JP5953793B2 - Position specifying device, position specifying method and program - Google Patents

Description

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

  2. Description of the Related Art Conventionally, a position identifying device that identifies the position of a user along a route of a transportation facility based on an elapsed time from the time when the user gets on a transportation means such as a train and a required time between transportation stations is known. (For example, refer to Patent Document 1).

JP 2009-210473 A

  By the way, in the above-mentioned Patent Document 1 and the like, in a transportation system such as a subway where the distance between adjacent stations is not so long, a difference in the length of the boarding time between adjacent stations hardly occurs, and the user's position is estimated from the boarding time. It is difficult to do. Furthermore, since it is necessary to register the speed data of a train to be boarded in advance, the user's position cannot be estimated even when the train schedule is disturbed.

  Accordingly, an object of the present invention is to provide a position specifying device, a position specifying method, and a program capable of appropriately specifying the position of a user who uses a transportation means.

In order to solve the above-described problem, a position specifying device according to the present invention includes:
Storage means for storing in association with altitude information of the name and the stop position of the stop position of the transport means moving along a predetermined route, and altitude measurement means for sequentially measuring the altitude exists of the apparatus main body, wherein A determining means for determining whether the transportation means is in a stopped state or a moving state; an altitude measured by the altitude measuring means when the transportation means is in a stopped state; and the transportation means stored in the storage means based on the altitude information of each stop position of stop and the stop position specifying means for specifying the name of the stop position, based on the names of at least two stop positions are sequentially specified by the stop position specifying means, said transport means And a moving section specifying means for specifying a moving section and a moving direction.

In addition, the position specifying device according to the present invention includes:
Storage means for storing in association with altitude information of the name and the stop position of the stop position of the transport means for moving along each of the plurality of predetermined routes for each road line, the altitude exists of the apparatus main body successively Altitude measuring means for measuring , determining means for determining whether the transportation means is in a stopped state or a moving state, and at least two altitudes measured by the altitude measuring means when the transportation means is in a stopped state; based on the altitude information of each stop position of the transportation stored in said storage means, and route specifying means for specifying one line each containing the name of the stop positions corresponding to each, the route specifying means Based on the name of the stop position corresponding to each of at least two altitudes among the plurality of stop positions constituting one route specified by Is characterized by comprising a moving section identifying means for constant, the.

In addition, the position specifying method according to the present invention includes:
A position specifying method using a position specifying device comprising a storage means for storing the name of each stop position of a transportation means moving along a predetermined route and altitude information of the stop position in association with each other, the device main body Is stored in the storage means and the altitude measured when the means of transportation is stopped, the process of determining whether the means of transportation is stopped or moving, and are the based on the altitude information of each stop position of the transportation means, the process of specifying the name of the stop position, based on at least the name of the two stop positions are sequentially identified, routes the transportation moves And a process of specifying the movement direction and the moving direction.

In addition, the position specifying method according to the present invention includes:
Localization device localization using the provided storage means for storing in association with altitude information of the name and the stop position of the stop position of the transport means for moving along each of the plurality of predetermined routes for each road line A method of sequentially measuring the altitude of the apparatus main body, a process of determining whether the transportation means is in a stopped state or a moving state, and measured when the transportation means is in a stopped state. At least based on the altitude information of each stop position of the transportation means stored in two altitude and the storage means, a process of specifying one of lines, each containing the name of the stop positions corresponding to each specific A process of identifying a section and a moving direction of the route traveled by the means of transportation based on the names of the stop locations corresponding to each of at least two altitudes among a plurality of stop locations constituting one route that has been performed; The It is characterized in Mukoto.

The program according to the present invention is
Sequentially measure the altitude of the device main body using the computer of the position specifying device having storage means for storing the name of each stop position of the transportation means moving along a predetermined route and the altitude information of the stop position in association with each other. Altitude measuring means for determining whether the traffic means is in a stopped state or a moving state, altitude measured by the altitude measuring means when the traffic means is in a stopped state, and stored in the storage means and are the based on the altitude information of each stop position of the transport means, the stop position specifying means for specifying the name of the stop position, based on the names of at least two stop positions are sequentially specified by the stop position specifying means , And functioning as a moving section specifying means for specifying the section of the route on which the transportation means has moved and the moving direction.

The program according to the present invention is
Computer position specifying device includes a storage means for storing in association with altitude information of the name and the stop position of the stop position of the transport means for moving along each of the plurality of predetermined routes for each road line, the Altitude measuring means for sequentially measuring the altitude of the apparatus main body, determination means for determining whether the transportation means is in a stopped state or a moving state, measured by the altitude measuring means when the transportation means is in a stopped state based on the altitude information of each stop position of the transportation stored in altitude and the storage means, the route specifying means for specifying one line each containing the name of the stop positions corresponding to each, the route specific Based on the name of the stop position corresponding to each of at least two altitudes among a plurality of stop positions constituting one route specified by the means, Moving the section identifying means for identifying the movement direction, it is characterized in that to function as a.

  ADVANTAGE OF THE INVENTION According to this invention, the position of the user who utilizes a transportation means can be specified appropriately.

It is a block diagram showing a schematic structure of a position specifying device of one embodiment to which the present invention is applied. It is a figure for demonstrating the position specific process by the position specific apparatus of FIG. It is a figure for demonstrating the position specific process by the position specific apparatus of FIG. It is a figure for demonstrating the position specific process by the position specific apparatus of FIG. It is a flowchart which shows an example of the operation | movement which concerns on the position specific process by the position specific apparatus of FIG. 6 is a flowchart showing a continuation of the position specifying process of FIG. 5. It is a block diagram which shows schematic structure of the position specific apparatus of the modification 1. It is a figure for demonstrating the position specific process by the position specific apparatus of FIG. It is a flowchart which shows an example of the operation | movement which concerns on the position specific process by the position specific apparatus of FIG.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.
FIG. 1 is a block diagram showing a schematic configuration of a position specifying device 100 according to an embodiment to which the present invention is applied.

  As shown in FIG. 1, the position specifying device 100 includes a central control unit 1, a GPS processing unit 2, a sensor unit 3, an autonomous navigation control processing unit 4, a storage unit 5, a position specifying unit 6, and a timekeeping. A unit 7, a display unit 8, an operation input unit 9 and the like are provided.

The central control unit 1 comprehensively controls each unit of the position specifying device 100. Specifically, although not shown, the central control unit 1 includes a CPU, a RAM, a ROM, and the like, performs various control operations according to various processing programs for the position specifying device 100, and performs the control operations as necessary. Is displayed on the display unit 8. At that time, the CPU stores various processing results in a storage area in the RAM, and displays the processing results on the display unit 8 as necessary.
The RAM includes, for example, a program storage area for expanding a processing program executed by the CPU, a data storage area for storing input data, a processing result generated when the processing program is executed, and the like.
The ROM stores a program stored in the form of computer-readable program code, specifically, a system program that can be executed by the position specifying device 100, various processing programs that can be executed by the system program, and these various processing programs. Data used for execution is stored. For example, in the ROM, the position data of each point on the moving route is acquired by continuous autonomous navigation positioning using an autonomous navigation sensor and intermittent GPS positioning by GPS (Global Positioning System). A processing program is stored.

The GPS processing unit 2 receives data transmitted from a GPS (Global Positioning System) satellite S via a receiving antenna 2a.
That is, the receiving antenna 2a is a GPS signal (for example, an almanac (rough orbit information) or an ephemeris) (e.g., an almanac (rough orbit information)) transmitted from a plurality of GPS satellites (positioning satellites; only one is shown in FIG. Detailed orbit information) is received at a predetermined timing. Then, the receiving antenna 2a outputs the received GPS signal to the GPS processing unit 2.

