JPWO2019038871A1 - POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, AND POSITION ESTIMATION PROGRAM - Google Patents

Abstract

The first estimating unit (23) estimates the moving distance of the user based on the sensor data from the sensor mounted on the terminal carried by the user, and determines the moving direction stored in the sensor data and the storage device. Based on the current movement direction of the user, the current position of the user is estimated from the movement distance and the current movement direction. When the authentication system authenticates the user, the second estimation unit (24) estimates the current moving direction of the user based on the correction information specified based on the authentication system. The update unit (25) updates the movement direction stored in the storage device with the current movement direction estimated by the first estimation unit (23) or the second estimation unit (24).

Description

  The present invention relates to a technique for estimating the position of a user.

As a method for specifying the position of a user indoors where radio waves from a positioning satellite such as a GPS (Global Positioning System) satellite do not reach, there is PDR (Pedestrian Dead Reckoning).
PDR is a technique for estimating the position of a user from sensor data of a terminal carried by the user such as a smartphone held by the user. Specifically, the moving distance is estimated from the value of the acceleration sensor, and the traveling direction from the value of the geomagnetic sensor and the value of the gyroscope is estimated, so that the moving destination from the starting point is relatively estimated. PDR has the advantage that it is not necessary to install transmitters in a mesh form indoors, and the position can be estimated only from the sensor data of the terminal. On the other hand, since PDR only knows the relative movement destination, there is a demerit that errors are accumulated when estimation is repeated.

  In Non-Patent Document 1, a BLE (Bluetooth Low Energy) beacon is installed at the entrance of a building, and if the terminal can communicate with the beacon, it is assumed that the user is at the entrance, and a new PDR is started from the entrance. It is described to start positioning.

Hironori Ishizuka et al. “Fundamental study on hybrid indoor positioning method using BLE signal and PDR” IEICE Technical Report, Vol. 114 No31 2014

When the method described in Non-Patent Document 1 is used, the accumulated error increases if the number of beacons is insufficient, and conversely, if the number of beacons is too large, the installation site design cost, beacon purchase cost, and installation work cost Costs such as maintenance costs increase.
An object of the present invention is to increase the estimation accuracy of a user position based on sensor data of a terminal with a simple configuration.

The position estimation device according to the present invention is:
A sensor data acquisition unit for acquiring sensor data from a sensor mounted on a terminal carried by a user;
The movement distance of the user is estimated based on the sensor data acquired by the sensor data acquisition unit, and the current movement direction of the user is estimated based on the sensor data and the movement direction stored in the storage device. A first estimating unit for estimating a current position of the user from the moving distance and the current moving direction;
When the user is authenticated by the authentication system, a second estimation unit that estimates the current moving direction of the user based on correction information specified based on the authentication system;
An update unit that updates the movement direction stored in the storage device with the current movement direction estimated by the first estimation unit or the second estimation unit.

  In this invention, when the user is authenticated by the authentication system, the moving direction of the user is estimated using the correction information specified based on the authentication system. Thereby, the shift | offset | difference of the user's moving direction based on sensor data is correct | amended, and the estimation accuracy of a position becomes high.

1 is a configuration diagram of a position estimation system 1 according to Embodiment 1. FIG. 1 is a configuration diagram of a position estimation device 10 according to Embodiment 1. FIG. 1 is a configuration diagram of a room entry management device 100 according to Embodiment 1. FIG. 5 is a flowchart showing the operation of the room entry management device 100 according to the first embodiment. The figure which shows the information memorize | stored in the entrance / exit information storage part 131 which concerns on Embodiment 1. FIG. 5 is a flowchart showing the operation of the position estimation apparatus 10 according to the first embodiment. FIG. 4 is a diagram showing information stored in a position information storage unit 32 according to the first embodiment. FIG. 5 is a diagram showing information stored in a correction information storage unit 31 according to the first embodiment. Explanatory drawing of the position which concerns on Embodiment 1. FIG. The block diagram of the position estimation apparatus 10 which concerns on the modification 2. FIG. The block diagram of the entrance management apparatus 100 which concerns on the modification 2. FIG. The block diagram of the position estimation system 1 which concerns on Embodiment 2. FIG. The block diagram of the face authentication apparatus 200 which concerns on Embodiment 2. FIG. 9 is a flowchart showing the operation of the face authentication apparatus 200 according to the second embodiment. The figure which shows the information memorize | stored in the authentication log | history memory | storage part 231 which concerns on Embodiment 2. FIG. 10 is a flowchart showing a second estimation process according to the second embodiment. Explanatory drawing of the rectangular area which concerns on Embodiment 2. FIG. The figure which shows the information memorize | stored in the correction information storage part 31 which concerns on Embodiment 2. FIG. FIG. 10 is a configuration diagram of a face authentication apparatus 200 according to Embodiment 3. 10 is a flowchart showing the operation of the face authentication apparatus 200 according to the third embodiment. The block diagram of the position estimation system 1 which concerns on Embodiment 4. FIG. The block diagram of the adjustment apparatus 300 which concerns on Embodiment 4. FIG. 10 is a flowchart showing the operation of the payment apparatus 300 according to the fourth embodiment. The figure which shows the information memorize | stored in the account settlement history memory | storage part 331 which concerns on Embodiment 4. FIG. The figure which shows the information memorize | stored in the correction information storage part 31 which concerns on Embodiment 4. FIG. FIG. 6 is a configuration diagram of a position estimation system 1 according to a fifth embodiment. FIG. 6 is a configuration diagram of a copier 400 according to a fifth embodiment. 10 is a flowchart showing the operation of the copier 400 according to the fifth embodiment. The block diagram of the position estimation system 1 which concerns on Embodiment 6. FIG. The block diagram of the elevator 500 which concerns on Embodiment 6. FIG. 7 is a flowchart showing the operation of an elevator 500 according to the sixth embodiment. FIG. 18 is a diagram showing information stored in a correction information storage unit 31 according to the sixth embodiment. The block diagram of the position estimation system 1 which concerns on Embodiment 7. FIG. FIG. 10 is a configuration diagram of a fixed terminal 600 according to a seventh embodiment. 18 is a flowchart showing an operation of fixed terminal 600 according to the seventh embodiment. The figure which shows the information memorize | stored in the login log | history memory | storage part 631 which concerns on Embodiment 7. FIG. The block diagram of the position estimation system 1 which concerns on Embodiment 8. FIG. FIG. 10 is a configuration diagram of an elevator 700 according to an eighth embodiment. 10 is a flowchart showing the operation of an elevator 700 according to the eighth embodiment. 20 is a flowchart showing the operation of the position estimation apparatus 10 according to the eighth embodiment.

Embodiment 1 FIG.
*** Explanation of configuration ***
With reference to FIG. 1, the structure of the position estimation system 1 which concerns on Embodiment 1 is demonstrated.
The position estimation system 1 includes a position estimation device 10 and a room entry management device 100. The position estimation device 10 and the room entry management device 100 are connected via a transmission path 90.

The position estimation device 10 is a computer that estimates a user's position.
As a specific example, the position estimation apparatus 10 is a portable terminal such as a smartphone carried by a user. Alternatively, the position estimation device 10 is a server installed in a management center or the like.

The room entry management device 100 is a computer that manages user entry and exit.
As a specific example, the room entry management device 100 is a device that manages entry / exit to each room using an authentication terminal 140 provided inside and outside the door of each room in the building. The entrance management device 100 and the authentication terminal 140 are an example of an authentication system.

