JP5834392B2 - POSITIONING DEVICE, POSITION DATA RECORDING METHOD, AND PROGRAM - Google Patents

Description

  The present invention relates to a positioning device that measures the current position of a moving body, and a recording method and program for recording measured position data.

  There has been a positioning device that measures the current position of a moving body and records the measured position data as a history. The movement trajectory can be expressed by the recorded position data.

  In addition, as a technique related to the present invention, Patent Documents 1 and 2 disclose, in an apparatus that measures a current position of a moving body using a positioning satellite (for example, a GPS satellite: a global positioning system satellite), A technique for automatically changing a time interval for performing positioning according to a moving speed or a moving distance is disclosed.

JP 2006-172109 A JP 2005-250853 A

  In the positioning device, when positioning is performed at regular intervals and all the series of position data of the measurement results are recorded, when the speed of the moving body increases, the distance between the series of points corresponding to the series of position data is Open wide. Further, when the speed of the moving body is reduced, the distance between a series of points corresponding to a series of position data is narrowed.

  If the position data is recorded at fine intervals, the movement trajectory can be expressed in detail, but the amount of position data recorded becomes enormous. On the other hand, if recording is performed at rough intervals, the amount of position data recorded decreases, but details of the movement trajectory are lost.

  Therefore, when recording a series of measured position data, it is preferable that the position data is recorded at an appropriate interval even if the moving speed of the moving body changes greatly.

  However, like the conventional positioning device, the time interval for positioning is changed according to the moving speed.For example, in a state where the speed of the moving body is reduced and the positioning time interval is set to be long, When the speed of a moving object changes drastically, it is not possible to confirm that the moving speed has increased until the next positioning is performed, so that the interval between position data recorded during that time is greatly increased. Occurs.

  An object of the present invention is to provide a positioning device, a position data recording method, and a program capable of recording position data at an appropriate interval even when the moving speed of the moving body changes variously. .

In order to achieve the above object, the present invention provides a positioning device,
Positioning means that is held by a moving body and can measure the current position;
Positioning control means for performing measurement of the current position by this positioning means at a predetermined interval;
Recording control means for recording a part of position data by omitting the recording of a part of position data among a series of position data sequentially obtained by the measurement of the positioning means;
When the movement of the moving body is measured and the reference point obtained by the positioning means is held, the reference point information of the reference point is used for movement measurement, and the reference point obtained by the positioning means is held. If not, the movement measuring means using the reference point information updated based on the predetermined reference point information and the current position measured by the positioning means for movement measurement,
With
The recording control means includes
When the moving speed of the moving body obtained by the movement measuring means is high, the ratio of omitting the recording of position data is small, and when the moving speed of the moving body obtained by the moving measuring means is low, the position data is recorded. It is characterized in that recording control of the series of position data is performed so that the ratio to be omitted increases.

  According to the present invention, since positioning by the positioning unit is performed at predetermined intervals, the position data recording control is performed so that the ratio of omitting the recording of the position data is changed according to the moving speed of the moving body. Even when the moving speed of the body changes, position data can be recorded at appropriate intervals.

It is a block diagram which shows the whole navigation apparatus structure of embodiment of this invention. It is explanatory drawing which shows the positioning point in high speed movement, and the recording point of position data. It is explanatory drawing which shows the positioning point in low speed movement, and the recording point of position data. It is a flowchart which shows the control procedure of the 1st example of the positioning recording process performed by CPU. It is a flowchart which shows the control procedure of the 2nd example of a positioning recording process. It is a flowchart which shows the control procedure of the 3rd example of a positioning recording process.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In FIG. 1, the block diagram showing the whole structure of the navigation apparatus which is embodiment of the positioning apparatus of this invention is shown.

  The navigation apparatus 1 of this embodiment measures the current position in absolute coordinates using GPS (Global Positioning System) and detects relative position changes using autonomous navigation sensors (such as acceleration sensors and direction sensors). The position data acquired by the measurement is recorded as history data or displayed and output while measuring the current position based on the above. The navigation device 1 is a device that can be mounted on a user's body and perform positioning processing, for example.