The GPS processing unit 2 obtains various transmission data of the GPS satellite S by performing demodulation processing of the GPS signal received via the receiving antenna 2a. Then, the GPS processing unit 2 performs a predetermined positioning calculation based on the acquired transmission data, thereby positioning the absolute two-dimensional current position (latitude, longitude) of the apparatus main body to determine the position ( Position data (for example, latitude and longitude coordinate information) related to the GPS positioning point) is acquired as a positioning result. Further, the GPS processing unit 2 measures the altitude of the GPS positioning point and acquires altitude data related to the altitude.
In addition, the GPS processing unit 2 sequentially acquires position data and altitude data related to the current position of the apparatus body at predetermined time intervals set in advance.
Here, the GPS processing unit 2 constitutes a position measuring means for measuring the position where the apparatus main body exists.

  The sensor unit 3 includes a triaxial geomagnetic sensor 3a, a triaxial acceleration sensor 3b, and an atmospheric pressure sensor 3c as autonomous navigation sensors.

The triaxial geomagnetic sensor 3a detects the magnitudes of geomagnetism in the triaxial directions orthogonal to each other. Then, the triaxial geomagnetic sensor 3 a outputs the detected data of each axis to the autonomous navigation control processing unit 4.
The triaxial acceleration sensor 3b is an autonomous navigation sensor and detects accelerations in three axial directions orthogonal to each other. The triaxial acceleration sensor 3 b samples the detected data of each axis at a predetermined frequency and outputs the sampled data to the autonomous navigation control processing unit 4.
The atmospheric pressure sensor 3c is a sensor that detects atmospheric pressure in order to obtain a height difference. The atmospheric pressure sensor 3 c outputs detected atmospheric pressure detection data (atmospheric pressure data) to the autonomous navigation control processing unit 4.

The autonomous navigation control processing unit 4 continuously performs positioning calculation of autonomous navigation based on detection data detected by the triaxial geomagnetic sensor 3a, the triaxial acceleration sensor 3b, the atmospheric pressure sensor 3c, and the like.
That is, the autonomous navigation control processing unit 4 performs autonomous navigation positioning using the autonomous navigation sensor of the sensor unit 3 in an environment where signal reception is not performed by the receiving antenna 2a such as indoors.

  For example, the autonomous navigation control processing unit 4 acquires the detection data detected by the triaxial geomagnetic sensor 3a and the triaxial acceleration sensor 3b at a predetermined sampling period, and from these detection data, the moving direction of the position specifying device 100 and The amount of movement is calculated. Specifically, the autonomous navigation control processing unit 4 calculates the moving direction from an output fluctuation pattern unique to walking that appears in the output of the triaxial geomagnetic sensor 3a. Further, the movement amount calculation unit 4a of the autonomous navigation control processing unit 4 performs the vertical movement recognition process of the position specifying device 100 from the output of the three-axis acceleration sensor 3b, and obtains the number of steps from the vertical movement to set a predetermined step length. The amount of movement by walking is calculated by multiplying the data.

Furthermore, the autonomous navigation control processing unit 4 adds relative vector data composed of the calculated movement direction and movement amount to the position data of the predetermined point, so that a series of movement routes that are the positioning results of the autonomous navigation are obtained. The position data of each point is calculated.
Specifically, the autonomous navigation control processing unit 4 uses the calculated moving direction and moving amount based on the position data of the current position of the apparatus main body acquired in advance by the GPS processing unit 2 immediately before acquiring the detection data. The position data of each point on the moving route is calculated by adding the relative vector data. Further, the autonomous navigation control processing unit 4 obtains the position data of the apparatus main body by continuously calculating the position data at predetermined time intervals.
A series of position data related to the movement route calculated by the autonomous navigation positioning is stored in the storage unit 5.

  Further, the altitude measuring unit (altitude measuring means) 4b of the autonomous navigation control processing unit 4 obtains the atmospheric pressure data detected by the atmospheric pressure sensor 3c at a predetermined sampling cycle, and the height from the change in the output value of the atmospheric pressure data. The amount of movement in the direction is calculated. Specifically, the altitude measurement unit 4b calculates the correction value of the altitude after calculating the correction value of the altitude based on the atmospheric pressure data of the reference point where the altitude has already been measured (for example, the point where GPS positioning was performed immediately before). Is used to convert the output value of the atmospheric pressure data detected at an arbitrary point of the apparatus body into an altitude according to a predetermined arithmetic expression, and the altitude at the point is sequentially measured.

  The memory | storage part 5 is comprised by the non-volatile memory etc., for example. The storage unit 5 stores various data processed by the central control unit 1 and the like. Specifically, the storage unit 5 stores control data 5a, movement history data 5b, a map database 5c, and the like.

  The control data 5a is data necessary for executing the positioning process. That is, as the control data 5a, for example, the average data set by the central control unit 1 based on position data obtained by intermittent GPS positioning or a predetermined operation of the operation input unit 9 by the user in advance. For example, stride data representing a stride (for example, 1.0 m or the like).

In the movement history data 5b, a series of position data of each point along the movement route acquired by the positioning process during the movement of the apparatus is sequentially registered. That is, in the positioning process, the GPS positioning is intermittently performed, and the autonomous navigation positioning is continuously performed in the meantime, and the position data, altitude data, and atmospheric pressure data of each point on the moving route are acquired, and the movement history is acquired. Data 5b is formed.
Further, the movement history data 5b includes, for example, an index number “No.” indicating the acquisition order of position data, time data indicating the time when the position data is acquired, attached to a series of position data, A correction flag or the like indicating whether or not the position data has been corrected is registered.

Although not shown, the map database 5c stores, for example, map data for displaying a map within a predetermined range on the display unit 8 in association with position coordinates. That is, the map database 5c includes address information such as administrative divisions and addresses such as prefectures and municipalities, map data representing information on buildings, facilities, stores, parks, railways, topographic information, road information, etc., latitude and longitude Coordinate information and altitude altitude information are associated with each other.
The map database 5c stores transportation route information. This route information relates to transportation means such as subways and buses that move along a predetermined route. For each transportation means, the name of each stop position included in each route and the position information of the stop position. And altitude information are associated with each other. For example, when the route is a subway XX line, the name of each station constituting the XX line is associated with the latitude and longitude position data and altitude altitude data of each station. Similarly, when the route is a bus No. ○, the name of each bus stop that constitutes the ○ No., the latitude and longitude position data of each bus stop, and the altitude altitude data are associated with each other.
Here, the memory | storage part 5 comprises the memory | storage means which matches and memorize | stores the name of each stop position of the transportation means which moves along a predetermined | prescribed route, and the altitude information of the said stop position.
The above-described map database 5c is an example and is not limited to this, and the contents of information stored in the database can be arbitrarily changed as appropriate.

  The position specifying unit 6 includes a first state determining unit 6a, a second state determining unit 6b, a stop position specifying unit 6c, and a moving section specifying unit 6d.

The first state determination unit 6a determines whether or not the user who owns the device main body is moving by a vehicle.
That is, the first state determination unit 6a acquires the detection data detected by the triaxial geomagnetic sensor 3a and the triaxial acceleration sensor 3b at a predetermined sampling period, and the user who owns the apparatus main body from these detection data. It is determined whether or not the vehicle is moving. Specifically, the 1st state determination part 6a analyzes the detection data detected by the triaxial geomagnetic sensor 3a, and determines whether the output fluctuation pattern peculiar to walking has appeared. Further, the first state determination unit 6a analyzes the detection data detected by the three-axis acceleration sensor 3b, and determines whether the vehicle is in a running state or a stopped state from the vibration characteristics of a low-frequency component of a predetermined axis. judge. For example, the first state determination unit 6a determines that the vehicle is running when the amplitude of the low frequency component is equal to or greater than a certain value, and is in the stopped state when the amplitude of the low frequency component is smaller than the certain value. judge. The first state determination unit 6a calculates the speed of the apparatus main body from the detection data of the triaxial acceleration sensor 3b, and when the calculated speed is equal to or higher than a predetermined speed (for example, 30 km / h, etc.) You may determine that it is in a state.
And the 1st state determination part 6a determines with the output fluctuation pattern peculiar at the time of walking not appearing in the detection data of the triaxial geomagnetic sensor 3a, and the amplitude of the low frequency component of the detection data of the triaxial acceleration sensor 3b Is determined to be greater than or equal to a certain value (running state), it is determined that the user is moving on the vehicle.
Note that the above-described method for determining whether or not the user is moving on a vehicle is an example and is not limited to this, and can be arbitrarily changed as appropriate.