With reference to FIG. 2, the configuration of position estimation apparatus 10 according to Embodiment 1 will be described.
The position estimation device 10 includes hardware including a processor 11, a memory 12, a storage 13, and a communication interface 14. The processor 11 is connected to other hardware via a signal line, and controls these other hardware.

  The processor 11 is an IC (Integrated Circuit) that performs processing. The processor 11 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit) as specific examples.

  The memory 12 is a storage device that temporarily stores data. As a specific example, the memory 12 is an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory).

  The storage 13 is a storage device that stores data. The storage 13 is an HDD (Hard Disk Drive) as a specific example. The storage 13 is a portable storage such as an SD (Secure Digital) memory card, a CF (CompactFlash, registered trademark), a NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, and a DVD (Digital Versatile Disk). It may be a medium.

  The communication interface 14 is an interface for communicating with an external device. As a specific example, the communication interface 14 is a port of Ethernet (registered trademark), USB (Universal Serial Bus), or HDMI (registered trademark, High-Definition Multimedia Interface).

  The position estimation apparatus 10 is connected to a sensor 40 such as an acceleration sensor, a gyroscope, and a geomagnetic sensor via a communication interface 14.

The position estimation apparatus 10 includes a control unit 21, a sensor data acquisition unit 22, a first estimation unit 23, a second estimation unit 24, and an update unit 25 as functional components. The function of each functional component of the position estimation apparatus 10 is realized by software.
The storage 13 stores a program that realizes the function of each functional component of the position estimation apparatus 10. This program is read into the memory 12 by the processor 11 and executed by the processor 11. Thereby, the function of each function component of the position estimation apparatus 10 is implement | achieved.
The storage 13 implements a correction information storage unit 31 and a position information storage unit 32.

With reference to FIG. 3, the structure of the entrance management apparatus 100 which concerns on Embodiment 1 is demonstrated.
The entrance management apparatus 100 includes hardware including a processor 101, a memory 102, a storage 103, and a communication interface 104. The processor 101 is connected to other hardware via a signal line, and controls these other hardware.
The processor 101, the memory 102, the storage 103, and the communication interface 104 are the same as the processor 11, the memory 12, the storage 13, and the communication interface 14, respectively.

  The entrance management apparatus 100 is connected to one or more authentication terminals 140 via the communication interface 104. As a specific example, the authentication terminal 140 is a card reader. Alternatively, the authentication terminal 140 is a biometric information reader that reads biometric information such as a fingerprint.

The room entry management device 100 includes an authentication unit 111, a door control unit 112, and an information transmission unit 113 as functional components. The function of each functional component of the entrance management apparatus 100 is realized by software.
The storage 103 stores a program that realizes the function of each functional component of the room entry management device 100. This program is read into the memory 102 by the processor 101 and executed by the processor 101. Thereby, the function of each function component of the entrance management apparatus 100 is implement | achieved.
Further, the storage 103 implements an entrance / exit information storage unit 131.

*** Explanation of operation ***
With reference to FIGS. 4 to 9, the operation of the position estimation system 1 according to Embodiment 1 will be described.
The operation of the position estimation system 1 according to the first embodiment corresponds to the position estimation method according to the first embodiment. The operation of the position estimation system 1 according to the first embodiment corresponds to the processing of the position estimation program according to the first embodiment.

With reference to FIG. 4, the operation of the room entry management device 100 according to the first embodiment will be described.
The entrance management apparatus 100 starts the operation when the authentication terminal 140 reads the authentication information.

(Step S11: Authentication information acquisition process)
The authentication unit 111 acquires an authentication terminal ID that is an identifier of the authentication terminal 140 and authentication information from the authentication terminal 140 via the communication interface 104. The authentication information is card information read from a card when the authentication terminal 140 is a card reader, and biometric information read from a user when the authentication terminal 140 is a biometric information reader.

(Step S12: User authentication processing)
The authentication unit 111 authenticates the user based on the authentication information acquired in step S11.
If the authentication is successful, the authentication unit 111 advances the process to step S13. On the other hand, the authentication part 111 complete | finishes a process, when authentication fails.

(Step S13: Door control process)
The door control unit 112 unlocks the door corresponding to the authentication terminal ID acquired in step S11. Thereby, the user can enter the room or the user can leave the room.

(Step S14: entry / exit information storage processing)
The authentication unit 111 writes the entry / exit information into the entry / exit information storage unit 131.
As a specific example, as shown in FIG. 5, the authentication unit 111 stores the authentication terminal ID, date, time, and user ID, which is a user identifier, acquired in step S11. 131. This makes it possible to identify when and who has entered or from which room.

(Step S15: Entrance / exit information transmission processing)
The information transmission unit 113 transmits the authentication terminal ID acquired in step S11 to the position estimation device 10.
At this time, when the position estimation device 10 is a mobile terminal such as a smartphone, the information transmission unit 113 authenticates the user's mobile terminal specified by the authentication information acquired in step S11 to the authentication acquired in step S11. Send the terminal ID. Further, when the position estimation device 10 is a server, the information transmission unit 113 transmits the authentication terminal ID acquired in step S11 to the server.

With reference to FIG. 6, the operation of position estimation apparatus 10 according to Embodiment 1 will be described.
The position estimation device 10 repeatedly executes the process for each reference time during a specific period such as while the user is indoors.

(Step S21: Authentication determination process)
The control unit 21 determines whether an authentication terminal ID is transmitted from the room entry management device 100.
If the authentication terminal ID has not been transmitted, the process proceeds to step S22. On the other hand, when the authentication terminal ID is transmitted, the control unit 21 acquires the authentication terminal ID, and then proceeds to step S24.

(Step S22: Sensor data acquisition process)
The sensor data acquisition unit 22 acquires sensor data from the sensor 40 mounted on a terminal carried by the user.
At this time, when the position estimation device 10 is a mobile terminal such as a smartphone, the sensor data acquisition unit 22 acquires sensor data from the sensor 40 mounted on the mobile terminal that is the position estimation device 10. Note that the sensor data acquisition unit 22 may acquire sensor data from the sensor 40 mounted on another terminal. Moreover, when the position estimation apparatus 10 is a server, the sensor data acquisition part 22 acquires sensor data from the sensor 40 mounted in portable terminals, such as a smart phone.
Here, the sensor data acquisition unit 22 acquires acceleration data obtained by the acceleration sensor and gyro data obtained by the gyroscope as sensor data. In addition to the acceleration data and the gyro data, the sensor data acquisition unit 22 may acquire data obtained by other sensors as sensor data instead of the acceleration data and the gyro data.

(Step S23: first estimation process)
The 1st estimation part 23 estimates the movement distance in a user's reference time based on the acceleration data which are the sensor data acquired by step S22. The first estimation unit 23 estimates the current movement direction of the user based on the gyro data that is the sensor data acquired in step S22 and the latest movement direction stored in the position information storage unit 32. . That is, the first estimation unit 23 estimates a direction shifted from the latest movement direction by the rotation amount indicated by the gyro data as the current movement direction. As shown in FIG. 7, the position information storage unit 32 stores the latest movement direction and the latest position.
Then, the first estimating unit 23 estimates the current position of the user from the estimated moving distance and the current moving direction. Specifically, the first estimator 23 sets the position moved by the estimated movement distance from the latest position stored in the position information storage unit 32 in the estimated current movement direction. Estimated as the position of.