  The navigation device 1 includes a CPU (Central Processing Unit) 10 that performs overall control of the device, a RAM (Random Access Memory) 11 that provides a working memory space to the CPU 10, a control program executed by the CPU 10, ROM 12 storing control data, GPS receiving antenna 13 for receiving signals from GPS satellites, GPS receiver 14 for demodulating and decoding signals from GPS satellites, and triaxial geomagnetic sensor 15 for detecting geomagnetism A three-axis acceleration sensor 16 that detects acceleration, an autonomous navigation control processing unit 17 that receives the outputs of the three-axis geomagnetic sensor 15 and the three-axis acceleration sensor 16 and calculates a relative movement amount and a movement direction; and autonomous navigation Autonomous navigation error correction processing for correcting position data obtained from the calculation result of the control processing unit 17 based on the positioning result using GPS. Unit 18, a map database 19 in which information on roads and passages is stored in correspondence with absolute coordinates, a history data recording unit 20 in which measured position data is recorded and stored, and display of positioning results and various information And a power source 22 for supplying operating voltages of the respective units. In this embodiment, the CPU 10, RAM 11, and ROM 12 constitute a computer that executes a control program in the ROM 12, and includes a GPS receiving antenna 13 and a GPS receiver 14, a triaxial geomagnetic sensor 15, a triaxial acceleration sensor 16, and an autonomous system. The navigation control processing unit 17 constitutes positioning means.

  The GPS receiver 14 demodulates a signal received via the GPS receiving antenna 13 based on an operation command from the CPU 10, and sends various transmission data sent from the GPS satellite to the CPU 10. The CPU 10 can measure the current position by performing a predetermined positioning calculation based on these transmission data, and obtain position data that represents the current point in absolute coordinates.

  The triaxial geomagnetic sensor 15 is a sensor that detects the magnitude of geomagnetism in three axial directions orthogonal to each other.

  The triaxial acceleration sensor 16 is a sensor that detects the magnitude of acceleration in three axial directions orthogonal to each other. The triaxial acceleration sensor 16 also functions as a state sensor that detects the movement state of the user, and its output identifies the operation state of the user wearing the navigation device 1, for example, the state of walking, running, train movement, etc. It is used to recognize the number of steps from detection of vertical movement during walking, running and running.

  The autonomous navigation control processing unit 17 is an arithmetic device for assisting the arithmetic processing of the CPU 10. The autonomous navigation control processing unit 17 receives detection data obtained by sampling the outputs of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16 at a predetermined frequency from the CPU 10, and based on these detection data, the user's movement state (for example, walking) The position data of the current position of the user is calculated by continuously measuring the movement amount and the traveling direction of the user, and the identification of the movement, running operation, train movement, etc.).

  Specifically, the autonomous navigation control processing unit 17 identifies whether the user is walking or running from the acceleration pattern and the magnitude of the vertical movement of the user based on the detection data of the triaxial acceleration data. . Further, based on the detection data of the triaxial acceleration sensor 16, the user is moving on the train by recognizing an acceleration pattern in which a substantially constant acceleration appears in a stepwise manner that is not detected during walking or running. Identify that. These operation states are transmitted to the CPU 10.

  In addition, the autonomous navigation control processing unit 17 detects the acceleration pattern of the vertical movement of the user when the user is identified as walking or running and in a section where the signal from the GPS satellite cannot be received. The number of steps is counted, and the movement amount of the user is calculated by multiplying the count value by the stride length. The stride length is set in advance by allowing the user to input the walking length and the running length. Further, the autonomous navigation control processing unit 17 creates a moving direction from a change in acceleration peculiar to the walking motion appearing on the triaxial acceleration sensor 16. Specifically, the user's torso greatly accelerates forward and slightly to the left when stepping on the left foot, and greatly accelerates to the front and slightly right when stepping on the right foot. At this time, if the device is mounted on the user's torso, the device also performs the same acceleration motion, so this acceleration change appears in the horizontal component of the three-axis acceleration sensor. Then, the position data representing the current position of the user is obtained by integrating the vectors represented from the movement amount and the traveling direction thus calculated.

  The autonomous navigation error correction processing unit 18 is an arithmetic device for assisting the arithmetic processing of the CPU 10. The autonomous navigation error correction processing unit 18 receives a series of position data obtained and recorded by the autonomous navigation control processing unit 17 in a section in which the GPS satellite signal cannot be received, and thereafter, the GPS satellite signal can be received and an error occurs in the position data. When it is found that there is, the error of each of a series of recorded position data is estimated based on this error, and this error is corrected.

