JP2002214322A - Portable device for deciding position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve accuracy of information of a measuring position obtained by using a portable telephone and a GPS receiver. SOLUTION: This portable device for deciding the position is provided with the GPS receiver 101, a means 102 for storing map data, a display means 104, and a means for compensating the position 103. The GPS receiver 101 receives signals from GPS satellites and outputs the information of the measuring position. The means 102 for storing the map data contains the map data. The display means 104 superposes and displays the measuring position on the map data read out from the means 102 for storing the map data. When the measuring position exists inside (or outside) a building on the map data and radio waves from the GPS satellites, whose angles of elevation are larger (or smaller) than a first threshold value, are received, the means for compensating the position 103 compensates the measuring position to outside (or inside) the building and allows the display means 104 to display the measuring position. Alternatively, when the measuring position exists inside the building and the radio waves from the GPS satellites, whose azimuths converge to one direction, are received, the means for compensating the position 103 compensates the measuring position toward a side of the one direction in the building.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a portable position estimating device using a GPS satellite, and more particularly, to a portable position estimating device capable of highly accurate positioning position correction.

[0002]

2. Description of the Related Art FIG. 22 is a block diagram of a conventional portable position estimation device. This conventional portable position locating device is GP
An S receiver 1, a map data unit 2, and a display unit 3,
The GPS receiver 1 receives a signal from a GPS satellite,
It outputs positioning information such as its own position, speed, elevation angle and azimuth angle of the satellite being received, and is read out from the map data unit 2 holding data on the position and shape of the building and displayed on the display unit 3. The positioning position of the GPS receiver 1 is superimposed and displayed on the map.

[0003]

However, in the above-mentioned conventional portable position estimating apparatus, even if the accuracy of the positioning position output by the GPS receiver 1 is not high, the position is displayed on the display unit 3 as it is. In some cases, the measured positioning position is greatly deviated from the actual position. Further, since a large amount of map data needs to be held, a large-capacity memory is required, and there is a problem that the cost of the apparatus is increased. Furthermore, there is a problem that updating of the map data is difficult or impossible even when the map data becomes old.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems of the prior art, and has as its object to provide a portable position estimating apparatus having high accuracy of the evaluated position.

[0005]

SUMMARY OF THE INVENTION The object of the present invention is to provide a GPS receiver for receiving signals from GPS satellites and outputting positioning position information, map data storage means for holding map data,
Display means for superimposing and displaying the positioning position on the map data read from the map data storage means; and receiving a GPS satellite whose positioning position is in a building on the map data and whose elevation angle is higher than a first threshold value. If the position is corrected, the position is corrected by providing the position outside the building and displaying the position on the display.

[0006] The object of the present invention is also to provide a GPS receiver for receiving signals from GPS satellites and outputting positioning position information, map data storage means for holding map data, and map data read from the map data storage means. Display means for superimposing and displaying the positioning position; and displaying the positioning position when the positioning position is outside the building on the map data and receiving only GPS satellites whose elevation angle is lower than a first threshold value. This is attained by providing a position correcting means for making corrections in the building and displaying the corrections on the display means.

The object of the present invention is also to provide a GPS receiver for receiving signals from GPS satellites and outputting positioning position information, map data storage means for holding map data, and map data read from the map data storage means. Display means for superimposing and displaying the positioning position; and wherein the positioning position is in a building on the map data and receiving radio waves from a GPS satellite whose azimuth is deviated in one direction. This is achieved by providing a position correcting unit that corrects the positioning position to the side surface in the one direction in the building and displays the corrected position on the display unit.

Preferably, in the above, when there is a neighboring building close to the building, the position correcting means includes a correction candidate position having the smallest correction amount among correction candidates whose positioning positions have been corrected in the neighboring building. In addition, the position correction unit corrects the positioning position using a reception signal from only a GPS satellite having a signal strength of a reception signal equal to or higher than a second threshold value.

[0009] More preferably, in the above, the position correcting means is configured to correct the positioning position only when the moving speed of the GPS receiver obtained by receiving a signal from a GPS satellite is less than a third threshold value. And when the moving speed is equal to or higher than the third threshold value, the positioning position is corrected to be on a road or a track in the map data.

Another object of the present invention is to provide a GPS which receives a signal from a GPS satellite and outputs positioning position information and moving speed information.
A receiver, map data storage means for holding map data, display means for displaying the positioning position superimposed on the map data read from the map data storage means, and when the moving speed is equal to or higher than a third threshold value And a position correcting unit that corrects the positioning position on a road or a track of the map data and displays the corrected position on the display unit.

Preferably, in the above, the map data includes information on a vehicle average speed on a road or a track.
The position correcting means corrects the positioning position on a road or a track having the closest vehicle average speed to the moving speed, and the position correcting means corrects a GPS satellite among roads or tracks near the positioning position. The GP obtained from the received signal
The positioning position is corrected on a road or a track extending in the same direction as or near the moving direction of the S receiver.

