists. For this reason, the road R5 running parallel to the road R1 does not have continuity with the road R1 and does not belong to the possible road range X because the terminal 20 cannot travel there.

The control unit 100 calculates the possible road range X using the previous speed vector information 151b (see FIG. 3) indicating the traveling direction and traveling speed of the terminal 20 when the previous output position Pm0 was calculated. . That is, for example, a position in the direction opposite to the traveling direction indicated by the previous speed vector v0 on the road R1 where the previous output position Pm0 exists does not belong to the possible road range X. For this reason, for example, the position where the output candidate position Pm1 exists does not belong to the possible road range X.
Further, the range that cannot be reached from the previous output position Pm0 to the current time from the time when the previous output position Pm0 was calculated at the speed indicated by the previous speed vector v0 does not belong to the existable road range X. For this reason, for example, the position where the output candidate position Pm5 exists does not belong to the possible road range X. It can be said that the possible road range X is calculated in consideration of the deviation distance from the previous output position Pm0.

As illustrated in FIG. 3, the terminal 20 stores an output position information generation program 126 in the first storage unit 110. The output position information generation program 126 is a program for generating output position information 170 for the control unit 100 to output to the display device 36 (see FIG. 2). The output position information 170 is an example of output position information, and the output position information generation program 126 and the control unit 100 are examples of output position information generation means.
The control unit 100 selects an output candidate position with the smallest correction by map matching as an output position from among the output candidate positions located in the possible road range X described above, and generates output position information 170 indicating the output position. It is a program for.
As shown in FIG. 5, among the output candidate positions Pm2 and the like located in the possible road range X, the output candidate position Pm3 has the smallest correction by map matching. Therefore, the control unit 100 sets the output candidate position Pm3 as the output position. Select as. Then, the control unit 100 generates output position information 170 indicating the output position Pm3.
Note that if there is an output candidate position with the same degree of correction by map matching, the control unit 100 refers to the HDOP information 164 and selects an output candidate position corresponding to a smaller HDOP as the output position. It has become.

  As illustrated in FIG. 3, the terminal 20 stores an output position information output program 128 in the first storage unit 110. The output position information output program 128 is a program for the control unit 100 to output the output position information 170 to the display device 36 (see FIG. 2).

The positioning system 10 is configured as described above.
As described above, the terminal 20 can perform positioning for all of the satellite sets indicated in the satellite set information 158 (see FIG. 3) to generate the positioning position information 160.
Then, the terminal 20 performs map matching for all positioning positions, and generates output candidate position information 166.
Here, it is considered that the positioning position is closer to the true position as the position indicated by the positioning position is closer to the passage where the terminal 20 is in progress. And the map matching result of the positioning position close to the true position should have the smallest deviation from the true position.
As described above, since the terminal 20 performs map matching for all positioning positions, one of the map matching results is based on the positioning position closest to the path on which the terminal 20 is in progress.
Then, the terminal 20 can generate output position information indicating an output candidate position with the smallest correction in map matching. The smallest correction in map matching means that the corresponding positioning position is closest to the passage where the terminal 20 is in progress and closest to the true position.
That is, the terminal 20 can select the map matching result of the positioning position closest to the true position.
Here, unlike the configuration of the present invention, when one positioning position is selected and map matching is performed, if the positioning position is inappropriately selected, the map matching result deviates from the true position. In this case, it is not always possible to correct the map matching result to a position close to the true position.
On the other hand, the terminal 20 performs map matching for all the positioning positions and selects the most appropriate map matching result. Therefore, the terminal 20 provides accurate map matching results despite having no self-supporting sensor. Can be output.

Further, the terminal 20 can calculate the possible road range X by using the continuity with the road to which the previous output position belongs indicated by the previous output position information 151a and the previous speed vector information 151b. .
Since the terminal 20 is configured to select any of the output candidate positions within the possible road range X (see FIG. 5) as the output position, the terminal 20 selects the output candidate position outside the possible road range X. Can be surely eliminated.

  Further, since the terminal 20 is configured to select the output position candidate position as the output position based on the HDOP information 164, if the correction in map matching is closer to the true position among the output candidate positions having the same degree. Possible output candidate positions can be used as output positions.