  The history data recording unit 20 is composed of, for example, a non-volatile storage means (for example, a flash memory), and is obtained by position data calculated based on a signal from the GPS receiver 14 or an operation of the autonomous navigation control processing unit 17. The position data is recorded at appropriate intervals. The position data is recorded together with time information, for example, along the route traveled by the user.

  The ROM 12 stores a positioning recording processing program for recording position data to the history data recording unit 20 at appropriate intervals while performing positioning. In addition to being stored in the ROM 12, this program can be stored in a portable storage medium such as an optical disk and a non-volatile memory such as a flash memory, which can be read by the CPU 10 via a data reader. In addition, a form in which such a program is downloaded to the navigation apparatus 1 via a communication line using a carrier wave as a medium can be applied.

  Next, the positioning recording process executed by the navigation device 1 having the above configuration will be described.

  2 and 3 are explanatory diagrams showing positioning points and position data recording points in the positioning recording process. 2 shows a moving object at a low speed, and FIG. 3 shows a moving object at a high speed. In the figure, black dots and white circles indicate positioning points, and black dots indicate recording points where position data is recorded. .

  In the positioning recording process of this embodiment, positioning using the GPS receiver 14 or positioning by the autonomous navigation control processing unit 17 is performed at predetermined intervals, and history data recording is performed for each of a series of position data obtained by positioning. The recording is performed on the unit 20 or the recording is omitted.

  The distribution of whether or not to record the position data is appropriately controlled so that the interval of the position data recorded in the history data recording unit 20 is not clogged or widened even if the moving speed of the user changes. The For example, as shown in FIG. 2, when moving at a high speed, the distance between the points PR, PR... Where positioning is performed becomes wide, so that all or most of the points PR, PR. Data is recorded in the history data recording unit 20. On the other hand, as shown in FIG. 3, when moving at a low speed, the distance between the points PR, PM,. And the position data of the points PR... Are recorded in the history data recording unit 20 at appropriate intervals. In this way, position data is recorded at the same intervals when moving at high speed (FIG. 2) and when moving at low speed (FIG. 3).

  Hereinafter, detailed procedures of the first to third examples of the positioning recording process for realizing the distribution of the position data recording as described above will be described with reference to flowcharts.

[First example of positioning recording process]
FIG. 4 shows a flowchart of a first example of the positioning recording process executed by the CPU 10.

  This positioning recording process is started when the navigation device 1 shifts to the positioning mode. When the positioning recording process is started, the CPU 10 causes the GPS receiver 14 to execute the reception process (step S1), and determines whether or not the radio wave from the GPS satellite has been received (step S2). As a result, if not received, it is determined whether or not a reference point for autonomous navigation is registered (step S3). The reference point for autonomous navigation is position data representing the starting point of positioning by the autonomous navigation control processing unit 17, and the movement amount and the traveling direction calculated by the autonomous navigation control processing unit 17 based on the position data of this reference point. The position data of each point can be obtained by integrating the movement vector consisting of

  As a result of the discrimination processing in step S3, if the reference point is not set just before the positioning recording processing is started, the coordinate data of the current position is unknown, so for example, temporary data such as coordinate data “(0, 0)” is used. A reference point is registered (step S4). On the other hand, when a reference point (including a temporary reference point) is set, the process proceeds to a positioning process by autonomous navigation in steps S9 to S11.

  After shifting to the positioning processing by the autonomous navigation, first, sampling data for a predetermined time of the 3-axis acceleration sensor 16 and the 3-axis geomagnetic sensor 15 are respectively supplied to the autonomous navigation control processing unit 17 (steps S9, S10), and the autonomous navigation control is performed. The processing unit 17 is caused to calculate the direction of travel and the amount of movement, and to calculate the position data of the current location by integrating the movement vectors composed of these (step S11).

  On the other hand, if the GPS radio wave is received as a result of the determination process in step S2, first, it is determined whether or not a temporary reference point is registered as a reference point (step S5). Positioning calculation is performed using the 14 received data to obtain position data of the current location (step S8). On the other hand, if the temporary reference point has been registered, the position calculation data is obtained by performing positioning calculation (step S6), and then the coordinate data of the temporary reference point is corrected based on this position data. The reference point is determined above (step S7).