(Step S24: second estimation process)
The 2nd estimation part 24 estimates a user's present moving direction and the present position based on the correction information specified from the authentication terminal 140 which the authentication terminal ID acquired by step S21 shows.
Specifically, the second estimation unit 24 reads correction information indicating the direction and position corresponding to the authentication terminal ID from the correction information storage unit 31. Then, the second estimation unit 24 estimates that the direction indicated by the correction information is the current moving direction, and estimates that the position indicated by the correction information is the current position.
As shown in FIG. 8, the correction information storage unit 31 stores a direction and a position for each authentication terminal ID. The position of the authenticated user can be known from the position of the authentication terminal 140. Further, since the user enters or leaves the room, the movement direction of the authenticated user can be known. Therefore, the correction information storage unit 31 stores in advance, for each authentication terminal ID, a position where it is estimated that there is a user and a direction where it is estimated that the user moves. As shown in FIG. 9, the correction information storage unit 31 stores not only the position in the plane direction (X coordinate and Y coordinate) but also the position in the height direction (Z coordinate) as the position. That is, the correction information storage unit 31 also stores the building hierarchy as the position. In FIG. 8, the direction is represented with north as a reference (0 °), south as 180 °, east as 90 °, and west as −90 °.

(Step S25: Update process)
The update unit 25 updates the latest movement direction stored in the position information storage unit 32 with the current movement direction estimated in step S23 or step S24. The updating unit 25 updates the latest position stored in the position information storage unit 32 with the current position estimated in step S23 or step S24.

*** Effects of Embodiment 1 ***
As described above, when the user is authenticated by the authentication terminal 140, the position estimation system 1 according to the first embodiment uses the correction information specified from the authentication terminal 140 and the current movement direction and the current Estimate the position. Specifically, the position estimation system 1 according to Embodiment 1 can estimate the position of the user and the direction in which the user moves when the user is authenticated by the authentication terminal 140. Is used to estimate the moving direction and the current position of the user.
As a result, the shift in the movement direction of the user based on the sensor data and the shift in the current position are corrected, and the position estimation accuracy is increased. When the entrance management device 100 is introduced, it is not necessary to separately install a new device such as a beacon, and the position estimation system 1 can be easily introduced.

*** Other configurations ***
<Modification 1>
In the first embodiment, the storage 13 realizes the correction information storage unit 31 and the position information storage unit 32. However, the correction information storage unit 31 and the position information storage unit 32 may be realized by a storage device outside the position estimation device 10.

<Modification 2>
In the first embodiment, the functions of the functional components of the position estimation device 10 and the room entry management device 100 are realized by software. However, as a second modification, the functions of the functional components of the position estimation device 10 and the room entry management device 100 may be realized by hardware. The second modification will be described with respect to differences from the first embodiment.

With reference to FIG. 10, the structure of the position estimation apparatus 10 which concerns on the modification 2 is demonstrated.
When the function of each functional component is realized by hardware, the position estimation device 10 includes an electronic circuit 15 instead of the processor 11, the memory 12, and the storage 13. The electronic circuit 15 is a dedicated electronic circuit that realizes the functions of the respective units of the position estimation device 10 and the functions of the memory 12 and the storage 13.

With reference to FIG. 11, the structure of the entrance management apparatus 100 which concerns on the modification 2 is demonstrated.
When the function of each functional component is realized by hardware, the room entry management device 100 includes an electronic circuit 105 instead of the processor 101, the memory 102, and the storage 103. The electronic circuit 105 is a dedicated electronic circuit that realizes the functions of each unit of the room entry management device 100 and the functions of the memory 102 and the storage 103.

The electronic circuits 15 and 105 are a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array). Is assumed.
The function of each part of the position estimation device 10 may be realized by one electronic circuit 15, or the function of each part of the position estimation device 10 may be realized by being distributed to a plurality of electronic circuits 15. Similarly, the function of each part of the room entry management device 100 may be realized by a single electronic circuit 105, or the function of each part of the room entry management device 100 may be distributed to a plurality of electronic circuits 105.

<Modification 3>
As a third modification, some functions may be realized by hardware, and other functions may be realized by software. That is, some of the functional components of the position estimation device 10 may be realized by hardware, and other functions may be realized by software. Similarly, among the functional components of the room entry management device 100, some functions may be realized by hardware, and other functions may be realized by software.

  The processors 11 and 101, the memories 12 and 102, the storages 13 and 103, and the electronic circuits 15 and 105 are called processing circuits. That is, the function of each part of the position estimation device 10 and the room entry management device 100 is realized by the processing circuit.

Embodiment 2. FIG.
The second embodiment is different from the first embodiment in that a face authentication device 200 is used instead of the room entry management device 100. In the second embodiment, this different point will be described, and the description of the same point will be omitted.

*** Explanation of configuration ***
With reference to FIG. 12, the structure of the position estimation system 1 which concerns on Embodiment 2 is demonstrated.
The position estimation system 1 includes a position estimation device 10 and a face authentication device 200. The position estimation device 10 and the face authentication device 200 are connected via a transmission path 90.

The face authentication device 200 is a computer that authenticates a user based on the user's face image.
As a specific example, the face authentication device 200 is a device that authenticates a user who passes through each place using a camera 240 provided in each place in the building. The face authentication device 200 and the camera 240 are an example of an authentication system.

With reference to FIG. 13, a configuration of face authentication apparatus 200 according to Embodiment 2 will be described.
The face authentication apparatus 200 includes hardware of a processor 201, a memory 202, a storage 203, and a communication interface 204. The processor 201 is connected to other hardware via a signal line, and controls these other hardware.
The processor 201, the memory 202, the storage 203, and the communication interface 204 are the same as the processor 11, the memory 12, the storage 13, and the communication interface 14, respectively.

  The face authentication device 200 is connected to one or more cameras 240 via the communication interface 204.

The face authentication device 200 includes an image acquisition unit 211, a face authentication unit 212, and an information transmission unit 213 as functional components. The function of each functional component of the face authentication apparatus 200 is realized by software.
The storage 203 stores a program that realizes the function of each functional component of the face authentication apparatus 200. This program is read into the memory 202 by the processor 201 and executed by the processor 201. Thereby, the function of each functional component of the face authentication device 200 is realized.
The storage 203 implements an authentication history storage unit 231.

*** Explanation of operation ***
The operation of the position estimation system 1 according to the second embodiment will be described with reference to FIG. 6 and FIGS. 14 to 18.
The operation of the position estimation system 1 according to the second embodiment corresponds to the position estimation method according to the second embodiment. The operation of the position estimation system 1 according to the second embodiment corresponds to the processing of the position estimation program according to the second embodiment.

With reference to FIG. 14, the operation of face authentication apparatus 200 according to Embodiment 2 will be described.
The face authentication device 200 operates at regular time intervals.

(Step S31: Image data acquisition process)
The image acquisition unit 211 acquires the image data captured by the camera 240 together with the camera ID that is an identifier of the camera 240 via the communication interface 204.

(Step S32: face authentication process)
The face authentication unit 212 performs user face authentication based on the image data acquired in step S31.
If face authentication is performed, the face authentication unit 212 proceeds to step S33. On the other hand, the face authentication unit 212 ends the process when face authentication is not performed.

(Step S33: Authentication history storage process)
The face authentication unit 212 writes authentication information in the authentication history storage unit 231.
As a specific example, as shown in FIG. 15, the face authentication unit 212 acquires the camera ID, date, time, user ID that is a user identifier acquired in step S31, and step S31. The image data is stored in the authentication history storage unit 231. This makes it possible to identify when and who passed.

(Step S34: Face authentication information transmission process)
The information transmission unit 213 transmits the camera ID and image data acquired in step S31 to the position estimation device 10.

With reference to FIG. 6, the operation of the position estimation apparatus 10 according to the second embodiment will be described.
The position estimation device 10 repeatedly executes the process for each reference time during a specific period such as while the user is indoors.
The processing from step S22 to step S23 and the processing of step S25 are the same as those in the first embodiment.