[0012] More preferably, in the above, there is provided train operation information storage means for holding train operation information, and said position correction means is provided when a train does not exist between two stations near said positioning position. The positioning position is corrected only on the road without correcting the position above, and the train traveling direction is GPS
When the position does not match the moving direction of the GPS receiver obtained from the received signal of the satellite, the positioning position is corrected only on the road without correcting the position on the track, and the position correcting means further includes The position of the train is predicted from the operation information. If the distance between the predicted position of the train and the measured position is equal to or larger than the fourth threshold value, the measured position is corrected only on the road without correcting the position on the track. Further, the position correcting means includes:
If the distance is less than the fourth threshold value, the positioning position is corrected to the predicted position.

More preferably, in the above, the position correction means performs the correction processing of the positioning position only when the DOP value is equal to or more than a fifth threshold value, and further connects to an external server to connect the map data storage means. Communication means for downloading the map operation data stored in the storage means. When the communication means includes a train operation information storage means for storing the train operation information, the communication means connects to an external server to download the train operation information.

[0014] The above object is achieved preferably by realizing the above-mentioned portable position estimating device with a portable telephone to which the GPS receiver is connected as an external module, and comprising an arithmetic processing unit, a memory, and a display device of the portable telephone. Is realized as the position correction means, the map data storage means, and the display means.

[0015]

An embodiment of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 1 shows a first embodiment of the present invention.
It is a functional block diagram showing composition of a portable type position assessment device concerning an embodiment. The portable position assessment device of this embodiment includes a GPS receiver 101, a map data unit 102, a position correction unit 103, and a display unit 104. GP
The S receiver 101 receives a signal from a GPS satellite,
It outputs positioning information such as its own positioning position, its own moving speed, its moving direction, the elevation and azimuth of the satellite it is receiving. The map data unit 102 holds data on all or part of the positions and shapes of roads, railroads, and buildings, and the average speed of vehicles running on roads and trains running on railroads. The position correction unit 103 corrects the positioning position calculated by the GPS receiver 101 using the elevation angle and azimuth angle of the satellite being received and the shape data of the building, as will be described in detail later. A display unit 104 superimposes and displays the measured position of the GPS receiver 101 and the map information read from the map data unit 102.

FIG. 2 is a flowchart showing a position correction processing procedure in this embodiment, and FIG. 3 is an explanatory diagram showing a state of position correction in this embodiment. GP
The S receiver 101 receives a signal from a GPS satellite and outputs positioning information such as a positioning position, a moving speed, a moving direction, an elevation angle and an azimuth angle of the satellite being received to the position correction unit 103.

When these position information is fetched, the position correction unit 103 checks the elevation angles of all receivable GPS satellites, and determines in step S1 shown in FIG. 2 whether a radio wave from a high-elevation GPS satellite has been received. Determine whether or not. When the GPS receiver 101 of the portable positioning device is in the building,
It is blocked by the ceiling and cannot receive high elevation satellite radio waves. Therefore, when a satellite whose elevation angle is equal to or larger than the threshold value is received (the determination result in step S1 is Yes)
Can be determined to be outside the building, and if the determination result in step S1 is negative (No), it can be determined that the user is inside the building.

Next, when the map data (position and shape data of the building) around the positioning position of the GPS receiver 101 is read from the map data section 102, the positioning position of the GPS receiver 101 is stored in the building on the map. It is determined whether it is outside or outside. That is, when it is determined that the user is outside the building in step S1 of FIG. 2 (the determination result is Yes), the process proceeds to step S2, and it is determined whether the positioning position is inside the building on the map. When it is determined that the building is not in the building (the determination result is N
In o), since both determination results in steps S1 and S2 are "outside the building", the correction processing procedure of FIG.
The positioning position of the GPS receiver 101 is displayed as it is on the map data.

If it is determined in step S2 that the vehicle is inside the building (the determination result is Yes), it is inconsistent with the determination that the vehicle is outside the building in step S1. The measured position is corrected outside the building as shown in FIG. 3A, and the corrected position is displayed over the map data after the correction processing procedure of FIG. 2 ends.

If it is determined in step S1 that the user is inside the building (the determination result is No), the process proceeds to step S4,
It is determined whether the positioning position is outside the building on the map.
If the result of the determination in step S4 is negative (No), the results of both determinations in steps S1 and S4 are "inside the building", so the correction processing in FIG.
Is displayed as it is on the map data.

If it is determined in step S4 that the positioning position is outside the building on the map (the determination result is Yes), the process proceeds to step S5 because it is inconsistent with the determination in step S1 that the location is inside the building. The measured position of the receiver 101 is corrected in the building as shown in FIG. 3B, and the corrected position is displayed on the map data after the correction processing procedure of FIG. 2 ends.

As described above, in this embodiment, it is determined whether or not the vehicle is outside the building based on the elevation angle of the receiving GPS satellite, and the positioning position of the GPS receiver is corrected based on the determination result. Can be accurately detected.

