JP7400922B2 - Positioning device, positioning method and positioning program - Google Patents

Description

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

2. Description of the Related Art Conventionally, a navigation device has been disclosed that can quickly plot and display an outline of a trajectory indicating a moving position of a user, etc. (see, for example, Patent Document 1).

Japanese Patent Application Publication No. 2000-193466

However, since the navigation device disclosed in Patent Document 1 performs positioning using a GPS (Global Positioning System) module, it is greatly affected by radio wave conditions. In particular, when the user uses the navigation device while wearing it, the antenna may continue to be used with the direction greatly different from the optimal direction, and when the influence of surrounding buildings is added to this, the position error becomes large. , which makes it difficult to perform accurate positioning.

The present invention has been made in view of such problems, and an object of the present invention is to provide a positioning device, a positioning method, and a positioning program that can perform accurate positioning.

In order to solve the above problems, a positioning device according to the present invention includes:
a positioning means for sequentially positioning the current position of the own device;
first deriving means for sequentially deriving the traveling direction of the own device;
a second deriving means for sequentially deriving the traveling direction of the own device using a method different from the first deriving means;
prediction means for predicting the next direction of travel using the direction of travel derived by the first derivation means and the direction of travel derived by the second derivation means;
a first correction means for correcting the current position determined by the positioning means based on the next direction of travel predicted by the prediction means;
Equipped with
The prediction means corrects the traveling direction derived by the first deriving means using the traveling direction derived by the second deriving means, and calculates the previous traveling direction and the revised traveling direction. , in a predetermined ratio is output as the predicted direction of the next direction of travel .

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

FIG. 1 is a conceptual diagram showing the overall configuration of a travel trajectory display system. FIG. 2 is a block diagram showing the functional configuration of a positioning device. FIG. 2 is a block diagram showing the configuration of a logic circuit that performs gyro orientation correction processing. (a) is a graph showing the angular velocity around the vertical axis after being applied to the low-pass filter, (b) is a graph showing the integral value (angle) of the angular velocity integrated by the integrator, and (c) is a graph showing the integral value (angle) of the angular velocity integrated by the integrator. It is a graph showing the angle (integral value of angular velocity) held for each cycle of running. FIG. 2 is a block diagram showing the configuration of a logic circuit that performs GNSS position correction processing. (a) and (b) are explanatory diagrams showing how to obtain a predicted direction. (a) and (b) are explanatory diagrams showing how to create a trajectory and obtain the final current position to be output to the display device.

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

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

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

The positioning device 10 is a device that has various built-in sensors that can sequentially detect the movement and position of a user wearing the device. The positioning device 10 is, for example, a device that is worn on the user's waist during running and sequentially performs positioning based on sensing information acquired during the running. Furthermore, the positioning device 10 outputs the positioning results to the trajectory creation and display device 20.

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

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

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

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

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

The GNSS measuring unit (positioning means, second deriving means) 13 is a part that measures the current position (latitude, longitude, altitude), direction, speed, etc. of the positioning device 10, and is a part that measures the current position (latitude, longitude, altitude), direction, speed, etc. of the positioning device 10, and receives GNSS (Global Navigation Satellite System). A machine is used. The GNSS measuring unit 13 outputs GNSS data indicating the current position, direction, speed, etc. of the positioning device 10 to the signal processing unit 17 at predetermined intervals (for example, 1 second).

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

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

The axis correction unit 16 converts each data input from the angular velocity measurement unit 14 and the accelerometer side unit 15, that is, each data based on the sensor coordinate system, into data based on the world coordinate system, which is universal for running motion. Convert. The axis correction unit 16 then outputs data based on the converted world coordinate system to the signal processing unit 17. Note that the method of converting data from the sensor coordinate system to the world coordinate system is well known, so a detailed explanation will be omitted.