(Step S21: Authentication determination process)
The control unit 21 determines whether a camera ID and image data are transmitted from the face authentication device 200.
If the camera ID and the image data are not transmitted, the process proceeds to step S22. On the other hand, when the camera ID and the image data are transmitted, the control unit 21 acquires the camera ID and the image data, and then advances the process to step S24.

(Step S24: second estimation process)
The second estimation unit 24 estimates the current movement direction and the current position of the user based on the correction information specified from the camera 240 and the image data indicated by the camera ID acquired in step S21.

With reference to FIG. 16, the 2nd estimation process which concerns on Embodiment 2 is demonstrated.
(Step S41: feature amount extraction processing)
The second estimation unit 24 extracts an image local feature amount from the image data acquired in step S21. As a specific example, the image local feature amount is SIFT (Scale-Invariant Feature Transform) or HOG (Histograms of Oriented Gradients).

(Step S42: human area detection process)
The second estimation unit 24 detects a rectangular area where a person is present from the image data as shown in FIG. 17 by a statistical method using the image local feature extracted in step S41. As for the statistical method, any existing method may be used, and any method may be used.

(Step S43: Coordinate calculation process)
As illustrated in FIG. 17, the second estimation unit 24 identifies the coordinates in the image at the center of the lower end of the rectangular area detected in step S <b> 42 as the coordinates where the person is in the image. The second estimation unit 24 converts the coordinates in the identified image into absolute coordinates. Specifically, the second estimation unit 24 reads the absolute coordinates corresponding to the camera ID acquired in step S21 and the coordinates of the lower end central portion from the correction information storage unit 31.
As shown in FIG. 18, the correction information storage unit 31 stores a camera ID, coordinates in the image, and absolute coordinates in association with each other.

(Step S44: Correction Information Reading Process)
The second estimation unit 24 reads correction information indicating the direction and hierarchy corresponding to the camera ID from the correction information storage unit 31.
As illustrated in FIG. 18, the correction information storage unit 31 stores a direction and a hierarchy for each camera ID. From the position of the camera 240, the hierarchy of authenticated users can be known. Since the face authentication is performed, it can be seen that the user's face is in the direction of being photographed by the camera 240. It is common for a person to move in the direction in which the face is facing. Therefore, the moving direction of the authenticated user can be known from the direction of the camera 240. For this reason, the correction information storage unit 31 stores in advance, for each camera ID, a hierarchy in which a user is estimated and a direction in which the user is estimated to move.

(Step S45: position / direction estimation processing)
The second estimation unit 24 uses the absolute coordinates calculated in step S43 and the hierarchy and direction indicated by the correction information read in step S44 as correction information. Then, the second estimation unit 24 estimates that the absolute coordinate indicated by the correction information and the position indicated by the hierarchy are the current position. In addition, the second estimation unit 24 estimates that the direction indicated by the correction information is the current movement direction.

*** Effects of Embodiment 2 ***
As described above, the position estimation system 1 according to the second embodiment is specified from the camera 240 and the image data captured by the camera 240 when the user is authenticated based on the image data captured by the camera 240. The movement direction and the current position of the user are estimated using the correction information. Specifically, in the position estimation system 1 according to Embodiment 2, when a user is authenticated based on image data captured by the camera 240, the position where the user is located and the direction in which the user moves Is used to estimate the moving direction and the current position of the user.
As a result, the shift in the movement direction of the user based on the sensor data and the shift in the current position are corrected, and the position estimation accuracy is increased. When the face authentication device 200 is introduced, it is not necessary to separately install a new device such as a beacon, and the position estimation system 1 can be easily introduced.

Embodiment 3 FIG.
The third embodiment is different from the second embodiment in that the face authentication apparatus 200 performs image data analysis processing. That is, in the second embodiment, the position estimation apparatus 10 acquires image data and a camera ID from the face authentication apparatus 200, analyzes the image data, and calculates correction information. On the other hand, in the third embodiment, the face authentication device 200 analyzes image data and calculates correction information, and the position estimation device 10 acquires the calculated correction information.
In the third embodiment, this different point will be described, and the description of the same point will be omitted.

*** Explanation of configuration ***
With reference to FIG. 19, the configuration of face authentication apparatus 200 according to Embodiment 3 will be described.
The face authentication apparatus 200 is different from the face authentication apparatus 200 shown in FIG. The analysis unit 214 is realized by software or hardware in the same manner as other functional components.
The face authentication apparatus 200 is different from the face authentication apparatus 200 shown in FIG. 13 in that the storage 203 implements the correction information storage unit 31. Although not shown, since the face authentication device 200 includes the correction information storage unit 31, the position estimation device 10 does not need to include the correction information storage unit 31.

*** Explanation of operation ***
The operation of the position estimation system 1 according to Embodiment 3 will be described with reference to FIG. 6 and FIG.
The operation of the position estimation system 1 according to the third embodiment corresponds to the position estimation method according to the third embodiment. The operation of the position estimation system 1 according to the third embodiment corresponds to the processing of the position estimation program according to the third embodiment.

With reference to FIG. 20, the operation of face authentication apparatus 200 according to Embodiment 3 will be described.
The processing from step S51 to step S53 is the same as the processing from step S31 to step S33 in FIG. The processing from step S54 to step S57 is the same as the processing from step S41 to step S44 in FIG.

(Step S58: Correction information transmission process)
The information transmission unit 213 transmits correction information indicating the absolute coordinates calculated in step S56 and the hierarchy and direction read in step S57 to the position estimation apparatus 10.

With reference to FIG. 6, the operation of the position estimation apparatus 10 according to the third embodiment will be described.
The position estimation device 10 repeatedly executes the process for each reference time during a specific period such as while the user is indoors.
The processing from step S22 to step S23 and the processing of step S25 are the same as those in the first embodiment.

(Step S21: Authentication determination process)
The control unit 21 determines whether correction information is transmitted from the face authentication device 200.
When the correction information is not transmitted, the control unit 21 advances the process to step S22. On the other hand, when the correction information is transmitted, the control unit 21 obtains the correction information and advances the process to step S24.

(Step S24: second estimation process)
The 2nd estimation part 24 estimates a user's present moving direction and the present position based on the correction information specified from the camera 240 which the authentication terminal ID acquired by step S21 shows.
Specifically, the second estimation unit 24 estimates that the absolute coordinates and the hierarchy indicated by the correction information are the current position. In addition, the second estimation unit 24 estimates that the direction indicated by the correction information is the current movement direction.

*** Effects of Embodiment 3 ***
As described above, in the position estimation system 1 according to the third embodiment, the face authentication apparatus 200 has an image data analysis function. Thereby, the same effect as Embodiment 2 can be acquired.

Embodiment 4 FIG.
The fourth embodiment is different from the first embodiment in that instead of the room entry management device 100, a payment device with an authentication function that performs payment of a fee installed in a place such as a cafeteria is used. In the fourth embodiment, this different point will be described, and the description of the same point will be omitted.

*** Explanation of configuration ***
With reference to FIG. 21, the structure of the position estimation system 1 which concerns on Embodiment 4 is demonstrated.
The position estimation system 1 includes a position estimation device 10 and one or more settlement devices 300. The position estimation apparatus 10 and the settlement apparatus 300 are connected via a transmission path 90.

The payment apparatus 300 is a computer that charges a fee after authenticating the user.
As a specific example, the payment apparatus 300 is provided in a place such as a cafeteria, and is an apparatus for paying a fee after authenticating a user. The payment apparatus 300 is an example of an authentication system.