The second state determination unit 6b determines whether the transportation means is in a stopped state or a moving state.
That is, the second state determination unit 6b analyzes the detection data detected by the three-axis acceleration sensor 3b, as in the case of the first state determination unit 6a, and the user determines from the vibration characteristics of the low frequency component of the predetermined axis. It is determined whether the transportation means (vehicle) on which the vehicle is on is in a traveling state or a stopped state.

In addition, when the transportation means is a subway, the second state determination unit 6b is in a traveling state based on the change in the output value of the atmospheric pressure detection data detected by the atmospheric pressure sensor 3c at a predetermined sampling period. Or whether it is in a stopped state.
That is, when the subway is traveling in a wide space where the surroundings are open, the output value of the detection data of the atmospheric pressure sensor 3c hardly changes, whereas the subway is in a narrow space such as a tunnel. When traveling, the air pressure decreases as the air flow between the vehicle and the tunnel increases (Bernoulli's theorem). In other words, as the subway vehicles depart and accelerate, the pressure decreases and the amount of change in altitude per unit time (altitude difference) increases. The altitude difference becomes smaller after starting to return.
Based on such a change in atmospheric pressure, that is, a change in altitude difference, the second state determination unit 6b can specify that the subway is traveling underground (in the tunnel).

For example, in FIG. 2, the change per second of the altitude converted by the altitude measuring unit 4b from the determination result of the running state and the stop state based on the detection result of the triaxial acceleration sensor 3b and the detection data of the atmospheric pressure sensor 3c. The amount (altitude difference) is shown in association with it. In addition, although the change of the atmospheric | air pressure with respect to the change of an altitude is fluctuate | varied with an altitude or temperature, for example, the atmospheric pressure change of 1 m shall be 0.1 hPa for the sake of simplicity.
The second state determination unit 6b analyzes the detection data of the three-axis acceleration sensor 3b, and based on the vibration characteristics of the low-frequency component of the predetermined axis, the vehicle (subway vehicle) starts from a stopped state and accelerates. It is determined that the vehicle has changed to the running state. Thereafter, the second state determination unit 6b determines whether or not the difference in altitude that changes with acceleration of the subway vehicle exceeds a predetermined first threshold (for example, 0.5 m). After it is determined that the first threshold value has been exceeded, the second state determination unit 6b determines that the altitude difference that changes as the vehicle approaches the adjacent station decelerates to a predetermined second threshold value (for example, −0.5 m or the like). ) Is exceeded. If it is determined that the second threshold value is exceeded, the second state determination unit 6b determines that the transportation means (vehicle) is a subway and the subway vehicle is in a traveling state.
As described above, when it is determined whether the subway vehicle is in a running state or in a stopped state, the subway vehicle is in a running state as compared to the determination by vibration based on the detection result of the three-axis acceleration sensor 3b. It can be seen that the stop state is clear (see FIG. 3). As a result, the time during which the subway vehicle is actually stopped can be calculated, and the change in the atmospheric pressure of the vehicle in the stopped state is relatively small (stable). It is considered that the altitude can be obtained with high accuracy.

Note that the values exemplified as the first threshold value and the second threshold value and the method for determining the running state are merely examples, and are not limited thereto, and can be arbitrarily changed as appropriate. That is, in the determination by vibration based on the detection result of the three-axis acceleration sensor 3b, even if the vehicle is in a stopped state, it is determined that the movement of the user carrying the device body is erroneously detected and that the vehicle is in the traveling state. When decelerating on a curve or the like, it may be determined that the vehicle is stopped.
Therefore, when the second state determination unit 6b determines that the transportation is a subway, the first threshold value or the second threshold value may be set again so as to improve the determination accuracy. For example, the second state determination unit 6b sets the first threshold value to 0.25 m and sets the second threshold value to −0.25 m. Then, when the second state determination unit 6b determines that the altitude difference is continuously between the first threshold value and the second threshold value for a predetermined time (for example, 10 seconds) or more, the three-axis Even if it is determined that the vehicle has changed from the stopped state to the running state by vibration based on the detection data of the acceleration sensor 3b, the determination that the vehicle is in the stopped state may be maintained for the predetermined period. On the other hand, if the second state determination unit 6b determines that the altitude difference does not fall between the first threshold value and the second threshold value continuously for a predetermined time (for example, 10 seconds) or more, vibration is caused. Even if it is determined that the traveling state has changed to the stop state, the determination that the traveling state is in the predetermined period may be maintained.

  Thus, the 2nd state determination part 6b comprises the determination means which determines whether a transportation means is a stop state or a movement state.

The stop position specifying unit 6c specifies the name of each stop position of the transportation means used by the user.
That is, the stop position specifying unit 6c corresponds to each altitude measured by the altitude measuring unit 4b based on altitude altitude data of each stop position of the transportation means stored in the map database 5c of the storage unit 5. Identify the name of the location. Specifically, the stop position specifying unit 6c refers to the map database 5c of the storage unit 5 when the second state determination unit 6b determines that the transportation means is in a stopped state, and the route information of the transportation facility The altitude data of the altitude of each stop position (for example, a subway station) included in the altitude and the altitude measured by the altitude measuring unit 4b are compared, and the altitude matches or the difference between the altitudes is within a predetermined range The name of the position (for example, the name of the station) is specified.
For example, as shown in FIG. 4, the actual altitude of the stations 1 to 20 on the subway XX line included in the route information of the map database 5c and the atmospheric pressure detected by the atmospheric pressure sensor 3c when the transportation means is stopped. It is considered that there is a certain degree of correlation between the detected data and the altitude converted by the altitude measuring unit 4b.

In addition, the stop position specifying unit 6c compares the difference between the elevations of two adjacent stop positions of the transportation means with the difference between the two elevations measured by the altitude measurement part 4b, and determines the stop position of the transportation means. You may specify the name.
That is, the stop position specifying unit 6c stores the map database 5c in the storage unit 5 in a state where the name of any one stop position of the transportation means (for example, “Station 7” as the boarding station) has already been specified. With reference to the above, the difference in elevation from the stop position adjacent to the stop position (for example, the station adjacent to “Station 6” or “Station 8”) is calculated. In addition, the stop position specifying unit 6c calculates an elevation difference between the altitude measured by the altitude measuring unit 4b when the transportation means is next stopped and the altitude of the adjacent stop position that has already been measured. And the stop position specific | specification part 6c is the difference with respect to the said altitude difference whether it corresponds with the altitude difference calculated from the measurement result by the altitude measurement part 4b among each altitude difference calculated using the map database 5c of the memory | storage part 5. FIG. Elevation difference in which is within a predetermined range. And the stop position specific | specification part 6c names the stop position (for example, "station 8" etc.) other than the stop position (for example, "station 7" etc.) which has already specified the name which comprises the specified said elevation difference. Is identified.