The signal processing section (prediction means, first correction means, first calculation means, second correction means, second calculation means, determination means, output means) 17 uses the axis correction section 16 to convert the world from the sensor coordinate system. A gyro azimuth correction process (described later) is performed in which the angular velocity data around the vertical axis converted into the coordinate system is corrected using the azimuth data (GNSS azimuth data) measured by the GNSS measurement unit 13.
Further, the signal processing unit 17 predicts the next direction of movement of the positioning device 10 based on the angular velocity data corrected by the above-described gyro azimuth correction process, and uses the position data measured by the GNSS measurement unit 13 (GNSS position data ) is corrected based on the predicted next direction of travel (described later).
Note that, although the signal processing section 17 is configured from a predetermined logic circuit, this configuration is only an example and is not limited to this. For example, the signal processing section 17 may be configured to share the processing with both the logic circuit and the control section 11 depending on the content of the processing.

The transmitting unit 18 is a part that creates a trajectory and transmits the positioning results obtained by positioning performed by the positioning device 10 to the display device 20. For example, it uses a wired communication unit such as a USB terminal, or a wireless standard such as Bluetooth (registered trademark). This is a transmitter that uses

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

As shown in FIG. 3, first, the running detection unit 101 determines whether or not the user has started running based on speed data (GNSS speed data) outputted every second from the GNSS measuring unit 13. . Specifically, for example, when the value of the GNSS speed data exceeds 6 km/h for 2 consecutive seconds, the traveling detection unit 101 determines that the traveling has started, and outputs a signal indicating the time when the traveling started. Output.

Next, the running start direction detection unit 102 determines whether running has started based on the direction data (GNSS direction data) outputted every second from the GNSS measurement unit 13 and the signal outputted from the running detection unit 101. GNSS azimuth data corresponding to time is acquired and the GNSS azimuth data is output.

Next, the integrator 104 sets the value of the GNSS data as an integration initial value based on the GNSS direction data output from the travel start direction detection section 102. Then, the integrator 104 integrates the value of the angular velocity based on the angular velocity data around the vertical axis (see FIG. 4(a)) after being filtered by the low-pass filter (LPF) 103. On the other hand, the 0-exceeding detection unit 105 detects whether the angular velocity about the vertical axis changes from negative to positive based on the angular velocity data about the vertical axis after being filtered by the low-pass filter (LPF) 103 (see FIG. 4(a)). Each shifting timing is detected as a starting point for each cycle of running, and data indicating the starting point is output.
Here, the angular velocity data around the vertical axis is angular velocity data converted from the sensor coordinate system to the world coordinate system by the axis correction unit 16.

The low-pass filter 103 is a filter set to a cutoff frequency (for example, 1 Hz) that removes noise caused by an impact when the user's foot lands on the ground, but does not remove components caused by direction changes.

The holder 106 stores data indicating the integral value (angle) of the angular velocity integrated by the integrator 104 (see FIG. 4(b)) and the starting point of each running cycle detected by the zero-exceeding detection unit 105. Based on the data shown, data (see FIG. 4(c)) showing the angle (integral value of angular velocity) held for each cycle of running is output. Then, based on the data indicating the angle held for each running cycle and the GNSS azimuth data, the error between the angle held for each running cycle and the GNSS azimuth is calculated. Then, the error is filtered by the low-pass filter 107 (with a cutoff of about several tens of seconds), and the filtered error is fed back and corrected to the held angle for each running cycle, thereby outputting data indicating the gyro direction. It will be done.
In the process described above, the gyro orientation calculated from the angular velocity of the gyro sensor is not affected by the environment (the error for each location is small), but an accumulated error of gyro offset occurs.On the other hand, the GNSS orientation is affected by the location due to surrounding buildings, etc. Taking advantage of the characteristic that there are occasional errors but no accumulated errors, accurate orientation is obtained by locking the gyro orientation to the GNSS orientation over a long period (about several tens of seconds).