With reference to FIG. 22, the structure of the adjustment apparatus 300 which concerns on Embodiment 4 is demonstrated.
The payment apparatus 300 includes hardware of a processor 301, a memory 302, a storage 303, and a communication interface 304. The processor 301 is connected to other hardware via a signal line, and controls these other hardware.
The processor 301, the memory 302, the storage 303, and the communication interface 304 are the same as the processor 11, the memory 12, the storage 13, and the communication interface 14, respectively.

  The payment apparatus 300 is connected to the reading device 340 via the communication interface 304. The reading device 340 is a device that reads authentication information. Similar to the authentication terminal 140, the reading device 340 is a card reader or a biometric information reading device.

The payment apparatus 300 includes an authentication unit 311, a payment processing unit 312, and an information transmission unit 313 as functional components. The function of each functional component of the payment apparatus 300 is realized by software.
The storage 303 stores a program that realizes the function of each functional component of the payment apparatus 300. This program is read into the memory 302 by the processor 301 and executed by the processor 301. Thereby, the function of each functional component of the settlement apparatus 300 is realized.
In addition, the storage 303 implements a settlement history storage unit 331.

*** Explanation of operation ***
The operation of the position estimation system 1 according to the fourth embodiment will be described with reference to FIG. 6 and FIGS.
The operation of the position estimation system 1 according to the fourth embodiment corresponds to the position estimation method according to the fourth embodiment. The operation of the position estimation system 1 according to the fourth embodiment corresponds to the processing of the position estimation program according to the fourth embodiment.

With reference to FIG. 23, operation | movement of the adjustment apparatus 300 which concerns on Embodiment 4 is demonstrated.
The settlement apparatus 300 starts operation when reading the authentication information.

(Step S61: Authentication information acquisition process)
The authentication unit 311 acquires authentication information from the reading device 340. The authentication information is the same as in the first embodiment.

(Step S62: User authentication processing)
The authentication unit 311 authenticates the user based on the authentication information acquired in step S61.
If the authentication is successful, the authentication unit 311 advances the process to step S63. On the other hand, the authentication part 311 complete | finishes a process, when authentication fails.

(Step S63: Checkout process)
The settlement processing unit 312 performs a fee settlement process such as a meal price.

(Step S64: Settlement history storage process)
The settlement processing unit 312 writes the settlement information in the settlement history storage unit 331.
As a specific example, as shown in FIG. 24, the settlement processing unit 312 stores a settlement apparatus ID, which is an identifier of the settlement apparatus 300, a date, a time, and a user ID in the settlement history storage unit 331. This makes it possible to identify when and who made the payment.

(Step S65: Authentication information transmission process)
The information transmission unit 313 transmits the settlement apparatus ID of the settlement apparatus 300 to the position estimation apparatus 10.

With reference to FIG. 6, the operation of the position estimation apparatus 10 according to the fourth embodiment will be described.
The position estimation device 10 repeatedly executes the process for each reference time during a specific period such as while the user is indoors.
The processing from step S22 to step S23 and the processing of step S25 are the same as those in the first embodiment.

(Step S21: Authentication determination process)
The control unit 21 determines whether or not the settlement apparatus ID is transmitted from the settlement apparatus 300.
If the settlement apparatus ID has not been transmitted, the process proceeds to step S22. On the other hand, when the settlement apparatus ID is transmitted, the control unit 21 obtains the settlement apparatus ID and proceeds with the process to step S24.

(Step S24: second estimation process)
The 2nd estimation part 24 estimates a user's present moving direction and the present position based on the correction information specified from the adjustment apparatus 300 which the authentication terminal ID acquired by step S21 shows.
Specifically, the second estimation unit 24 reads correction information indicating a direction and a position corresponding to the settlement apparatus ID from the correction information storage unit 31. Then, the second estimation unit 24 estimates that the direction indicated by the correction information is the current moving direction, and estimates that the position indicated by the correction information is the current position.
As shown in FIG. 25, the correction information storage unit 31 stores a direction and a position for each settlement apparatus ID. The position of the authenticated user can be known from the position of the payment apparatus 300. In addition, since the user who performs the settlement with the settlement apparatus 300 proceeds in one way, the moving direction of the user can be known. Therefore, the correction information storage unit 31 stores in advance, for each settlement apparatus ID, a position where it is estimated that there is a user and a direction where it is estimated that the user moves.

*** Effects of Embodiment 4 ***
As described above, the position estimation system 1 according to the fourth embodiment uses the correction information specified from the payment apparatus 300 when the user is authenticated by the payment apparatus 300, and uses the correction information specified by the payment apparatus 300 to determine the current movement direction of the user. Is estimated.
As a result, the shift in the movement direction of the user based on the sensor data and the shift in the current position are corrected, and the position estimation accuracy is increased. When the settlement apparatus 300 is introduced, it is not necessary to separately install a new device such as a beacon, and the position estimation system 1 can be easily introduced.

Embodiment 5 FIG.
The fifth embodiment is different from the fourth embodiment in that a copying machine with an authentication function is used instead of the settlement apparatus 300. In the fifth embodiment, this different point will be described, and the description of the same point will be omitted.

*** Explanation of configuration ***
With reference to FIG. 26, the structure of the position estimation system 1 which concerns on Embodiment 5 is demonstrated.
The position estimation system 1 includes a position estimation device 10 and one or more copy machines 400. The position estimation apparatus 10 and the copy machine 400 are connected via a transmission path 90.

  The copy machine 400 is provided in a place such as an office, and is a device that performs copying after authenticating a user. The copier 400 is an example of an authentication system.

With reference to FIG. 27, a configuration of a copier 400 according to the fifth embodiment will be described.
The copier 400 includes hardware of a processor 401, a memory 402, a storage 403, and a communication interface 404. The processor 401 is connected to other hardware via a signal line, and controls these other hardware.
The processor 401, the memory 402, the storage 403, and the communication interface 404 are the same as the processor 301, the memory 302, the storage 303, and the communication interface 304, respectively.

  The copier 400 is connected to the reading device 440 via the communication interface 404. The reading device 440 is a device that reads authentication information. The reading device 440 is a card reader or a biometric information reading device, like the authentication terminal 140 in the first embodiment.

The copy machine 400 includes an authentication unit 411, a copy processing unit 412 and an information transmission unit 413 as functional components. The function of each functional component of the copier 400 is realized by software.
The storage 403 stores a program that realizes the function of each functional component of the copier 400. This program is read into the memory 402 by the processor 401 and executed by the processor 401. Thereby, the function of each functional component of the copier 400 is realized.

*** Explanation of operation ***
With reference to FIG. 28, the operation of the position estimation system 1 according to the fifth embodiment will be described.
The operation of the position estimation system 1 according to the fifth embodiment corresponds to the position estimation method according to the fifth embodiment. The operation of the position estimation system 1 according to the fifth embodiment corresponds to the processing of the position estimation program according to the fifth embodiment.

With reference to FIG. 28, the operation of the copier 400 according to the fifth embodiment will be described.
The copying machine 400 starts operation when it reads the authentication information.

(Step S71: Authentication information acquisition process)
The authentication unit 411 acquires authentication information from the reading device 440. The authentication information is the same as in the first embodiment.

(Step S72: User authentication processing)
The authentication unit 411 authenticates the user based on the authentication information acquired in step S71.
If the authentication is successful, the authentication unit 411 advances the process to step S73. On the other hand, the authentication part 411 complete | finishes a process, when authentication fails.

(Step S73: Copy process)
The copy processing unit 412 performs a copy process for the set document.