The stop position specifying unit 6c refers to the position data of the latitude and longitude of each stop position of the transportation means stored in the map database 5c of the storage unit 5, and the apparatus main body subjected to GPS positioning or autonomous navigation positioning is obtained. You may specify the name of the stop position in the predetermined route of a transportation means on the basis of the existing position.
That is, for example, when the transportation means has a section traveling on the ground, the stop position (for example, a subway station) of the transportation means is also provided on the ground, and the station where the user boarded can be GPS-positioned. There is. Therefore, the stop position specifying unit 6c refers to the map database 5c of the storage unit 5 and the latitude and longitude position data of each stop position included in the route information of the transportation facility and the GPS processing unit 2 The name of the stop position on the predetermined route of the transportation means is specified by comparing with the position data of the position where the apparatus main body exists.
For example, when the stop position of the transportation means is provided in an environment where the GPS signal cannot be received (for example, underground), the stop position specifying unit 6c refers to the map database 5c in the storage unit 5, Among the stop positions of the means of transportation existing in the vicinity of the point where GPS positioning was performed immediately before, the name of the stop position of the altitude where the altitude measurement unit 4b matches the altitude measured by the altitude measuring unit 4b or within the predetermined range is specified To do.
In addition, the stop position specific | specification part 6c may specify the name of the stop position in the predetermined route of a transportation means by carrying out autonomous navigation positioning of the position where the said apparatus main body exists.

  As described above, the stop position specifying unit 6c, based on the altitude information of each stop position of the transportation means stored in the storage unit 5, determines the name of the stop position corresponding to each altitude measured by the altitude measuring unit 4b. Stop position specifying means for specifying is configured.

The moving section specifying unit 6d specifies the section of the route on which the transportation means has moved and the moving direction in which the transportation means has moved.
In other words, the moving section specifying unit 6d determines the route on which the transportation means has moved based on the names of at least two stop positions (for example, “Station 7” and “Station 8”) sequentially specified by the stop position specifying unit 6c. The section and the moving direction are specified. Specifically, the moving section specifying unit 6d determines that the second state determining unit 6b has determined that, for example, the moving section specifying unit 6d has moved to the moving state from the first stopped state where the transportation means has stopped at any one station. Each corresponding to two altitudes measured by the altitude measuring unit 4b in the first and second stop states specified by the stop position specifying unit 6c when the second stop state is entered at the station. Based on the names of the stop positions (for example, “station 7” and “station 8”), the section of the route on which the transportation means has moved and the moving direction are specified. For example, when “station 7” is specified as the stop position in the first stop state and “station 8” is specified as the stop position in the second stop state, the moving section is specified. The section 6d specifies the “subway line XX” including “station 7” and “station 8”, and the section between the “station 7” and “station 8” is changed from “station 7” to “station 8”. Identify moving in the direction.

  As described above, the moving section specifying unit 6d includes a moving section specifying means for specifying the section of the route on which the transportation means has moved and the moving direction based on the names of at least two stop positions sequentially specified by the stop position specifying means. It is composed.

Although not shown, the timer unit 7 includes, for example, a timer and a timer circuit, and acquires the time information by measuring the current time. Then, the timer 7 outputs the acquired time information to a memory (not shown).
The timekeeping unit 7 may specify a calendar such as a date or day of the week based on the acquired time information.

  The display unit 8 is a liquid crystal display panel, for example, and reads image data for display such as various types of information and images and displays them on the display screen.

  The operation input unit 9 inputs various instructions to the position specifying device 100 main body based on a predetermined operation by the user. Specifically, the operation input unit 9 includes, for example, a power button, up / down / left / right cursor buttons, a determination button (all not shown), and the like.

Next, the position specifying process by the position specifying apparatus 100 of the present embodiment will be described with reference to FIGS.
5 and 6 are flowcharts showing an example of the operation related to the position specifying process. In the position specifying process described below, the autonomous navigation control processing unit 4 continuously performs autonomous navigation positioning calculation, but illustration thereof is omitted.

As shown in FIG. 5, first, the CPU of the central control unit 1 determines whether or not it is the execution timing of the GPS positioning process by the GPS processing unit 2 at a predetermined time interval (step S1).
Here, if it is determined that it is the execution timing of the GPS positioning process (step S1; YES), the CPU of the central control unit 1 outputs a GPS positioning command to the GPS processing unit 2, and the GPS processing unit 2 Based on the input of the positioning command, positioning (GPS positioning) of the current position of the apparatus main body is performed (step S2).

Next, the GPS processing unit 2 determines whether or not the GPS positioning is successful (step S3).
Here, if it is determined that the GPS positioning is not successful (step S3; NO), the CPU of the central control unit 1 returns the process to step S1 and determines whether it is the execution timing of the GPS positioning process. (Step S1).
Even when it is determined in step S1 that it is not the execution timing of the GPS positioning process (step S1; NO), is the CPU of the central control unit 1 the execution timing of the GPS positioning process after a predetermined time has elapsed? It is determined whether or not (step S1).

If it is determined in step S3 that the GPS positioning has succeeded (step S3; YES), the GPS processing unit 2 determines the position data of the current position calculated based on the GPS signal received by the receiving antenna 2a, and The altitude altitude data is output to the storage unit 5. Then, the CPU of the central control unit 1 outputs an atmospheric pressure positioning command to the sensor unit 3, and the atmospheric pressure sensor 3c of the sensor unit 3 detects the atmospheric pressure based on the input of the atmospheric pressure positioning command and stores the atmospheric pressure data. 5 (step S4).
Subsequently, the storage unit 5 includes the GPS positioning point position data and altitude altitude data output and input from the GPS processing unit 2, and the GPS positioning point barometric data output and input from the barometric sensor 3 c, and the time measuring unit 7. Is stored as movement history data 5b in association with the time data timed by (step S5).

Next, the CPU of the central control unit 1 outputs a first determination command to the position specifying unit 6, and the first state determination unit 6a of the position specifying unit 6 is based on the input of the first determination command. It is determined whether or not the user who owns the vehicle is moving with the vehicle (step S6). Specifically, the first state determination unit 6a acquires detection data detected by the triaxial geomagnetic sensor 3a and the triaxial acceleration sensor 3b at a predetermined sampling period, and possesses the apparatus main body from these detection data. It is determined whether the user who moves is moving by vehicle.
When it is determined in step S6 that the user is not moving by the vehicle (step S6; NO), that is, the user is moving on foot or stopped, and the CPU of the central control unit 1 Returns the process to step S1, and determines whether it is the execution timing of the GPS positioning process (step S1).

On the other hand, if it is determined in step S6 that the user is moving by a vehicle (step S6; YES), that is, an output fluctuation pattern unique to walking does not appear in the detection data of the triaxial geomagnetic sensor 3a. When it is determined and the amplitude of the low frequency component of the detection data of the triaxial acceleration sensor 3b is determined to be equal to or greater than a certain value, the CPU of the central control unit 1 outputs a GPS positioning command to the GPS processing unit 2. Then, the GPS processing unit 2 performs positioning (GPS positioning) of the current position where the apparatus main body exists based on the input of the GPS positioning command (step S7).
Next, the GPS processing unit 2 determines whether or not the GPS positioning is successful (step S8). Here, if it is determined that the GPS positioning is successful (step S8; YES), the GPS processing unit 2 outputs a signal related to the successful GPS positioning to the position specifying unit 6, and the position specifying unit 6 Based on the input, the user is identified as moving on the ground (step S9).
Thereafter, the CPU of the central control unit 1 returns the process to step S6, and the first state determination unit 6a determines whether or not the user who owns the device main body is moving by a vehicle (step S6).

If it is determined in step S8 that the GPS positioning is not successful (step S8; NO), the CPU of the central control unit 1 outputs a second determination command to the position specifying unit 6, and the position specifying unit 6 The second state determination unit 6b determines whether the user is on the subway based on the input of the second determination command (step S10). Specifically, the second state determination unit 6b determines whether the user is on the subway based on the change in the output value of the atmospheric pressure data detected by the atmospheric pressure sensor 3c at a predetermined sampling period.
If it is determined in step S10 that the user is not on the subway (step S10; NO), the CPU of the central control unit 1 returns the process to step S9, and the position specifying unit 6 determines that the user is on the ground (especially The environment in which the GPS signal cannot be received is identified as being moved by the vehicle (step S9). Thereafter, the CPU of the central control unit 1 returns the process to step S6.