  When the position data is obtained in either step S11 or steps S6 and S8, the process proceeds to the recording control process in steps S12 to S16. When the process proceeds to the recording control process, the CPU 10 first calculates the movement amount from the point where the previous positioning was performed (step S12: movement distance calculation means). Specifically, the difference between the position data of the previous positioning result and the position data of the current positioning result is calculated and used as the movement amount. Since it is necessary to perform this calculation, the most recent one of the position data obtained by positioning is stored in the RAM 11 regardless of whether or not it is recorded in the history data recording unit 20.

  Subsequently, this movement amount is added to the movement amount from the previous recording point to calculate the movement amount from the previous recording point to the current positioning point (step S13). Here, the previous recording point is the nearest point where the position data is recorded in the history data recording unit 20, and the movement amount from the previous recording point is a value input to a variable set in the RAM 11. Each time position data is obtained, it is used in this calculation process.

  When the movement amount from the previous recording point to the current positioning point is obtained, it is determined whether or not the movement amount exceeds a predetermined threshold (step S14). If not, the position obtained by the current positioning is determined. Assuming that data is not recorded in the history data recording unit 20, the process returns to step S1.

  On the other hand, if the movement amount from the previous recording point exceeds a predetermined threshold, it is determined that the position data obtained by the current positioning should be recorded, and this position data is recorded in the history data recording unit 20 ( Step S15). Since the position data is newly recorded, the variable representing the movement amount from the previous recording point is cleared (step S16), and the process returns to step S1.

  That is, according to the first example of the positioning recording process, in the area where the radio wave of the GPS satellite reaches, the GPS process is performed by a loop process that passes through the GPS signal reception process (step S1) and the positioning calculation process (step S6 or S8). Positioning using is repeatedly performed at a predetermined time interval, that is, the shortest period that can be continuously processed.

  In an area where GPS satellite radio waves do not reach, an autonomous navigation control processing unit 17 based on outputs of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16 is performed by a loop process that passes through an autonomous navigation positioning process (steps S9 to S11). The positioning process is repeatedly performed at a predetermined time interval, that is, in the shortest cycle at which the positioning process can be continuously performed.

  During these loop processes, the position data recording control process in steps S12 to S16 is performed, so that when the user moves fast, the amount of movement from the previous recording point to the current positioning point increases quickly. Therefore, it is determined in a large proportion by the determination processing in step S14 that “there is a certain amount of movement (exceeding the threshold)”, and the position data is recorded in the history data recording unit 20. On the other hand, when the moving speed of the user is slow, the moving amount from the previous recording point to the current positioning point does not increase immediately. Therefore, in the determination process in step S14, a large amount of “no constant moving amount (does not exceed the threshold)”. And the recording of the position data is omitted. By such recording control processing, position data is recorded at appropriate intervals regardless of whether the user's moving speed is fast or slow.

[Second example of positioning recording process]
FIG. 5 shows a flowchart of a second example of the positioning recording process executed by the CPU 10.

  In the second example of the positioning recording process, the processes related to the positioning in steps S1 to S11 are the same as the first example of FIG. 4, and only the position data recording control process in steps S21 to S26 is the same as the first example. Is different. Therefore, description of the same processing steps is omitted.

  In the second example of the positioning recording process, if the position data is obtained in any of step S11 or steps S6 and S8, the process proceeds to the recording control process in steps S21 to S26. When the process proceeds to the recording control process, the CPU 10 first calculates the moving speed during this period from the position data of the point where the positioning has been performed, the position data of the point where the positioning has been performed this time, and the time interval therebetween ( Step S21: Movement speed calculation means). For the calculation of the moving speed, the latest one of the position data obtained by positioning is stored in the RAM 11 regardless of whether or not it is recorded in the history data recording unit 20.

  Then, the moving speed is classified into large, medium, and small within a predetermined range, and it is determined which range it belongs to (step S22). As a result, if the moving speed belongs to the large range, the position data obtained by the current positioning is recorded in the history data recording unit 20 as it is (step S25). Further, a variable indicating the number of positioning times (recorded as “number of times since previous recording” in FIG. 5) set in the RAM 11 from the recording time of the previous position data is cleared (step S26), and the process returns to step S1. . The number of times since the previous recording is incremented every time positioning is performed, and when the position data is recorded, the number of times is cleared.