(Step S74: Authentication Information Transmission Process)
The information transmission unit 413 transmits the copy machine ID of the copy machine 400 to the position estimation device 10.

  The operation of the position estimation device 10 is the same as that of the fourth embodiment if the settlement apparatus 300 is replaced with the copy machine 400 and the settlement apparatus ID is replaced with the copy machine ID.

*** Effect of Embodiment 5 ***
As described above, the position estimation system 1 according to the fifth embodiment uses the correction information specified from the copy machine 400 when the user is authenticated by the copy machine 400, and uses the correction information specified by the copy machine 400. Is estimated.
As a result, the shift in the movement direction of the user based on the sensor data and the shift in the current position are corrected, and the position estimation accuracy is increased. When the copy machine 400 is introduced, it is not necessary to install a new device such as a beacon separately, and the position estimation system 1 can be easily introduced.

Embodiment 6 FIG.
The sixth embodiment is different from the fourth embodiment in that an elevator 500 with an authentication function is used instead of the settlement apparatus 300. In the sixth embodiment, this different point will be described, and the description of the same point will be omitted.

*** Explanation of configuration ***
With reference to FIG. 29, the structure of the position estimation system 1 which concerns on Embodiment 6 is demonstrated.
The position estimation system 1 includes a position estimation device 10 and one or more elevators 500. The position estimation device 10 and the elevator 500 are connected via a transmission path 90.

  The elevator 500 is a device that ascends and descends to a designated level after authenticating a user. The elevator 500 is an example of an authentication system.

With reference to FIG. 30, the structure of the elevator 500 which concerns on Embodiment 5 is demonstrated.
The elevator 500 includes hardware of a processor 501, a memory 502, a storage 503, and a communication interface 504. The processor 501 is connected to other hardware via a signal line, and controls these other hardware.
The processor 501, the memory 502, the storage 503, and the communication interface 504 are the same as the processor 301, the memory 302, the storage 303, and the communication interface 304, respectively.

  The elevator 500 is connected to the reading device 540 via the communication interface 504. The reading device 540 is a device that reads authentication information. The reading device 540 is a card reader or a biometric information reading device, like the authentication terminal 140 in the first embodiment.

The elevator 500 includes an authentication unit 511, an elevating processing unit 512, and an information transmission unit 513 as functional components. The function of each functional component of the elevator 500 is realized by software.
The storage 503 stores a program that realizes the function of each functional component of the elevator 500. This program is read into the memory 502 by the processor 501 and executed by the processor 501. Thereby, the function of each functional component of the elevator 500 is implement | achieved.

*** Explanation of operation ***
With reference to FIG. 6, FIG. 31, and FIG. 32, operation | movement of the position estimation system 1 which concerns on Embodiment 6 is demonstrated.
The operation of the position estimation system 1 according to the sixth embodiment corresponds to the position estimation method according to the sixth embodiment. The operation of the position estimation system 1 according to the sixth embodiment corresponds to the processing of the position estimation program according to the sixth embodiment.

With reference to FIG. 31, the operation of the elevator 500 according to the sixth embodiment will be described.
When the elevator 500 reads the authentication information, the elevator 500 starts its operation.

(Step S81: Authentication information acquisition process)
The authentication unit 511 acquires authentication information from the reading device 540. The authentication information is the same as in the first embodiment.

(Step S82: User authentication processing)
The authentication unit 511 authenticates the user based on the authentication information acquired in step S81.
If the authentication is successful, the authentication unit 511 advances the process to step S83. On the other hand, the authentication part 511 complete | finishes a process, when authentication fails.

(Step S83: Elevating process)
The elevating processing unit 512 performs elevating processing to a designated hierarchy.

(Step S84: Authentication information transmission process)
The information transmission unit 513 transmits the elevator ID of the elevator 500 and the level on which the user rides the elevator 500 to the position estimation device 10. The information transmission unit 513 may transmit the designated hierarchy to the position estimation device 10 instead of the hierarchy on which the user rides the elevator 500.

With reference to FIG. 6, the operation of the position estimation apparatus 10 according to the sixth embodiment will be described.
The position estimation device 10 repeatedly executes the process for each reference time during a specific period such as while the user is indoors.
The processing from step S22 to step S23 and the processing of step S25 are the same as those in the first embodiment.

(Step S21: Authentication determination process)
The control unit 21 determines whether an elevator ID is transmitted from the elevator 500.
If the elevator ID has not been transmitted, the process proceeds to step S22. On the other hand, when the elevator ID is transmitted, the control unit 21 obtains the elevator ID and proceeds with the process to step S24.

(Step S24: second estimation process)
Based on the correction information specified from the elevator 500 indicated by the elevator ID acquired in step S21 and the hierarchy acquired in step S21, the second estimation unit 24 determines the current movement direction and current position of the user. presume.
Specifically, the second estimation unit 24 reads correction information indicating the direction and position corresponding to the elevator ID from the correction information storage unit 31. Then, the second estimation unit 24 estimates that the direction indicated by the correction information is the current moving direction, and estimates that the position in the plane direction indicated by the correction information and the position indicated by the hierarchy are the current position.
As shown in FIG. 32, the correction information storage unit 31 stores the direction and the position in the plane direction for each elevator ID. The position of the authenticated user in the plane direction is known from the position of the elevator 500. Further, the moving direction of the user can be known from the direction of the entrance / exit of the elevator 500. For this reason, the correction information storage unit 31 stores in advance, for each elevator ID, the position in the plane direction in which the user is estimated and the direction in which the user is estimated to move.

*** Effects of Embodiment 6 ***
As described above, the position estimation system 1 according to the sixth embodiment uses the correction information specified from the elevator 500 when the user is authenticated by the elevator 500, and uses the correction information specified by the elevator 500 and the current position. Is estimated.
As a result, the shift in the movement direction of the user based on the sensor data and the shift in the current position are corrected, and the position estimation accuracy is increased. When the elevator 500 is introduced, it is not necessary to separately install new equipment such as a beacon, and the position estimation system 1 can be easily introduced.

Embodiment 7 FIG.
The seventh embodiment is different from the fourth embodiment in that a fixed terminal for a user such as a PC (Personal Computer) is used instead of the payment apparatus 300. In the seventh embodiment, this different point will be described, and the description of the same point will be omitted.

With reference to FIG. 33, the structure of the position estimation system 1 which concerns on Embodiment 7 is demonstrated.
The position estimation system 1 includes a position estimation device 10 and one or more fixed terminals 600. The position estimation device 10 and the fixed terminal 600 are connected via a transmission path 90.

  The fixed terminal 600 is a computer that is provided in a place such as a desk of a user in an office and can be used when the user logs in. Fixed terminal 600 is an example of an authentication system.

The configuration of fixed terminal 600 according to Embodiment 7 will be described with reference to FIG.
The fixed terminal 600 includes hardware of a processor 601, a memory 602, a storage 603, and a communication interface 604. The processor 601 is connected to other hardware via a signal line, and controls these other hardware.
The processor 601, the memory 602, the storage 603, and the communication interface 604 are the same as the processor 301, the memory 302, the storage 303, and the communication interface 304, respectively.

The fixed terminal 600 includes an authentication unit 611 and an information transmission unit 612 as functional components. The function of each functional component of the fixed terminal 600 is realized by software.
The storage 603 stores a program that realizes the function of each functional component of the fixed terminal 600. This program is read into the memory 602 by the processor 601 and executed by the processor 601. Thereby, the function of each functional component of the fixed terminal 600 is realized.
The storage 603 implements a login history storage unit 631.