On the other hand, if it is determined in step S10 that the user is on the subway (step S10; YES), the CPU of the central control unit 1 sends an atmospheric pressure positioning command to the sensor unit 3 as shown in FIG. Based on the input of the atmospheric pressure positioning command, the atmospheric pressure sensor 3c of the sensor unit 3 detects the atmospheric pressure at the point where the apparatus main body exists and outputs the atmospheric pressure data to the autonomous navigation control processing unit 4 (step S11).
Thereafter, when the barometric pressure data is input, the altitude measuring unit 4b of the autonomous navigation control processing unit 4 refers to the movement history data 5b of the storage unit 5 and the altitude at the point where the altitude measured by the previous GPS positioning has been measured. Based on the data and the atmospheric pressure data, the atmospheric pressure data detected at the point where the apparatus body exists is converted into an altitude according to a predetermined arithmetic expression (step S12).
Subsequently, the stop position specifying unit 6c specifies the boarding station where the user has boarded the subway with reference to the route information of the transportation facility stored in the map database 5c (step S13). Specifically, the stop position specifying unit 6c compares the position data of the latitude and longitude of each stop position included in the route information with the position data of the point where GPS positioning was performed immediately before, and GPS positioning is performed immediately before. After identifying the name of the stop position of the means of transportation existing in the vicinity of the point, the name of the stop position of the altitude that matches the altitude measured by the altitude measuring unit 4b or within the predetermined range is the boarding station (For example, “Station 7”).

  Next, the CPU of the central control unit 1 outputs the second determination command to the position specifying unit 6, and the second state determination unit 6b of the position specifying unit 6 stops the subway based on the input of the second determination command. It is determined whether it is in a state (step S14). Specifically, the second state determination unit 6b determines whether the subway is in a running state or in a stopped state based on a change in the output value of the atmospheric pressure detection data detected by the atmospheric pressure sensor 3c at a predetermined sampling period. Determine.

If it is determined in step S14 that the subway is in a stopped state (step S14; YES), the CPU of the central control unit 1 outputs an atmospheric pressure positioning command to the sensor unit 3, and the atmospheric pressure sensor 3c of the sensor unit 3 Based on the input of the atmospheric pressure positioning command, the atmospheric pressure of the stop station where the apparatus main body exists is detected, and the atmospheric pressure data is output to the autonomous navigation control processing unit 4 (step S15).
Next, when the atmospheric pressure data is input, the altitude measuring unit 4b of the autonomous navigation control processing unit 4 has the apparatus main body based on the atmospheric pressure data of a reference point (e.g., a boarding station) where the altitude has been measured. The output value of the atmospheric pressure data detected at the point is converted into altitude according to a predetermined arithmetic expression (step S16).
Subsequently, the stop position specifying unit 6c calculates an altitude difference between the altitude measured by the altitude measuring unit 4b and the altitude of an already measured adjacent station (for example, a boarding station) (step S17). And the stop position specific | specification part 6c specifies the stop station where the subway stopped with reference to the route information of a transportation system on the basis of the altitude difference calculated from the measurement result by the height measurement part 4b (step S18). Specifically, the stop position specifying unit 6c refers to the map database 5c in the storage unit 5 and stops next to the already specified stop position (for example, “Station 7” as a boarding station) (for example, , And the difference in altitude from “Station 6” or “Station 8” of the adjacent station). And the stop position specific | specification part 6c is the difference with respect to the said altitude difference whether it corresponds with the altitude difference calculated from the measurement result by the altitude measurement part 4b among each altitude difference calculated using the map database 5c of the memory | storage part 5. FIG. Identifies an elevation difference that is within a predetermined range, and names of stop positions other than the already-identified stop positions (eg, “station 7”, etc.) constituting the elevation difference (eg, “station 8”, etc.) ) As a stop.
The specified stop station, that is, the position data of the user who owns the apparatus main body is sequentially stored in the movement history data 5b of the storage unit 5 in association with the time data.

  Next, the movement section specifying unit 6d selects the route on which the subway has moved based on the names of at least two stop positions (for example, “Station 7” and “Station 8”) sequentially specified by the stop position specifying unit 6c. And the moving direction are specified (step S19). Specifically, for example, when “station 7” is specified as the stop position in the first stop state and “station 8” is specified as the stop position in the second stop state. The moving section specifying unit 6d specifies “subway XX line” including “station 7” and “station 8”, and sets the section of “station 7” and “station 8” from “station 7”. It is specified that the vehicle has moved in the direction of “Station 8”.

Next, the CPU of the central control unit 1 outputs a second determination command to the position specifying unit 6, and the second state determining unit 6 b of the position specifying unit 6 determines that the user is in the subway based on the input of the second determination command. It is determined whether or not the vehicle is on board (step S20).
If it is determined in step S14 that the subway is not in a stopped state (step S14; NO), that is, the subway is in a running state, the CPU of the central control unit 1 shifts the process to step S20. The two-state determination unit 6b determines whether or not the user is on the subway (step S20).

  If it is determined in step S20 that the user is on the subway (step S10; YES), the CPU of the central control unit 1 returns the process to step S14, and the second state determination unit 6b It is determined whether or not the vehicle is in a stopped state (step S14).

By repeatedly executing the above-described processing, the stop station is identified sequentially each time the subway stops while the user gets on the subway.
When it is determined in step S20 that the user is not on the subway (step S20; NO), as shown in FIG. 5, the CPU of the central control unit 1 returns the process to step S1, and performs predetermined processing. It is determined whether it is the execution timing of the GPS positioning process after a lapse of time (step S1).

As described above, according to the position specifying device 100 of the present embodiment, the names of the stop positions corresponding to the altitudes measured by the altitude measuring unit 4b are specified, and the names of the at least two stop positions sequentially specified are specified. Based on this, the route and direction of the route traveled by the transportation means is specified, so the distance between adjacent stations such as the subway is not so long by using the altitude of each stop position of the transportation means. In addition, even when the transportation schedule of the transportation facility is disturbed, it is possible to appropriately specify the stop position of the transportation means used by the user who possesses the apparatus main body. Moreover, the stop position where the user got on and the stop position where the user got off can also be specified by specifying the section and moving direction of the route on which the transportation means has moved.
Therefore, the position of the user who uses the transportation means can be specified appropriately.

Further, it is determined whether the transportation means is in a stopped state or a moving state, and by specifying the name of the stop position corresponding to the altitude measured by the altitude measuring unit 4b when the transportation means is in the stopped state, It is possible to appropriately specify the stop position of the transportation means used by the user who owns the apparatus main body. In particular, when the altitude measuring unit 4b is configured to calculate and measure the altitude based on the atmospheric pressure detected by the atmospheric pressure sensor 3c, the atmospheric pressure is difficult to change while the subway vehicle is stopped as a transportation means. By utilizing the fact that the state and the stop state can be clearly determined, it is possible to appropriately measure the altitude of the stop position of the subway used by the user who owns the apparatus main body.
Specifically, as a result of the determination by the second state determination unit 6b, the name of each stop position corresponding to the two altitudes measured when the transportation means is in the first and second stop states is appropriately specified. By doing so, it is possible to appropriately specify the section of the route on which the transportation means has moved and the moving direction. At this time, by comparing the difference between the altitudes of two adjacent stop positions of the means of transportation with the difference between the two altitudes measured by the altitude measuring unit 4b, the altitude measured by the altitude measuring unit 4b can be calculated. As compared with the case where the name of the stop position of the transportation means is specified, the name of the stop position of the transportation means can be specified appropriately.

  Further, by using an acceleration sensor that detects acceleration in a predetermined direction, it is possible to easily and appropriately determine whether the transportation means is in a stopped state or a moving state.

  Further, since the position information of each stop position of the transportation means stored in the storage unit 5 is referenced and the name of the stop position on the predetermined route of the transportation means is specified based on the position where the apparatus body exists, the device When the position where the main body exists can be measured, it is possible to easily specify the stop position of the transportation means used by the user, in particular, the name of the boarding position on the vehicle of the transportation means, using the position.