  On the other hand, if the result of determination in step S22 is that the moving speed belongs to the middle range, whether or not the number of positionings from the previous recording time of the position data is greater than or equal to the second by checking the value of the variable in the RAM 11. Is determined. If it is the second time or more, the process proceeds to steps S25 and S26 to record the position data and clear the variables and return to step S1. If it is less than the second time, the position data is not recorded and step S1 is left as it is. Return to.

  Also, if the result of determination in step S22 is that the moving speed belongs to a small range, whether or not the number of times of positioning from the previous recording time of position data is five or more by checking the value of the variable in RAM 11. Is determined. If it is the fifth time or more, the process proceeds to steps S25 and S26 to record the position data and clear the variables, and return to step S1, but if it is less than the fifth time, the position data is not recorded and is left as it is. Return to.

  That is, according to the second example of the positioning recording process, the user's moving speed is calculated as positioning by GPS or positioning by autonomous navigation is performed at a predetermined interval. If the data is recorded, the position data is recorded at a large rate if the moving speed is high, and the position data is recorded at a medium rate if the moving speed is medium. Thereby, position data is recorded at appropriate intervals regardless of whether the user's moving speed is fast or slow.

[Third example of positioning recording process]
FIG. 6 shows a flowchart of a third example of the positioning recording process executed by the CPU 10.

  In the third example of the positioning recording process, even in an area where a GPS satellite signal can be received, a process of identifying the movement state of the user based on the outputs of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16 is performed. Based on the identification result of the movement state, the recording of the position data is performed.

  When the positioning recording process is started, first, the CPU 10 causes the GPS receiver 14 to execute the reception process (step S31), and determines whether or not the radio wave from the GPS satellite has been received (step S32). As a result, if no radio wave is received, the process returns to step S31 and the reception process is repeated until reception is possible.

  On the other hand, if a radio wave is received, a positioning calculation is performed based on the received data of the GPS receiver 14 to obtain position data of the current location (step S33). Subsequently, sampling data for a predetermined time of the triaxial acceleration sensor 16 and the triaxial geomagnetic sensor 15 are respectively supplied to the autonomous navigation control processing unit 17 (steps S34 and S35), and the autonomous navigation control processing unit 17 identifies the moving state. (Step S36).

  And the identification result of a movement state is input from the autonomous navigation control process part 17, and the branch process based on this identification result is performed (step S37). That is, if it is determined that the movement state is a train movement, the position data obtained as a result of the positioning calculation in step S33 is recorded in the history data recording unit 20 (step S40), and the previous time set in the RAM 11 is further recorded. The variable indicating the number of times of positioning from the recording time of the position data (denoted as “number of times since previous recording” in FIG. 6) is cleared (step S41), and the process returns to step S1.

  On the other hand, if it is determined that the moving state is running as a result of the determination in step S37, whether or not the number of positionings from the previous recording time of the position data is five or more by checking the value of the variable in the RAM 11. Is determined. If it is the fifth time or more, the process proceeds to steps S40 and S41 to record the position data and clear the variables and return to step S1, but if it is less than the fifth time, the position data is not recorded and is left as it is. Return to.

  If it is determined as a result of the determination in step S37 that the moving state is walking, whether or not the number of positioning times from the previous recording time of the position data is 20th or more by checking the value of the variable in the RAM 11. Is determined. If it is the 20th time or more, the process proceeds to steps S40 and S41 to record the position data and clear the variables and return to step S1. Return to.

  That is, according to the third example of the positioning recording process, every time GPS positioning is performed, the movement state of the user is identified by the calculation process of the autonomous navigation control processing unit 17, and the train moves at a high moving speed. The position data is recorded at a large rate, the position data is recorded at a medium rate during running movement with a medium moving speed, and the position data is recorded at a small rate when walking at a low moving speed. The As a result, even when the moving speed of the user changes greatly due to the state change, the position data is recorded at an appropriate interval.

  As described above, according to the navigation device 1, the position data recording method, and the positioning recording processing program of this embodiment, the current position is measured at predetermined intervals, while the position data is recorded when the moving speed is high. Since the control to record the position data to the history data recording unit 20 is performed so that the ratio of omitting the position data is small and the ratio of omitting the recording of the position data is large when the moving speed is low, the moving speed of the user has greatly changed. Even in this case, the position data is always recorded at appropriate distance intervals. Therefore, no matter how the moving speed of the user changes, the recording of the position data is too fine and the storage capacity of the history data recording unit 20 is compressed, or the recording of the position data is too coarse and the movement path is only rough. The inconvenience that it cannot be confirmed can be avoided.