*** Explanation of operation ***
With reference to FIG. 35, the operation of the position estimation system 1 according to the seventh embodiment will be described.
The operation of the position estimation system 1 according to the seventh embodiment corresponds to the position estimation method according to the seventh embodiment. The operation of the position estimation system 1 according to the seventh embodiment corresponds to the processing of the position estimation program according to the seventh embodiment.

The operation of fixed terminal 600 according to Embodiment 7 will be described with reference to FIG.
Fixed terminal 600 starts operation when it receives some input from an input device such as a keyboard.

(Step S91: Authentication information acquisition process)
The authentication unit 611 acquires login information input by the input device. As a specific example, the login information is a user ID and a password.

(Step S92: User authentication processing)
The authentication unit 611 authenticates the user based on the login information acquired in step S91.
If the authentication is successful, the authentication unit 611 advances the process to step S93. On the other hand, the authentication part 611 complete | finishes a process, when authentication fails.

(Step S93: Login history storage process)
The authentication unit 611 writes login information in the login history storage unit 631.
As a specific example, as illustrated in FIG. 36, the authentication unit 611 stores the fixed terminal ID, which is the identifier of the fixed terminal 600, the date, the time, and the user ID in the login history storage unit 631. The fixed terminal ID is a MAC (Media Access Control address) address as a specific example. This makes it possible to identify when and who has logged in.

(Step S94: Authentication information transmission process)
The information transmission unit 612 transmits the fixed terminal ID of the fixed terminal 600 to the position estimation device 10.

  The operation of the position estimation device 10 is the same as that of the fourth embodiment if the settlement device 300 is replaced with the fixed terminal 600 and the settlement device ID is replaced with the fixed terminal ID.

*** Effects of Embodiment 7 ***
As described above, the position estimation system 1 according to the seventh embodiment uses the correction information specified from the fixed terminal 600 when the user logs in to the fixed terminal 600, and uses the correction information specified by the fixed terminal 600 to Estimate the position.
As a result, the shift in the movement direction of the user based on the sensor data and the shift in the current position are corrected, and the position estimation accuracy is increased. When the fixed terminal 600 is introduced, it is not necessary to separately install a new device such as a beacon, and the position estimation system 1 can be easily introduced.

Embodiment 8 FIG.
The eighth embodiment is different from the sixth embodiment in that an elevator 700 having no authentication function is used instead of the elevator 500. In the eighth embodiment, this different point will be described, and the description of the same point will be omitted.

With reference to FIG. 37, the structure of the position estimation system 1 which concerns on Embodiment 8 is demonstrated.
The position estimation system 1 includes a position estimation device 10 and one or more elevators 700. The position estimation device 10 and the elevator 700 are connected via a transmission path 90.
In the eighth embodiment, it is assumed that the position estimation device 10 is a mobile terminal that is carried by a user such as a smartphone. The transmission path 90 is assumed to be a wireless network such as an elevator 700 or a wireless LAN (Local Area Network) for the elevator 700 installed in the vicinity of the elevator 700.

  The elevator 700 is a device that moves up and down to a designated level without authenticating the user.

With reference to FIG. 38, the structure of the elevator 700 which concerns on Embodiment 8 is demonstrated.
The elevator 700 includes hardware of a processor 701, a memory 702, a storage 703, and a communication interface 704. The processor 701 is connected to other hardware via a signal line, and controls these other hardware.
The processor 701, the memory 702, the storage 703, and the communication interface 704 are the same as the processor 501, the memory 502, the storage 503, and the communication interface 504, respectively.

The elevator 700 includes an information transmission unit 711 as a functional component. The functions of the functional components of the elevator 700 are realized by software.
The storage 703 stores a program that realizes the functions of the functional components of the elevator 700. This program is read into the memory 702 by the processor 701 and executed by the processor 701. Thereby, the function of the functional component of the elevator 700 is implement | achieved.

*** Explanation of operation ***
With reference to FIG. 39 and FIG. 40, operation | movement of the position estimation system 1 which concerns on Embodiment 8 is demonstrated.
The operation of the position estimation system 1 according to the eighth embodiment corresponds to the position estimation method according to the eighth embodiment. The operation of the position estimation system 1 according to the eighth embodiment corresponds to the processing of the position estimation program according to the eighth embodiment.

With reference to FIG. 39, the operation of the elevator 700 according to the eighth embodiment will be described.
(Step S1001: Information transmission processing)
The information transmission unit 711 transmits the elevator ID that is the identifier of the elevator 700 and the current hierarchy to the surroundings via the transmission path 90 at regular time intervals.
In addition, the control part 21 of the position estimation apparatus 10 receives elevator ID and a hierarchy, when the elevator ID and hierarchy which were transmitted to the information transmission part 711 are receivable. That is, when the position estimation device 10 enters the communication area of the wireless network that is the transmission path 90, the control unit 21 receives the elevator ID and the hierarchy.

With reference to FIG. 40, the operation of the position estimation apparatus 10 according to the eighth embodiment will be described.
The position estimation device 10 repeatedly executes the process for each reference time during a specific period such as while the user is indoors.
The processing from step S1102 to step S1103 and the processing from step S1105 are the same as the processing from step S22 to step S23 and the processing from step S25 in FIG.

(Step S1101: Usage determination processing)
The control unit 21 determines whether or not the user is using the elevator 700. Specifically, the control unit 21 receives the elevator ID and the hierarchy, and the user uses the elevator 700 when the movement distance of the position estimation device 10 within the determination period is less than the reference distance. If not, it is determined that the user is not using the elevator 700. That is, the control unit 21 determines that the user is using the elevator 700 when entering the communication area of the elevator 700 and the moving distance in the determination period is less than the reference distance, and otherwise uses the elevator 700. It is determined that the person is not using the elevator 700.
If the user is not using the elevator 700, the control unit 21 advances the process to step S1102. On the other hand, if the user is using the elevator 700, the control unit 21 advances the process to step S1104.

(Step S1104: second estimation process)
Based on the correction information identified from the elevator 700 indicated by the elevator ID acquired in step S1101 and the hierarchy acquired in step S1101, the second estimation unit 24 determines the current movement direction and current position of the user. presume.
Specifically, the second estimation unit 24 reads correction information indicating the direction and position corresponding to the elevator ID from the correction information storage unit 31. Then, the second estimation unit 24 estimates that the direction indicated by the correction information is the current moving direction, and estimates that the position in the plane direction indicated by the correction information and the position indicated by the hierarchy are the current position.
The correction information storage unit 31 stores the information shown in FIG. 32 as in the sixth embodiment.

*** Effect of Embodiment 8 ***
As described above, the position estimation system 1 according to the eighth embodiment uses the correction information specified from the elevator 700 when the user is authenticated by the elevator 700, and uses the correction information specified by the elevator 700 and the current position. Is estimated.
As a result, the shift in the movement direction of the user based on the sensor data and the shift in the current position are corrected, and the position estimation accuracy is increased. When the elevator 700 is introduced, it is not necessary to separately install new equipment such as a beacon, and the position estimation system 1 can be easily introduced.

  In particular, in the position estimation system 1 according to the eighth embodiment, the elevator 700 does not have an authentication function. Thus, the elevator 700 which does not have an authentication function is introduced in many buildings. Therefore, the position estimation system 1 can be easily introduced into many buildings.

Embodiment 9 FIG.
In Embodiments 1-8, the position estimation system 1 provided with the position estimation apparatus 10 and each different apparatus was demonstrated. The position estimation system 1 may include a position estimation device 10 and devices described in two or more embodiments. For example, the position estimation system 1 may include the room entry management device 100 described in the first embodiment and the face authentication device 200 described in the second embodiment.