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

As shown in FIGS. 5 and 6, first, the first mixing unit 111 combines the previous (one second ago) running direction dr1 (=dr2) and the gyro direction dr3 obtained by the above-mentioned gyro direction correction process. The directions mixed at a predetermined ratio (for example, a ratio of 1:4) are output as the predicted orientation dr4 (see FIGS. 6(a) and (b)). Here, the running direction dr2 is an extension of the previous running direction dr1 (one second ago).

Next, as shown in FIGS. 5 and 7(a), the vector updating unit 112 updates the predicted direction dr4 outputted from the first mixing unit 111 to a position advanced by the speed adopted by the comparing unit 113, which will be described later. is output as the next position coordinate P2.

As shown in FIGS. 5 and 7(a), the comparison unit 113 calculates the ratio between the speed component of the GNSS update vector dr6, which is obtained by projecting the next GNSS coordinate vector dr5 onto the predicted orientation dr4, and the predicted speed. Then, when the value of the ratio of the speed component of the GNSS update vector dr6 to the predicted speed is within a predetermined range (e.g. 0.8 to 1.5), the comparison unit 113 calculates the speed of the GNSS update vector dr6. Adopt the component as speed. On the other hand, if the value of the ratio of the speed component of the GNSS update vector dr6 to the predicted speed exceeds the upper limit of the predetermined range, the speed component corresponding to the upper limit is adopted as the speed, and the value of the ratio is If the speed is below the lower limit of the range, the speed component corresponding to the lower limit is adopted as the speed.
In this way, limiting the speed to be adopted based on the predicted speed prevents problems such as when passing under an overpass, the GNSS position coordinates are pushed back before the overpass and jump all at once after passing the overpass. It's for a reason.
Here, the predicted speed is calculated using pitch and stride that indicate the user's running condition. Stride is calculated by dividing past distance traveled by pitch.

As shown in FIGS. 5 and 7(b), the second mixing unit 115 mixes the original GNSS position coordinates P1 based on the mixture ratio created by the mixture ratio creation unit 114, thereby determining the next position. The coordinates P2 are corrected and the updated GNSS position coordinates (final coordinates) P3 are output. Here, the GNSS position coordinates updated as the final coordinates are sequentially output to the trajectory creation and display device 20, so that the travel trajectory is created in the trajectory creation and display device 20.

The mixture ratio creation unit 114 determines the mixture ratio by determining the degree of curve of the route traveled by the user based on the difference between the gyro orientations obtained at predetermined time intervals.
Specifically, the mixture ratio creation unit 114 sets the mixture ratio of the original GNSS position coordinate P1 to 0.1, for example, when the angular difference between the entrance and exit of the curve (gyro estimation) is less than 20 degrees. In this way, when the degree of curve is low, the undulation of the route is suppressed by increasing the weight of the next position coordinate P2 based on the predicted orientation.
Further, when the angle difference between the entrance and exit of the curve is 20 degrees or more and less than 60 degrees, the mixture ratio creation unit 114 changes the mixture ratio of the original GNSS position coordinate P1 from 0.1 to 1 according to the angle difference. Adjust between.
Further, the mixture ratio creation unit 114 sets the mixture ratio of the original GNSS position coordinate P1 to 1 when the angle difference between the entrance and exit of the curve is 60 degrees or more. In this way, when the degree of curve is high, positional deviation is suppressed by increasing the weight of the original GNSS position coordinate P1.
Note that the above-mentioned angular difference and mixing ratio are merely examples, and can be changed as appropriate.

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

Further, according to the present embodiment, the positioning device 10 generates a vector (next GNSS coordinate vector dr5) that connects the current position measured by the GNSS measurement unit 13 and the current position measured immediately before the current position. Since the current position is corrected by projecting it onto the predicted orientation dr4, it is possible to obtain a positioning result for creating a smooth trajectory.