The present invention is not limited to the above-described embodiment, and various improvements and design changes may be made without departing from the spirit of the present invention.
Below, the modification of the position specification apparatus 100 is demonstrated with reference to FIGS.
The position specifying device 200 of Modification 1 has substantially the same configuration as the position specifying device 100 of the above embodiment except for the points described below, and a detailed description thereof is omitted.

<Modification 1>
FIG. 7 is a block diagram illustrating a schematic configuration of the position specifying device 200 according to the first modification.
As shown in FIG. 7, the position specifying unit 6 of the position specifying device 200 includes a first state determining unit 6a, a second state determining unit 6b, a route specifying unit 6e, and a moving section specifying unit 6f. Yes.
Among these, the 1st state determination part 6a and the 2nd state determination part 6b comprise the structure substantially the same as what is provided in the position specific apparatus 100 of the said embodiment, The detailed description is abbreviate | omitted.

The route specifying unit 6e serves as route specifying means based on altitude information of each stop position of the transportation means stored in the map database 5c of the storage unit 5 and at least two altitudes sequentially measured by the altitude measuring unit 4b. One route including the name of the stop position corresponding to each is specified.
That is, the route specifying unit 6e, for example, the map database 5c of the storage unit 5 in a state where the name of any one stop position of the transportation means (for example, “Station 7” as the boarding station) has already been specified. , Each stop position (for example, “station 8”, “station 9”, “station 10” aligned along a predetermined direction (for example, the first and second moving directions) with respect to the stop position. ”,“ Station 11 ”, etc.,“ Station 6 ”,“ Station 5 ”,“ Station 4 ”,“ Station 3 ”, etc.) are calculated (see FIG. 8). In addition, the route specifying unit 6e determines the difference in elevation between the altitude measured by the altitude measuring unit 4b and the altitude of the already measured stop position (for example, “Station 7”) each time the transportation mode is stopped. Are calculated sequentially. Then, the route specifying unit 6e obtains the elevation differences of the plurality of stop positions in the predetermined direction calculated using the map database 5c of the storage unit 5 and the plurality of elevation differences calculated from the measurement result by the altitude measuring unit 4b. In comparison, a plurality of stop positions along a predetermined direction in which these altitude differences match or the altitude difference is within a predetermined range are specified. For example, as shown in FIG. 8, between the altitude difference converted from the atmospheric pressure by the altitude measuring unit 4b and the actual altitude difference in the first moving direction of the subway XX line included in the route information of the map database 5c. Are considered to have a correlation.
Then, the route specifying unit 6e specifies one route (for example, “Station 7” to “Station 11” on the subway XX line) including the names of a plurality of stop positions along the specified direction. .

Based on the names of the stop positions corresponding to each of at least two altitudes among the plurality of stop positions constituting one route specified by the route specification unit 6e as the movement section specifying means. Then, the section of the route on which the transportation means has moved and the moving direction are specified.
That is, the moving section specifying unit 6f, for example, in the state where “station 7” is specified as the boarding station, the “subway XX line” “station 7” to “station 11” as one route by the route specifying unit 6e. Is specified, the subway moves from “station 7” to “station 11” in the direction of “station 7” and “station 11”.

Next, the position specifying process performed by the position specifying apparatus 200 according to the first modification will be described with reference to FIGS. 5 and 9.
5 and 9 are flowcharts showing an example of operations related to the position specifying process. Note that, among the position specifying processes described below, detailed description of each process similar to the position specifying process by the position specifying apparatus 100 of the above-described embodiment is omitted.

That is, the position specifying device 200 of Modification 1 performs each process of FIG. 5 (steps S1 to S10) and steps S11 to S13 of FIG. 9 in the same manner as the position specifying device 100 of the above embodiment. The boarding station where the user boarded the subway is specified (step S13).
Thereafter, in substantially the same manner as the position specifying process of the above embodiment, the CPU of the central control unit 1 outputs a second determination command to the position specifying unit 6, and the second state determining unit 6b of the position specifying unit 6 Based on the input of the determination command, it is determined whether or not the subway is stopped (step S14).

If it is determined in step S14 that the subway is in a stopped state (step S14; YES), the CPU of the central control unit 1 sends an atmospheric pressure positioning command to the sensor unit 3 in substantially the same manner as the position specifying process of the above embodiment. Based on the input of the atmospheric pressure positioning command, the atmospheric pressure sensor 3c of the sensor unit 3 detects the atmospheric pressure of the stop station where the apparatus main body exists and outputs the atmospheric pressure data to the autonomous navigation control processing unit 4 (step S15). ).
Next, in substantially the same manner as the position specifying process of the above embodiment, the altitude measuring unit 4b of the autonomous navigation control processing unit 4 receives reference atmospheric pressure data (for example, a boarding station) when the altitude data has been measured. With reference to the atmospheric pressure data, the output value of the atmospheric pressure data detected at the point where the apparatus body exists is converted into altitude according to a predetermined arithmetic expression (step S16).
Subsequently, the route specifying unit 6e calculates an altitude difference between the altitude of the stop station measured by the altitude measuring unit 4b and the altitude of the boarding station that has already been measured, and stores the altitude difference related to the stop station in a predetermined storage. It memorize | stores in a means (for example, memory | storage part 5 grade | etc.,) (Step S31).

Next, in substantially the same manner as the position specifying process of the above embodiment, the CPU of the central control unit 1 outputs a second determination command to the position specifying unit 6, and the second state determining unit 6b of the position specifying unit 6 2. Based on the input of the determination command, it is determined whether or not the user is on the subway (step S20).
If it is determined in step S14 that the subway is not in a stopped state (step S14; NO), that is, the subway is in a running state, the CPU of the central control unit 1 shifts the process to step S20. The two-state determination unit 6b determines whether or not the user is on the subway (step S20).

If it is determined in step S20 that the user is on the subway (step S10; YES), the CPU of the central control unit 1 returns the process to step S14, and the second state determination unit 6b It is determined whether or not the vehicle is in a stopped state (step S14).
By repeatedly executing the above process, the elevation difference between the stop station and the boarding station is calculated and stored each time the subway stops while the user is on the subway.

  On the other hand, if it is determined in step S20 that the user is not on the subway (step S20; NO), the route specifying unit 6e uses the difference in altitude stored for each stop station as a reference for the route moved by the subway. Is specified (step S32). Specifically, the route specifying unit 6e refers to the map database 5c of the storage unit 5 in a state where “station 7” as the boarding station is specified, for example, with respect to the stop position. An elevation difference from each stop position arranged along the second movement direction (for example, the upward direction and the downward direction) is calculated. And the route specific | specification part 6e is calculated from the measurement result by the height measurement part 4b among the elevation differences of the several stop position of the 1st and 2nd moving direction calculated using the map database 5c of the memory | storage part 5. FIG. Or a plurality of stop positions along the specified direction by identifying a plurality of stop positions along the direction in which the difference between the elevations related to the plurality of stop stations is equal to or within the predetermined range. One route (for example, “Station 7” to “Station 11” of “Subway XX Line”) including the names of the stop positions is specified.

Next, for example, in a state where “station 7” is specified as the boarding station, the moving section specifying unit 6f has “station 7” to “station 11” of “subway XX line” as one route by the route specifying unit 6e. "Is specified, it is specified that the subway has moved the section of" Station 7 "and" Station 11 "from" Station 7 "to" Station 11 "(step S33). The identified section and the moving direction of the route are associated with time data and stored in the movement history data 5b of the storage unit 5.
Thereafter, as shown in FIG. 5, the CPU of the central control unit 1 returns the process to step S <b> 1 and determines whether or not it is the execution timing of the GPS positioning process after a predetermined time has elapsed (step S <b> 1).