  Specifically, according to the first example of the positioning recording process shown in FIG. 4, the position data to be recorded next is determined according to the amount of movement from the point where the position data was previously recorded. It is possible to reliably realize the recording of the position data at such an appropriate distance interval.

  Further, according to the second example of the positioning recording process of FIG. 5, the moving speed is calculated, and the ratio of omitting the recording of the position data is changed according to the moving speed, so that the series of position data is clogged. The series of position data recording control can be realized so as to be an appropriate distance interval that is neither too much nor too open. In addition, the position data can be recorded by changing the rate of recording position data step by step according to the moving speed, such as one positioning, two positionings, five positionings, etc. When there is a small range of speed change that does not change, the speed change is reflected and recorded in the distance interval of the position data. Therefore, a small speed change can be read from a series of position data recorded in the history data recording unit 20.

  Further, according to the third example of the positioning recording process of FIG. 6, the moving state is identified, and the ratio of omitting the recording of the position data is changed according to the moving state. It is possible to realize the recording control of these series of position data so that the position data is at an appropriate distance interval that does not clog or open too much. Further, since the ratio of recording the position data is changed stepwise according to the movement state, it is possible to read a small range of speed change in the same movement state from a series of position data.

  Further, since the walking state and the train movement are identified based on the output of the three-axis acceleration sensor, the ratio of recording the position data with respect to the two movement states in which the interval between the measured position data changes the most Is changed as appropriate, and a series of position data is recorded at appropriate intervals. It should be noted that the output pattern of the three-axis acceleration sensor is recognized in more detail, thereby identifying the running state on the bicycle, the running state on the car, and the like, and appropriately adjusting the recording rate of the position data according to these identifications. You can also

  Further, according to the navigation device 1 of the present embodiment, in the area where the GPS satellite signal can be received, the GPS satellite signal is always received at a substantially constant time interval and positioning is repeated. For example, the accuracy of the internal clock can always be kept high by receiving time information from GPS satellites during positioning. As a result, the positioning accuracy can always be maintained at a constant height. By the way, when the GPS positioning time interval is changed long and short, when the positioning interval is set long, the error of the internal clock becomes slightly large, and the slight error of this internal clock becomes the next position measurement. The accuracy is greatly affected, and it becomes difficult to keep the positioning accuracy constant. However, the navigation device 1 of the present embodiment can eliminate such difficulties and keep the positioning accuracy constant.

  The present invention is not limited to the above-described embodiment, and various modifications can be made. For example, in the above-described embodiment, the example in which the positioning process is performed as the shortest cycle in which the positioning process can be repeatedly performed has been described. For example, the GPS reception process (steps S1 and S31) in the flowcharts of FIGS. By adding a process of waiting for a predetermined time (for example, several tens of seconds to several minutes) to the preceding stage, the positioning process can be performed at a set time interval.

  In the above embodiment, the position data obtained by the positioning process is immediately recorded or the recording is omitted or distributed, and the process is executed. However, a series of position data as a positioning result is temporarily stored in the buffer. The data may be stored, and thereafter, the processing may be executed by omitting or distributing the recording or recording for a plurality of position data stored in the buffer by batch processing. The distribution method can be realized by the same processing as the flowchart of FIG. 4 or FIG. Further, when adopting the method of the flowchart of FIG. 6 in which the movement state of the user is identified and used for the distribution of the position data recording, the movement state identified at the same time as the position data is stored in the buffer is also included. The position data may be stored in association with each other, and the recording ratio of the position data may be changed based on the movement state stored here.

  In the second example of the positioning recording process (FIG. 5), the movement speed of the user is determined based on the position data of the target point for which the movement speed is obtained, the position data obtained in the previous positioning, and the two Although the example calculated based on the positioning time interval has been shown, when a sensor capable of directly measuring the moving speed is provided, the moving speed may be obtained based on the output of this sensor.

  In addition, the detailed configuration and the detailed control procedure shown in the embodiment can be appropriately changed without departing from the spirit of the invention.