Further, according to the present embodiment, the positioning device 10 calculates the ratio of the speed component of the vector (GNSS update vector dr6) to the predicted speed predicted from the user's driving state, and determines that the value of the ratio is within a predetermined range. If it is, the position P2 advanced by the velocity component of the vector in the next traveling direction (predicted direction dr4) is set as the corrected current position.
Therefore, according to the positioning device 10, by applying a restriction using the predicted speed when determining the next position P2, it is possible to obtain a positioning result for creating a smoother trajectory.

Further, according to the present embodiment, when the value of the ratio exceeds the upper limit of the predetermined range, the positioning device 10 moves forward in the next traveling direction (predicted direction dr4) by the speed component corresponding to the upper limit. Position P2 is the current position after the correction, and if the value of the ratio is less than the lower limit of the predetermined range, the position P2, which is advanced by the speed component corresponding to the lower limit in the next direction of movement, is the current position after the correction. This means that
Therefore, according to the positioning device 10, by applying a restriction using the predicted speed when determining the next position P2, it is possible to obtain a positioning result for creating a smoother trajectory.

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

Further, according to the present embodiment, the positioning device 10 calculates the degree of curve of the route the user travels, determines the mixture ratio based on the calculated degree of curve, and determines the mixture ratio based on the determined mixture ratio. By mixing the position coordinates corresponding to the corrected current position P2 and the position coordinates corresponding to the current position P1 before being corrected, the corrected current position P2 is further corrected.
Therefore, according to the positioning device 10, when the degree of curve is low, for example, by increasing the weight of the next position coordinate P2 based on the predicted orientation dr4, it is possible to suppress the undulation of the route. On the other hand, when the degree of curve is high, positional deviation can be suppressed by increasing the weight of the original GNSS position coordinate P1.

Although the embodiments of the present invention have been described above, it goes without saying that the present invention is not limited to these embodiments and can be modified in various ways without departing from the spirit thereof.

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

Further, in this embodiment, the positioning device 10 sequentially performs positioning, outputs the positioning results obtained from the positioning to the trajectory creation and display device 20, and the trajectory creation and display device 20 outputs the positioning results obtained from the positioning device 10. Although the trajectory information indicating the travel trajectory is created based on the results and the travel trajectory is displayed, the positioning device 10 may perform positioning and create the trajectory information, and output the created trajectory information.

Furthermore, in this embodiment, the traveling direction derived by the angular velocity measuring section 14 is corrected using the traveling direction derived by the GNSS measuring section 13, and the next traveling direction is determined based on the corrected traveling direction. However, it is also possible to correct the traveling direction derived by the GNSS measuring unit 13 using the traveling direction derived by the angular velocity measuring unit 14 and predict the next traveling direction based on the corrected traveling direction. good.
In other words, the next direction of travel may be predicted from the direction of travel derived by the angular velocity measurement unit 14 and the direction of travel derived by the GNSS measurement unit 13.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to the above-described embodiments, and includes the scope of the invention described in the claims and its equivalent range.
Below, the invention described in the claims first attached to the application of this application will be added. The claim numbers listed in the supplementary notes are as in the claims originally attached to the request for this application.