As described above, according to the position specifying device 200 of the first modification, one route that includes the names of stop positions corresponding to each of at least two altitudes sequentially measured by the altitude measuring unit 4b is specified and specified. Since the section and direction of travel of the route traveled by the means of transportation are identified based on the names of the stop locations corresponding to each of at least two altitudes among the plurality of stop locations constituting one route, the altitude measurement Even if an error is included in the altitude measurement by the unit 4b, by measuring at least two altitudes and specifying one route that includes the name of the stop position corresponding to each altitude, It is possible to appropriately specify the stop position of the transportation means used by the user who owns the apparatus main body. Moreover, the stop position where the user got on and the stop position where the user got off can also be specified by specifying the section and moving direction of the route on which the transportation means has moved.
Therefore, the position of the user who uses the transportation means can be specified appropriately.

  Further, the configurations of the position specifying devices 100 and 200 are merely examples as illustrated in the above embodiment, and are not limited thereto. That is, it is not always necessary to include the second state determination unit 6b, and whether to determine whether the transportation means is in a stopped state or a moving state can be arbitrarily changed as appropriate.

  Furthermore, although the GPS processing unit 2 and the autonomous navigation control processing unit 4 are illustrated as the position measuring means, this is only an example and the present invention is not limited to this, and the method for measuring the position of the apparatus main body can be arbitrarily changed as appropriate. It is. That is, for example, the position of the apparatus main body may be measured using the position data of the access point of the wireless LAN.

In addition, in the above embodiment, the altitude measuring unit 4b of the autonomous navigation control processing unit 4 functions as altitude measuring unit, stop position specifying unit, and moving section specifying unit under the control of the central control unit 1. The stop position specifying unit 6c and the moving section specifying unit 6d are configured to be driven. However, the present invention is not limited to this, and is realized by executing a predetermined program or the like by the central control unit 1. It is good also as a structure.
That is, a program memory (not shown) that stores a program stores a program including an altitude measurement processing routine, a stop position specifying processing routine, and a moving section specifying processing routine. Then, the CPU of the central control unit 1 may be caused to function as altitude measuring means for sequentially measuring the altitude of the apparatus main body by the altitude measurement processing routine. Further, the CPU of the central control unit 1 performs the stop position corresponding to each altitude measured by the altitude measuring means based on the altitude information of each stop position of the transportation means stored in the storage means by the stop position specifying process routine. You may make it function as a stop position specific | specification means which pinpoints the name of. Further, the CPU of the central control unit 1 identifies the section of the route on which the transportation means has moved and the moving direction based on the names of at least two stop positions sequentially identified by the stop position identifying means by the movement section identifying processing routine. You may make it function as a movement area specific | specification means.

Moreover, in the said modification 1, the function as an altitude measurement means, a route identification means, and a movement area identification means is under the control of the central control part 1, the altitude measurement part 4b of the autonomous navigation control processing part 4, The configuration is realized by driving the route specifying unit 6e and the movement section specifying unit 6f. However, the configuration is not limited to this, and the configuration is realized by executing a predetermined program or the like by the central control unit 1. It is also good.
That is, a program including an altitude measurement processing routine, a route identification processing routine, and a movement section identification processing routine is stored in a program memory (not shown) that stores the program. Then, the CPU of the central control unit 1 may be caused to function as altitude measuring means for sequentially measuring the altitude of the apparatus main body by the altitude measurement processing routine. Further, the CPU of the central control unit 1 is set to each of at least two altitudes sequentially measured by the altitude measuring means based on the altitude information of each stop position of the transportation means stored in the storage means by the route specifying processing routine. You may make it function as a route specific | specification means which specifies one route each including the name of a corresponding stop position. In addition, the CPU of the central control unit 1 is set to the name of the stop position corresponding to each of at least two altitudes among a plurality of stop positions constituting one route specified by the route specifying means by the moving section specifying process routine. Based on this, it may be made to function as a moving section specifying means for specifying the section and moving direction of the route on which the transportation means has moved.

  Similarly, the determination unit and the position measurement unit may be realized by executing a predetermined program or the like by the CPU of the central control unit 1.

  Furthermore, as a computer-readable medium storing a program for executing each of the above processes, a non-volatile memory such as a flash memory or a portable recording medium such as a CD-ROM is applied in addition to a ROM or a hard disk. Is also possible. A carrier wave is also used as a medium for providing program data via a predetermined communication line.

Although several embodiments of the present invention have been described, the scope of the present invention is not limited to the above-described embodiments, but includes the scope of the invention described in the claims and equivalents thereof.
The invention described in the scope of claims attached to the application of this application will be added below. The item numbers of the claims described in the appendix are as set forth in the claims attached to the application of this application.
[Appendix]
<Claim 1>
Storage means for storing the name of each stop position of the transportation means moving along a predetermined route and altitude information of the stop position in association with each other;
Altitude measuring means for sequentially measuring the altitude of the device body;
Stop position specifying means for specifying the name of the stop position corresponding to each altitude measured by the altitude measuring means based on altitude information of each stop position of the transportation means stored in the storage means;
Based on the names of the at least two stop positions sequentially specified by the stop position specifying means, the moving section specifying means for specifying the section of the route on which the transportation means has moved and the moving direction;
A position specifying device comprising:
<Claim 2>
A determination means for determining whether the transportation means is in a stopped state or a moving state;
The position specifying device according to claim 1, wherein the stop position specifying means specifies the name of the stop position corresponding to the altitude measured by the altitude measuring means when the traffic means is in a stopped state.
<Claim 3>
The moving section specifying means further includes:
As a result of the determination by the determination means, the first and the second specified by the stop position specifying means when the traffic means is moved from the first stop state to the second stop state. 3. The route section and the moving direction in which the means of transportation travels are specified based on the names of the stop positions corresponding to the two altitudes measured in the case of 2 stop states. The positioning device described.
<Claim 4>
An acceleration sensor for detecting acceleration in a predetermined direction;
4. The position specifying device according to claim 2, wherein the determination unit determines whether the transportation unit is in a stopped state or a moving state based on an acceleration detected by the acceleration sensor. 5. .
<Claim 5>
The stop position specifying means includes
Comparing the difference between the altitudes of two adjacent stop positions of the means of transportation with the difference between the two altitudes measured by the altitude measuring means to identify the name of the stop position of the means of transportation. The position specifying device according to any one of claims 1 to 4, wherein the position specifying device is characterized.
<Claim 6>
The storage means stores position information of each stop position on a predetermined route of the transportation means in association with the name of the stop position,
It further comprises a position measuring means for measuring the position of the apparatus main body,
The stop position specifying means further refers to the position information of each stop position of the transportation means stored in the storage means, and the predetermined route of the transportation means with reference to the position measured by the position measuring means. The position specifying device according to any one of claims 1 to 5, wherein a name of a stop position is specified.
<Claim 7>
A pressure sensor for detecting the pressure;
The position specifying device according to any one of claims 1 to 6, wherein the altitude measuring means calculates and measures an altitude based on an atmospheric pressure detected by the atmospheric pressure sensor.
<Claim 8>
Storage means for storing the name of each stop position of the transportation means moving along each of a plurality of predetermined routes and the altitude information of the stop position in association with each route;
Altitude measuring means for sequentially measuring the altitude of the device body;
One route that includes the names of stop positions corresponding to each of at least two altitudes sequentially measured by the altitude measuring means based on altitude information of each stop position of the transportation means stored in the storage means Route identification means for identifying
Based on the name of the stop position corresponding to each of at least two altitudes among a plurality of stop positions constituting one route specified by the route specifying means, the section of the route on which the transportation means and the moving direction A moving section specifying means for specifying
A position specifying device comprising:
<Claim 9>
A position specifying method using a position specifying device comprising a storage means for storing the name of each stop position of a transportation means moving along a predetermined route and altitude information of the stop position in association with each other,
A process of sequentially measuring the altitude of the device body;
Based on the altitude information of each stop position of the transportation means stored in the storage means, the process of identifying the name of the stop position corresponding to each measured altitude,
Based on the names of at least two stop positions that are sequentially specified, a process for specifying a section and a moving direction of a route on which the transportation means has moved, and
The position specifying method characterized by including.
<Claim 10>
Position identification using a position identification device comprising storage means for storing the name of each stop position of the transportation means moving along each of a plurality of predetermined routes and the altitude information of the stop position in association with each route A method,
A process of sequentially measuring the altitude of the device body;
A process of identifying one route that includes the names of stop positions corresponding to each of at least two altitudes sequentially measured based on altitude information of each stop position of the transportation means stored in the storage means; ,
A process of specifying a section and a moving direction of the route traveled by the transportation means based on the name of the stop location corresponding to each of at least two altitudes among the plurality of stop locations constituting the specified route; ,
The position specifying method characterized by including.
<Claim 11>
A computer of a position specifying device comprising storage means for storing the name of each stop position of a transportation means moving along a predetermined route and altitude information of the stop position in association with each other,
Altitude measuring means for sequentially measuring the altitude of the device body,
Stop position specifying means for specifying the name of the stop position corresponding to each altitude measured by the altitude measuring means based on altitude information of each stop position of the transportation means stored in the storage means;
Based on the names of at least two stop positions sequentially specified by the stop position specifying means, a moving section specifying means for specifying a section and a moving direction of the route on which the transportation means has moved,
A program characterized by functioning as
<Claim 12>
A computer of a position specifying device comprising storage means for storing the name of each stop position of the transportation means moving along each of a plurality of predetermined routes and the altitude information of the stop position for each route,
Altitude measuring means for sequentially measuring the altitude of the device body,
One route that includes the names of stop positions corresponding to each of at least two altitudes sequentially measured by the altitude measuring means based on altitude information of each stop position of the transportation means stored in the storage means Route identification means for identifying
Based on the name of the stop position corresponding to each of at least two altitudes among a plurality of stop positions constituting one route specified by the route specifying means, the section of the route on which the transportation means and the moving direction A moving section specifying means for specifying
A program characterized by functioning as