The above is the configuration of the terminal 20 of the present embodiment. Hereinafter, an example of the operation will be mainly described with reference to FIG.
FIG. 6 is a schematic flowchart showing an operation example of the terminal 20 of the present embodiment.

First, the terminal 20 calculates observable GPS satellites 12a and the like, and generates observable satellite information 156 (see FIG. 3) (step ST1 in FIG. 6). This step ST1 is an example of an observable positioning satellite information generation step.
Subsequently, the terminal 20 generates satellite set information 158 indicating all the satellite sets G1 and the like used for positioning (step ST2). This step ST2 is an example of an all satellite set information generation step.

Subsequently, the terminal 20 receives the signal S1 and the like for each satellite set G1 and the like, calculates a positioning position P1 and the like, and generates positioning position information 160 (step ST3). This step ST3 is an example of a total positioning position information generation step.
Subsequently, the terminal 20 generates speed vector information 162 and HDOP information 164 (step ST4).

  Subsequently, the terminal 20 performs map matching for each positioning position P1 and the like, and generates output candidate position information 166 indicating the output candidate position Pm1 and the like (step ST5). This step ST5 is an example of an output candidate position information generation step.

Subsequently, the terminal 20 generates possible road range information 168 (step ST6).
Subsequently, the terminal 20 selects the output candidate position Pm3 with the smallest correction by map matching as the output position from among the output candidate positions Pm2 in the possible road range X (see FIG. 5), and indicates the output position Pm3. Output position information 170 is generated (step ST7). This step ST7 is an example of an output position information generation step.

  Subsequently, the terminal 20 outputs the output position information 170 (step ST8). This step ST8 is an example of an output position information output step.

  Through the above-described steps, it is possible to output an accurate map matching result despite having no self-supporting sensor.

(Second Embodiment)
Next, a second embodiment will be described. Since the positioning system 10A according to the second embodiment has many points in common with the positioning system 10 according to the first embodiment, the common components are denoted by the same reference numerals and the like, and the differences will be mainly described below. .

FIG. 7 is a schematic diagram showing the positioning system 10A.
As shown in FIG. 7, the terminal 20 </ b> A of the positioning system 10 </ b> A can communicate with the positioning server 50 via the communication base station 40 and the Internet network 45. The positioning server 50 is an example of an external device.
As described below, the terminal 20A receives the signal S1 and generates a pseudorange, and the positioning server 50 performs subsequent positioning and the like. The terminal 50 receives and outputs the output position information generated by the positioning server 50.

(Main hardware configuration of terminal 20A)
FIG. 8 is a schematic diagram showing the main hardware configuration of the terminal 20A.
As shown in FIG. 8, the terminal 20 </ b> A has a terminal communication device 38.

(Main hardware configuration of positioning server 50)
FIG. 9 is a schematic diagram illustrating a main hardware configuration of the positioning server 50.
As shown in FIG. 9, the positioning server 50 has a computer, and the computer has a bus 52.
A CPU 54, a storage device 56, an external storage device 58, an input device 60, a power supply device 62, a server side GPS device 64, a display device 66, and a server communication device 68 are connected to the bus 52.

(Main software configuration of terminal 20A)
FIG. 10 is a schematic diagram illustrating a main software configuration of the terminal 20A.
As illustrated in FIG. 10, the terminal 20A stores a pseudo distance information generation program 130 in the first storage unit. The pseudorange information generation program 130 is a program for the control unit 100 to generate pseudorange information 180 indicating the pseudoranges between all the GPS satellites 12a and the like indicated in the observable satellite information 156 and the terminal 20A.
The control unit 100 stores the generated pseudo distance information 180 in the second storage unit 150.

  As shown in FIG. 10, the terminal 20A stores a pseudo distance information transmission program 132. The pseudo distance information transmission program 132 is a program for the control unit 100 to transmit the pseudo distance information 180 to the positioning server 50.

(Main software configuration of positioning server 50)
FIG. 11 is a schematic diagram illustrating a main software configuration of the positioning server 50.
As shown in FIG. 11, the positioning server 50 stores satellite orbit information 252 and road information 254 in the server second storage unit 250.

As shown in FIG. 11, the positioning server 50 stores a pseudo distance information reception program 212 in the server first storage unit 210. The pseudo distance information reception program 212 is a program for the server control unit 200 to receive the pseudo distance information 180 (see FIG. 10) from the terminal 20A. The pseudo distance information receiving program 212 and the server control unit 200 are an example of all pseudo distance information receiving means.
The server control unit 200 stores the received pseudo distance information 180 as server side pseudo distance information 256 in the server second storage unit 250.