[Additional notes]
<Claim 1>
a positioning means for sequentially positioning the current position of the own device;
first deriving means for sequentially deriving the traveling direction of the own device;
a second deriving means for sequentially deriving the traveling direction of the own device using a method different from the first deriving means;
prediction means for predicting the next direction of travel using the direction of travel derived by the first derivation means and the direction of travel derived by the second derivation means;
a first correction means for correcting the current position determined by the positioning means based on the next direction of travel predicted by the prediction means;
A positioning device comprising:
<Claim 2>
The prediction means corrects the traveling direction derived by the first deriving means using the traveling direction derived by the second deriving means, and determines the next traveling direction based on the corrected traveling direction. The positioning device according to claim 1, wherein the positioning device predicts.
<Claim 3>
The positioning device according to claim 1, wherein the prediction means predicts the next direction of travel by correcting the current direction of travel based on the corrected direction of travel.
<Claim 4>
4. The first deriving means sequentially derives the traveling direction of the device based on the angular velocity around the vertical axis sequentially detected by a gyro sensor. positioning device.
<Claim 5>
The positioning means sequentially positions the current position of the own device using a satellite positioning system,
Positioning according to any one of claims 1 to 4, wherein the second derivation means successively derives the traveling direction of the own device based on the current position successively determined by the positioning means. Device.
<Claim 6>
The first correction means changes a vector connecting the current position measured by the positioning means and the current position measured immediately before the positioning of the current position in the next traveling direction predicted by the prediction means. The positioning device according to claim 1, wherein the current position is corrected by projection.
<Claim 7>
comprising a first calculation means for calculating the ratio of the speed component of the vector to the predicted speed predicted from the user's driving state;
When the value of the ratio calculated by the first calculation means is within a predetermined range, the first correction means calculates a position advanced by the velocity component of the vector in the next direction of movement after the correction. 7. The positioning device according to claim 6, wherein the current position is the current position.
<Claim 8>
When the value of the ratio calculated by the first calculation means exceeds an upper limit of a predetermined range, the first correction means advances the speed component in the next traveling direction by a velocity component corresponding to the upper limit. The position is set as the current position after correction, and if the value of the ratio is less than the lower limit value of the predetermined range, the position advanced by the speed component corresponding to the lower limit value in the next direction of travel is set as the current position after correction. The positioning device according to claim 7, characterized in that:
<Claim 9>
9. Any one of claims 1 to 8, further comprising second correcting means for further correcting the current position corrected by the first correcting means according to the degree of curve of the route the user travels. The positioning device according to item 1.
<Claim 10>
a second calculating means for calculating the degree of curve of the route based on each traveling direction predicted by the predicting means and obtained at predetermined time intervals;
determining means for determining a mixing ratio based on the degree of curve calculated by the second calculating means,
The second correction means corresponds to the position coordinates corresponding to the current position corrected by the first correction means and the current position before correction, based on the mixture ratio determined by the determination means. 10. The positioning device according to claim 9, wherein the current position corrected by the first correction means is further corrected by mixing the current position with position coordinates.
<Claim 11>
The positioning device according to any one of claims 1 to 10, further comprising an output means for outputting the current position corrected by the first correction means.
<Claim 12>
A positioning method using a positioning device,
a positioning step of sequentially determining the current position of the own device;
a first derivation step of successively deriving the traveling direction of the own device;
a second derivation step of sequentially deriving the traveling direction of the device using a method different from the first derivation step;
a prediction step of predicting the next direction of travel using the direction of travel derived by the first derivation step and the direction of travel derived by the second derivation step;
a correction step of correcting the current position determined in the positioning step based on the next traveling direction predicted in the prediction step;
A positioning method characterized by comprising:
<Claim 13>
The computer of the positioning device,
positioning means for sequentially positioning the current position of the own device;
first deriving means for sequentially deriving the traveling direction of the own device;
a second deriving means for sequentially deriving the traveling direction of the device using a method different from the first deriving means; the traveling direction derived by the first deriving means and the traveling direction derived by the second deriving means; prediction means for predicting the next direction of travel using the direction;
correction means for correcting the current position determined by the positioning means based on the next direction of travel predicted by the prediction means;
A positioning program characterized by functioning as a.