1 Navigation device (positioning device)
10 CPU (positioning control means, recording control means)
11 RAM
12 ROM
13 GPS receiving antenna 14 GPS receiver 15 3-axis geomagnetic sensor 16 3-axis acceleration sensor 17 Autonomous navigation control processing unit 20 History data storage unit (recording means)

Claims (8)

Positioning means that is held by a moving body and can measure the current position;
Positioning control means for performing measurement of the current position by this positioning means at a predetermined interval;
Recording control means for recording a part of position data by omitting the recording of a part of position data among a series of position data sequentially obtained by the measurement of the positioning means;
When the movement of the moving body is measured and the reference point obtained by the positioning means is held, the reference point information of the reference point is used for movement measurement, and the reference point obtained by the positioning means is held. If not, the movement measuring means using the reference point information updated based on the predetermined reference point information and the current position measured by the positioning means for movement measurement,
With
The recording control means includes
When the moving speed of the moving body obtained by the movement measuring means is high, the ratio of omitting the recording of position data is small, and when the moving speed of the moving body obtained by the moving measuring means is low, the position data is recorded. A positioning apparatus that performs recording control of the series of position data so that a ratio to be omitted increases. The movement measuring means includes
A moving distance calculating means for calculating a moving distance from the first point corresponding to the previously recorded position data to the second point corresponding to the position data to be allocated whether or not to record next;
The recording control means includes
Based on the calculation result of the movement distance calculation means, the position data of the target is recorded when the movement distance exceeds a predetermined amount, and the position data of the target is omitted when the movement distance does not exceed the predetermined amount. The positioning device according to claim 1. The movement measuring means includes
Speed calculating means for calculating the moving speed of the moving body based on the series of position data;
The recording control means includes
2. The positioning device according to claim 1, wherein a ratio of position data to be omitted from the series of position data is changed in accordance with a calculation result of the speed calculation means. A state sensor for detecting the state of the moving body;
The recording control means includes
Based on the detected result of the state sensor, said position data state of the moving body to be dispensed with recording if small state of the moving speed is increased, recording of saving if a large state of the state of the moving body moving speed 2. The positioning device according to claim 1, wherein a ratio of position data to be omitted from the series of position data is changed according to a state of the moving body so that less position data is written.   5. The positioning according to claim 4, wherein the state sensor includes an acceleration sensor that detects an acceleration of the moving body, and detects at least a walking state and a moving state by a vehicle based on an output of the acceleration sensor. apparatus. The positioning means includes means for receiving a signal from a positioning satellite and measuring a current position,
The positioning control means includes
2. The positioning according to claim 1, wherein when the positioning satellite signal is receivable, the positioning unit is caused to measure the current position at a substantially constant time interval regardless of a moving speed of the moving body. apparatus. A position data recording method for measuring a current position of a moving body by positioning means and recording position data acquired by the measurement to a recording means,
A positioning control step for performing measurement of the current position by the positioning means at predetermined intervals;
A recording control step of recording a part of the position data in the recording unit by omitting the recording of a part of the position data among a series of position data sequentially obtained by the measurement of the positioning unit;
When the movement of the moving body by the positioning means is measured and the reference point obtained by the positioning means is held, the reference point information of this reference point is used for movement measurement, and the reference obtained by the positioning means is used. A movement measuring step that uses the reference point information updated based on the reference point information determined in advance and the current position measured by the positioning means for movement measurement when the point is not held;
Including
The recording control step includes
When the moving speed of the moving body obtained in the movement measuring step is high, the ratio of omitting the recording of position data is small, and when the moving speed of the moving body obtained in the moving measuring step is low, the position data is recorded. A position data recording method, wherein the series of position data is recorded so that a ratio to be omitted increases. While having the positioning means measure the current position of the moving body, the computer supplied with the position data acquired by this measurement,
A positioning control function for performing measurement of the current position by the positioning means at predetermined intervals;
A recording control function for recording a part of the position data by omitting the recording of a part of the position data among a series of position data sequentially obtained by the measurement of the positioning means;
When the movement of the moving body by the positioning means is measured and the reference point obtained by the positioning means is held, the reference point information of this reference point is used for movement measurement, and the reference obtained by the positioning means is used. A movement measurement function that uses reference point information updated based on reference point information determined in advance and the current position measured by the positioning means for movement measurement when the point is not held;
Is a program that realizes
The recording control function is:
When the moving speed of the moving body obtained by the movement measuring function is high, the ratio of omitting the recording of position data is small, and when the moving speed of the moving body obtained by the moving measuring function is low, the position data is recorded. A program for causing the series of position data to be recorded so that a ratio to be omitted increases.

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