As shown in FIG. 11, the positioning server 50 stores the server-side satellite set information generation program 214, the server-side positioning position information generation program 216, the server-side velocity vector information generation program 218, the server-side HDOP in the server first storage unit 210. An information generation program 220, a server-side all positioning position map matching program 222, a server-side existable road range information generation program 224, and a server-side output position information generation program 226 are stored. The server-side satellite set information generation program 214 and the like are a satellite set information generation program 114, a positioning position information generation program 116, a velocity vector information generation program 118 of the terminal 20 (see FIG. 3) in the first embodiment, It corresponds to the HDOP information generation program 120, the all-positioning position map matching program 122, the possible road range information generation program 124, and the output position information generation program 126, and the description is omitted because it has the same contents.
With these programs, the server 50 causes the server-side satellite set information 258, the server-side positioning position information 260, the server-side velocity vector information 262, the server-side HDOP information 264, the server-side output candidate position information 266, the server-side existable road range. Information 268 and server-side output position information 270 can be generated.

  The server side satellite set information generation program 214, the server side positioning position information generation program 216, the server side all positioning position map matching program 222, the server side possible road range information generation program 224, and the server side output position information generation program 226 include: In combination with the server control unit 200, an example of all external device side satellite set information generating means, an example of external device side all positioning position information generating means, an example of external device side output position information generating means, and an external device side output position, respectively. An example of the information generating means is configured.

  As shown in FIG. 11, the positioning server 50 stores an output position information transmission program 228 in the server first storage unit 210. The output position information transmission program 228 is a program for the server control unit 200 to transmit the server side output position information 270 to the terminal 20A. That is, the output position information transmission program 228 and the server control unit 200 are examples of output position information transmission means.

  Then, the terminal 20A can store the server-side output position information 270 received from the positioning server 50 in the second storage unit 150 as the output position information 182 and display it on the display device 36 (see FIG. 7).

  As described above, the positioning server 50 provides the server-side output position information 270 to the terminal 20A, thereby outputting an accurate map matching result even though the terminal 20A does not have a self-supporting sensor. Can help.

(About programs and computer-readable recording media)
For causing a computer to execute the observable positioning satellite information generation step, all satellite set information generation step, all positioning position information generation step, output position information generation step, output position information output step, etc. It can be a control program for the terminal device.
Moreover, it can also be set as the computer-readable recording medium etc. which recorded the control program etc. of such a terminal device.

  A program storage medium used for installing the control program of the terminal device in the computer and making it executable by the computer is, for example, a floppy disk such as a floppy (registered trademark), a CD-ROM (Compact Disc Read Only). Semiconductor memory in which programs are temporarily or permanently stored as well as package media such as Memory, CD-R (Compact Disc-Recordable), CD-RW (Compact Disc-Rewriterable), DVD (Digital Versatile Disc), etc. It can be realized with a magnetic disk or a magneto-optical disk.

  The present invention is not limited to the embodiments described above. Furthermore, the above-described embodiments may be combined with each other.

It is the schematic which shows the positioning system of embodiment of this invention. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main software structures of a terminal. It is a figure which shows an example etc. of a positioning position. It is a figure which shows an example etc. of the road area which can be passed. It is a schematic flowchart which shows the operation example of a positioning system. It is the schematic which shows the positioning system of embodiment of this invention. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main hardware constitutions of a positioning server. It is the schematic which shows the main software structures of a terminal. It is the schematic which shows the main software structures of a positioning server.

Explanation of symbols

  12a, 12b, 12c, 12d, 12e, 12f ... GPS satellites, 20, 20A ... terminals, 50 ... positioning server, 112 ... observable satellite information generation program, 114 ... satellite set information Generation program 116 ... Positioning position information generation program 118 ... Speed vector information generation program 120 ... HDOP information generation program 122 ... All positioning position map matching program 124 ... Existing road Range information generation program, 126 ... Output position information generation program, 128 ... Output position information output program, 130 ... Pseudo distance information generation program, 132 ... Pseudo distance information transmission program

Claims (5)