1 Travel trajectory display system 10 Positioning device 11 Control unit 12 Storage unit 13 GNSS measurement unit (positioning means, second derivation means)
14 Angular velocity measurement unit (first derivation means)
15 Acceleration measurement section 16 Axis correction section 17 Signal processing section (prediction means, first correction means, first calculation means, second correction means, second calculation means, determination means, output means)
18 Transmission unit 20 Trajectory creation and display device

Claims (11)

a positioning means for sequentially positioning the current position of the own device;
first deriving means for sequentially deriving the traveling direction of the own device;
a second deriving means for sequentially deriving the traveling direction of the own device using a method different from the first deriving means;
prediction means for predicting the next direction of travel using the direction of travel derived by the first derivation means and the direction of travel derived by the second derivation means;
a first correction means for correcting the current position determined by the positioning means based on the next direction of travel predicted by the prediction means;
Equipped with
The prediction means corrects the traveling direction derived by the first deriving means using the traveling direction derived by the second deriving means, and calculates the previous traveling direction and the revised traveling direction. , at a predetermined ratio, as the predicted direction of the next direction of travel . The positioning device according to claim 1, wherein the previous direction of travel is a final direction of travel in which positioning was performed last time. 3. The positioning device according to claim 1, wherein a mixing ratio of the previous direction of travel and the corrected direction of travel is 1:4. 4. The first deriving means sequentially derives the traveling direction of the device based on the angular velocity around the vertical axis sequentially detected by a gyro sensor. positioning device. The prediction means determines whether or not the user has started running based on the speed data output from the positioning means, and if it is determined that the running has started, the prediction means generates a signal indicating the time when the running has started. output,
Obtaining azimuth data corresponding to the time when the traveling started from the second deriving means based on a signal indicating the time when the traveling started;
5. The positioning device according to claim 4, wherein the direction of travel derived by the first deriving means is corrected using the acquired azimuth data. The prediction means integrates the value of the angular velocity based on the azimuth data corresponding to the time when the traveling started and the angular velocity data derived by the first derivation means, and calculates the value of the integrated angular velocity. 6. The positioning device according to claim 5, wherein the traveling direction derived by the first deriving means is corrected using the integral value. 7. The vehicle according to claim 1, further comprising a second correcting means for further correcting the current position corrected by the first correcting means in accordance with the degree of curve of the route taken by the user. The positioning device according to item 1. a second calculating means for calculating the degree of curve of the route based on each traveling direction predicted by the predicting means and obtained at predetermined time intervals;
determining means for determining a mixing ratio based on the degree of curve calculated by the second calculating means,
The second correction means corresponds to the position coordinates corresponding to the current position corrected by the first correction means and the current position before correction, based on the mixture ratio determined by the determination means. 8. The positioning device according to claim 7, wherein the current position corrected by the first correction means is further corrected by mixing the current position with the position coordinates. 9. The positioning device according to claim 1, further comprising output means for outputting the current position corrected by the first correction means. A positioning method using a positioning device,
a positioning step of sequentially determining the current position of the own device;
a first derivation step of successively deriving the traveling direction of the own device;
a second derivation step of sequentially deriving the traveling direction of the device using a method different from the first derivation step;
a prediction step of predicting the next direction of travel using the direction of travel derived by the first derivation step and the direction of travel derived by the second derivation step;
a correction step of correcting the current position determined in the positioning step based on the next traveling direction predicted in the prediction step;
including;
The prediction step corrects the traveling direction derived by the first deriving step using the traveling direction derived by the second deriving step, and compares the previous traveling direction with the modified traveling direction. , at a predetermined ratio, as a predicted direction of the next direction of travel . The computer of the positioning device,
positioning means for sequentially positioning the current position of the own device;
a first derivation means for successively deriving the traveling direction of the own device;
a second deriving means for sequentially deriving the traveling direction of the own device using a method different from the first deriving means;
Prediction means for predicting the next direction of travel using the direction of travel derived by the first derivation means and the direction of travel derived by the second derivation means;
correction means for correcting the current position determined by the positioning means based on the next direction of travel predicted by the prediction means;
function as
The prediction means corrects the traveling direction derived by the first deriving means using the traveling direction derived by the second deriving means, and calculates the previous traveling direction and the revised traveling direction. , at a predetermined ratio, as a predicted direction of the next direction of travel .

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