  DESCRIPTION OF SYMBOLS 1 Position estimation system, 10 Position estimation apparatus, 11 Processor, 12 Memory, 13 Storage, 14 Communication interface, 15 Electronic circuit, 21 Control part, 22 Sensor data acquisition part, 23 1st estimation part, 24 2nd estimation part, 25 Update unit, 31 Correction information storage unit, 32 Location information storage unit, 90 Transmission path, 100 Entrance management device, 101 Processor, 102 Memory, 103 Storage, 104 Communication interface, 105 Electronic circuit, 111 Authentication unit, 112 Door control unit, 113 Information transmission unit, 131 Entrance / exit information storage unit, 140 Authentication terminal, 200 Face authentication device, 201 Processor, 202 Memory, 203 Storage, 204 Communication interface, 211 Image acquisition unit, 212 Face authentication unit, 213 Information transmission unit, 231 Authentication history storage, 240 camera, 300 payment device, 301 processor, 302 memory, 303 storage, 304 communication interface, 311 authentication unit, 312 payment processing unit, 313 information transmission unit, 331 payment history storage unit, 340 reading device, 400 copier, 401 processor 402, memory, 403 storage, 404 communication interface, 411 authentication unit, 412 copy processing unit, 413 information transmission unit, 440 reading device, 500 elevator, 501 processor, 502 memory, 503 storage, 504 communication interface, 511 authentication unit, 512 Elevation processing unit, 513 information transmission unit, 540 reading device, 600 fixed terminal, 601 processor, 602 memory, 603 storage, 604 communication interface, 611 authentication unit, 612 Information transmission unit, 631 login history storage unit, 700 elevator, 701 processor, 702 memory, 703 storage, 704 communication interface, 711 information transmission unit.

Claims (15)

A sensor data acquisition unit for acquiring sensor data from a sensor mounted on a terminal carried by a user;
The movement distance of the user is estimated based on the sensor data acquired by the sensor data acquisition unit, and the current movement direction of the user is estimated based on the sensor data and the movement direction stored in the storage device. A first estimating unit for estimating a current position of the user from the moving distance and the current moving direction;
When the user is authenticated by the authentication system, a second estimation unit that estimates the current moving direction of the user based on correction information specified based on the authentication system;
A position estimation apparatus comprising: an update unit that updates a movement direction stored in the storage device based on a current movement direction estimated by the first estimation unit or the second estimation unit. The first estimating unit estimates a position moved by the moving distance in the current moving direction from a position stored in the storage device as a current position of the user,
The position estimation device according to claim 1, wherein the update unit updates a position stored in the storage device with the current position estimated by the first estimation unit. The second estimation unit estimates the current position of the user based on the correction information,
The position estimating device according to claim 2, wherein the updating unit updates the position stored in the storage device with the current position estimated by the second estimating unit. The authentication system is provided at an entrance of a room, and includes an authentication terminal that reads user authentication information,
The correction information indicates the direction and position according to the authentication terminal that has read the user authentication information,
The said 2nd estimation part estimates that the direction which the said correction information shows is the said current moving direction, and presumes that the position which the said correction information shows is the said current position. The position estimation apparatus according to item 1. The authentication system includes an imaging device that acquires image data for performing user face authentication,
The correction information indicates the position and position of the imaging device that acquired the image data, and the direction and position specified from the image data,
The said 2nd estimation part estimates that the direction which the said correction information shows is the said current moving direction, and presumes that the position which the said correction information shows is the said current position. The position estimation apparatus according to item 1. The position estimation apparatus according to claim 5, wherein the second estimation unit calculates the correction information from the position of the imaging apparatus that has acquired the image data and the image data. The position estimation apparatus according to claim 5, wherein the second estimation unit acquires the correction information from the authentication system. The authentication system includes a settlement device that authenticates a user and settles a fee.
The correction information indicates a direction and a position according to a settlement apparatus that has performed authentication of the user,
The said 2nd estimation part estimates that the direction which the said correction information shows is the said current moving direction, and presumes that the position which the said correction information shows is the said current position. The position estimation apparatus according to item 1. The authentication system includes a copier for authenticating a user and copying a document,
The correction information indicates a direction and a position according to the copier that has performed authentication of the user,
The said 2nd estimation part estimates that the direction which the said correction information shows is the said current moving direction, and presumes that the position which the said correction information shows is the said current position. The position estimation apparatus according to item 1. The authentication system includes an elevator that operates by authenticating a user,
The correction information indicates a direction and a position according to an elevator that has performed authentication of the user,
The said 2nd estimation part estimates that the direction which the said correction information shows is the said current moving direction, and presumes that the position which the said correction information shows is the said current position. The position estimation apparatus according to item 1. The authentication system includes a user terminal that performs user login authentication,
The correction information indicates a direction and a position according to the user terminal that has performed authentication of the user,
The said 2nd estimation part estimates that the direction which the said correction information shows is the said current moving direction, and presumes that the position which the said correction information shows is the said current position. The position estimation apparatus according to item 1. A sensor data acquisition step of acquiring sensor data from a sensor mounted on a terminal carried by the user;
The movement distance of the user is estimated based on the sensor data acquired by the sensor data acquisition step, and the current movement direction of the user is estimated based on the sensor data and the movement direction stored in the storage device. A first estimating step of estimating the current position of the user from the moving distance and the current moving direction;
When the authentication of the user is performed by an authentication system, a second estimation step of estimating the current moving direction of the user based on correction information specified based on the authentication system;
A position estimation method comprising: an update step of updating the movement direction stored in the storage device with the current movement direction estimated by the first estimation step or the second estimation step. A sensor data acquisition process for acquiring sensor data from a sensor mounted on a terminal carried by the user;
The movement distance of the user is estimated based on the sensor data acquired by the sensor data acquisition process, and the current movement direction of the user is estimated based on the sensor data and the movement direction stored in the storage device. A first estimation process for estimating the current position of the user from the movement distance and the current movement direction;
When the user is authenticated by the authentication system, based on correction information specified based on the authentication system, a second estimation process for estimating the current movement direction of the user;
The position estimation program which makes a computer perform the update process which updates the movement direction memorize | stored in the said memory | storage device with the present movement direction estimated by the said 1st estimation process or the said 2nd estimation process. A sensor data acquisition unit for acquiring sensor data from a sensor mounted on a terminal carried by a user;
Based on the sensor data acquired by the sensor data acquisition unit, the moving distance and the current moving direction of the user are estimated, and from the moving distance and the current moving direction and the position stored in the storage device A first estimation unit for estimating the position of the user;
When the authentication of the user is performed by an authentication system, a second estimation unit that estimates the current position of the user based on correction information specified based on the authentication system;
A position estimation apparatus comprising: an update unit that updates a position stored in the storage device with a current position estimated by the first estimation unit or the second estimation unit. A sensor data acquisition unit for acquiring sensor data from a sensor mounted on a terminal carried by a user;
The movement distance of the user is estimated based on the sensor data acquired by the sensor data acquisition unit, and the current movement direction of the user is estimated based on the sensor data and the movement direction stored in the storage device. A first estimating unit for estimating a current position of the user from the moving distance and the current moving direction;
A second estimation unit that enters the communication area of the elevator apparatus and estimates the current movement direction of the user based on correction information specified from the elevator apparatus when the movement distance in the determination period is less than a reference distance When,
A position estimation apparatus comprising: an update unit that updates a movement direction stored in the storage device based on a current movement direction estimated by the first estimation unit or the second estimation unit.

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