Satellite signal receiving means for receiving a satellite signal which is a signal from a positioning satellite;
Observable positioning satellite information generating means for generating observable positioning satellite information indicating the observable positioning satellite based on schematic orbit information indicating a schematic orbit of the positioning satellite;
Based on the observable positioning satellite information, all satellite set information generating means for generating all satellite set information indicating all of the positioning satellite sets that are a set of the positioning satellites used for positioning of the current position of the terminal device;
All positioning position information generating means for generating all positioning position information indicating all of the positioning positions corresponding to each positioning satellite set by performing the positioning for all of the positioning satellite sets indicated in the all satellite set information;
Readable range information generating means for generating readable range information indicating a readable range in which the terminal device can exist;
Output candidates obtained by performing map matching with the passable range information for all the positioning positions of the total positioning position information, and correcting the positioning position within the passable range to a position at the shortest distance from the positioning position Output candidate position information generating means for generating output candidate position information indicating a position;
An output position information generating unit that selects the output candidate position having the smallest correction amount in the map matching as an output position, and generates output position information indicating the output position;
Have a, and output position information output means for outputting the output position information,
The terminal device characterized in that the passable range information generating means generates the passable range information indicating a passable range in which the terminal device can exist based on the previous output position information . The accessible range information generating means includes:
Consists of continuity with the passage to which the previous output position belongs, which is indicated in the previous output position information, the deviation distance from the previous output position, and the traveling direction and traveling speed of the terminal device corresponding to the previous output position The terminal device according to claim 1 , wherein the traversable range information is generated using all or part of elements. Positioning reliability information generating means for generating positioning reliability information indicating the reliability of the positioning position based on the positioning of the positioning satellite in the sky when generating the positioning position information,
Said output position information generating means further terminal device according to claim 1 or claim 2, characterized in that it is configured to select the output candidate position based on the positioning reliability information . An external device that measures the current position of a terminal device that receives a satellite signal that is a signal from a positioning satellite,
All pseudorange information receiving means for receiving pseudorange information indicating the distances between all the positioning satellites that can be observed and the terminal device, from the terminal device;
An external device-side all-satellite set information generating means for generating all-satellite set information indicating all of the positioning satellite sets that are a set of the positioning satellites used for positioning of the current position of the terminal device;
For all the positioning satellite sets indicated in the all satellite set information, the external device side all positioning position information generation for performing the positioning and generating all the positioning position information indicating all the positioning positions corresponding to each positioning satellite set Means,
An external device side accessible range information generating means for generating accessible range information indicating the accessible range in which the terminal device can exist;
Output candidates obtained by performing map matching with the passable range information for all the positioning positions of the total positioning position information, and correcting the positioning position within the passable range to a position at the shortest distance from the positioning position External device side output candidate position information generating means for generating output candidate position information indicating a position;
Selecting the output candidate position with the smallest correction amount in the map matching as an output position, and generating output position information indicating the output position;
Have a, and output position information transmitting means for transmitting the output position information to the terminal device,
The external device side accessible range information generating means generates the accessible range information indicating the accessible range in which the terminal device can exist based on the previous output position information. External device. A terminal device that receives a satellite signal, which is a signal from a positioning satellite, generates observable positioning satellite information indicating the observable positioning satellite based on rough orbit information indicating a rough orbit of the positioning satellite. A satellite information generation step;
All satellite sets for generating all satellite set information indicating all of the positioning satellite sets that are a set of the positioning satellites used for positioning the current position of the terminal device based on the observable positioning satellite information An information generation step;
All positioning positions in which the terminal device generates all positioning position information indicating all positioning positions corresponding to each positioning satellite set by performing the positioning for all the positioning satellite sets indicated in the all satellite set information. An information generation step;
The terminal device generates a trafficable range information indicating a trafficable range in which the terminal device can exist;
The terminal device performs map matching with the passable range information for all the positioning positions of the total positioning position information, and the positioning position is within the passable range and is the shortest distance from the positioning position. An output candidate position information generating step for generating output candidate position information indicating the output candidate position corrected to
An output position information generating step in which the terminal device selects the output candidate position with the smallest correction amount in the map matching as an output position, and generates output position information indicating the output position;
An output position information output step in which the terminal device outputs the output position information;
I have a,
The passable range information generating step generates the passable range information indicating a passable range in which the terminal device can exist based on the previous output position information . Control method.

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