100, 200 Position identification device 1 Central control unit 2 GPS processing unit 3 Sensor unit 3a Triaxial geomagnetic sensor 3b Triaxial acceleration sensor 3c Atmospheric pressure sensor 4 Autonomous navigation control processing unit 4a Movement amount calculation unit 4b Altitude measurement unit 5 Storage unit 6 Position Identification unit 6a First state determination unit 6b Second state determination unit 6c Stop position specification unit 6d, 6f Moving section specification unit 6e Route specification unit

Claims (11)

Storage means for storing the name of each stop position of the transportation means moving along a predetermined route and altitude information of the stop position in association with each other;
Altitude measuring means for sequentially measuring the altitude of the device body;
Determination means for determining whether the transportation means is in a stopped state or a moving state;
Based on the altitude information of each stop position of the transport means the transport means are stored in the altitude and the storage means which is measured by said altitude measurement means during standstill, identifies the name of the stop position Stop position specifying means;
Based on the names of the at least two stop positions sequentially specified by the stop position specifying means, the moving section specifying means for specifying the section of the route on which the transportation means has moved and the moving direction;
A position specifying device comprising: The moving section specifying means further includes:
As a result of the determination by the determination means, the first and the second specified by the stop position specifying means when the traffic means is moved from the first stop state to the second stop state. Based on the name of each stop position corresponding to the two altitudes measured during the two stop states,
The position specifying device according to claim 1 , wherein the route section on which the transportation means has moved and the moving direction are specified. An acceleration sensor for detecting acceleration in a predetermined direction;
3. The position specifying device according to claim 1 , wherein the determination unit determines whether the transportation unit is in a stopped state or a moving state based on an acceleration detected by the acceleration sensor. . The stop position specifying means includes
Comparing the difference between the altitudes of two adjacent stop positions of the means of transportation with the difference between the two altitudes measured by the altitude measuring means to identify the name of the stop position of the means of transportation. The position specifying device according to claim 1 , wherein the position specifying device is characterized in that The storage means stores position information of each stop position on a predetermined route of the transportation means in association with the name of the stop position,
It further comprises a position measuring means for measuring the position of the apparatus main body,
The stop position specifying means further refers to the position information of each stop position of the transportation means stored in the storage means, and the predetermined route of the transportation means with reference to the position measured by the position measuring means. The position specifying device according to claim 1 , wherein a name of a stop position is specified. A pressure sensor for detecting the pressure;
The position specifying device according to any one of claims 1 to 5 , wherein the altitude measuring means calculates and measures an altitude based on an atmospheric pressure detected by the atmospheric pressure sensor. Storage means for storing in association with altitude information of the name and the stop position of the stop position of the transport means for moving along each of the plurality of predetermined routes for each road line,
Altitude measuring means for sequentially measuring the altitude of the device body;
Determination means for determining whether the transportation means is in a stopped state or a moving state;
The transportation is based on the altitude information of each stop position of the transport means the stored at least two altitude and the storage means is determined by the altitude measuring means during the stop state, corresponding to each Route specifying means for specifying one route including the names of stop positions, and
Based on the name of the stop position corresponding to each of at least two altitudes among the plurality of stop positions constituting one route specified by the route specifying means, the section of the route on which the transportation means moved and the moving direction A moving section specifying means for specifying
A position specifying device comprising: A position specifying method using a position specifying device comprising a storage means for storing the name of each stop position of a transportation means moving along a predetermined route and altitude information of the stop position in association with each other,
A process of sequentially measuring the altitude of the device body;
A process of determining whether the means of transportation is in a stopped state or a moving state;
And processing said transportation is based on the altitude information of each stop position of the transportation stored in altitude and the storage means which is measured during the stopped state, identifies the name of the stop position,
Based on the names of at least two stop positions that are sequentially specified, a process for specifying a section and a moving direction of a route on which the transportation means has moved, and
The position specifying method characterized by including. Localization device localization using the provided storage means for storing in association with altitude information of the name and the stop position of the stop position of the transport means for moving along each of the plurality of predetermined routes for each road line A method,
A process of sequentially measuring the altitude of the device body;
A process of determining whether the means of transportation is in a stopped state or a moving state;
The transportation is based on the altitude information of each stop position of the transportation means stored in at least two altitude and the storage means is measured during the stopped state, the name of the stop positions corresponding to each A process of identifying one route that includes each,
A process of specifying a section and a moving direction of the route traveled by the transportation means based on the name of the stop location corresponding to each of at least two altitudes among the plurality of stop locations constituting the specified route; ,
The position specifying method characterized by including. A computer of a position specifying device comprising storage means for storing the name of each stop position of a transportation means moving along a predetermined route and altitude information of the stop position in association with each other,
Altitude measuring means for sequentially measuring the altitude of the device body,
Determination means for determining whether the transportation means is in a stopped state or a moving state;
Based on the altitude information of each stop position of the transport means the transport means are stored in the altitude and the storage means which is measured by said altitude measurement means during standstill, identifies the name of the stop position Stop position specifying means,
Based on the names of at least two stop positions sequentially specified by the stop position specifying means, a moving section specifying means for specifying a section and a moving direction of the route on which the transportation means has moved,
A program characterized by functioning as Computer localization apparatus comprising storage means for storing in association with altitude information of the name and the stop position of the stop position of the transport means for moving along each of the plurality of predetermined routes for each road line,
Altitude measuring means for sequentially measuring the altitude of the device body,
Determination means for determining whether the transportation means is in a stopped state or a moving state;
Based on the altitude information of each stop position of the transport means the transport means are stored in the altitude and the storage means which is measured by said altitude measurement means during standstill, the stop positions corresponding to each Route specifying means for specifying one route including each name,
Based on the name of the stop position corresponding to each of at least two altitudes among the plurality of stop positions constituting one route specified by the route specifying means, the section of the route on which the transportation means moved and the moving direction A moving section specifying means for specifying
A program characterized by functioning as

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