(Second Embodiment) FIG. 4 shows a second embodiment of the present invention.
It is a flowchart which shows the position correction | amendment procedure of the portable type | mold position evaluation apparatus which concerns on embodiment, FIG. Note that the hardware configuration of the portable position assessment device according to this embodiment is the same as that of FIG.

When the portable position locating device is inside a building, it often receives only the incident wave from one wall window. For this reason, the position correction unit 103
1 examines the azimuths of all the satellites being received, and if it is determined that the azimuth is deviated in one direction, it can be said that there is a high probability that the satellite exists near the window direction.

Therefore, in step S6 of this embodiment shown in FIG. 4, it is first determined whether or not the positioning position is inside the building. If it is outside the building, the position correction according to this embodiment does not need to be performed, so that the processing in FIG. 4 is terminated, and the positioning position of the GPS receiver 101 is displayed as it is overlaid on the map data.

If the result of the determination in step S6 is affirmative (Ye
s), the process proceeds to step S7, and the GPS receiver 10
The azimuth angles of all the GPS satellites 1 being received are checked to determine whether the azimuth angles are deviated in one direction. As a method of this determination, a method of comparing the standard deviation of the azimuth angles of all the received GPS satellites with a threshold value or the like can be considered, but the method is not limited here. G receiving
If the azimuth of the PS satellite is not deviated in one direction, it cannot be said that the user is near the window, so the processing of FIG.
The positioning position of the PS receiver 101 is displayed as it is overlaid on the map data.

If the result of the determination in step S7 is affirmative (Ye
s) That is, when the azimuths of all the GPS satellites being received are deviated in one direction, the process proceeds to step S8, and in the building shape data read from the map data part, as shown in FIG. Correction is performed so that the positioning position is close to the side of the building where the received radio waves of the GPS satellites are concentrated, and the processing of FIG. 4 is terminated, and the corrected positioning position is displayed so as to be superimposed on the map data.

As described above, in the present embodiment, the positioning position is corrected based on the azimuth of the receiving GPS satellite.
It is possible to accurately detect your own position.

(Third Embodiment) FIG. 6 shows a third embodiment of the present invention.
9 is a flowchart illustrating a position correction procedure of the portable position evaluation device according to the embodiment, and FIG. 7 is an explanatory diagram illustrating a state of the position correction. Note that the hardware configuration of the portable position assessment device according to this embodiment is the same as that of FIG.

The position correction unit 103 determines which side of the building is closer to the vehicle by the method described in the second embodiment, and determines the positioning position on the side where the azimuth of the satellite radio wave is concentrated. Although the correction is performed, in the present embodiment, the correction is further performed in consideration of the neighboring buildings in the vicinity. Steps S10 and S11 in the flowchart in FIG. 6 are the same as steps S6 and S7 in FIG. 4, and step S12 is the same as step 8 in FIG. Instead, it is “correction candidate (candidate 1)”. Then, in the next step S13, information on neighboring buildings is read from the map data unit 102, and it is determined whether or not there is a nearby building. If there is a building in the vicinity (the determination result is Yes), the process proceeds to step S14, and the side position at which satellite radio waves are concentrated in all of the neighboring buildings (state in which building it is still unknown). Is added to the corrected position candidates.

In the example shown in FIG. 7, there is a positioning position (open circle) in the building 1, and the position S1 is determined for this positioning position.
2 determines the correction candidate 1. Further, since neighboring buildings 2 to 9 exist around the building 1, the side position of each neighboring building on the side where satellite radio waves are concentrated is also a correction position candidate. Finally, among the correction position candidates, the correction amount is the smallest,
That is, the position candidate closest to the positioning position of the GPS receiver 101 is set as the final correction position (step S15), and the processing in FIG. 6 ends. In the example shown in FIG. 7, the correction candidate 6 closest to the positioning position (open circle) is selected, and this candidate 6 is selected.
Is used.

As described above, in the third embodiment, since the positioning position is corrected in consideration of a nearby building, it is possible to perform more accurate position correction.

(Fourth Embodiment) FIG. 8 shows a fourth embodiment of the present invention.
It is a flowchart which shows the position correction | amendment procedure of the portable type position estimation apparatus which concerns on embodiment. Note that the hardware configuration of the portable position assessment device according to this embodiment is the same as that of FIG.

When the GPS receiver 101 cannot receive a direct wave from a satellite, the GPS receiver 101 receives a reflected wave of a radio wave of the GPS satellite on the opposite side of the window side or the GPS satellite near the zenith, and thus erroneously. Or make corrections,
Alternatively, the correction may not be performed. Since the signal level of the reflected wave is smaller than the signal level of the direct wave, it is possible to determine to some extent whether the wave is a direct wave or a reflected wave by checking the signal level.

Accordingly, the position correction unit 103 of the present embodiment
Checks the signal level of the GPS satellites before performing the correction process, and checks that the signal level is higher than the threshold value.
Only satellites are selected and added to a satellite list used for information correction processing (step S17). Then, using only the GPS satellites in this satellite list,
The correction processing described in the second and third embodiments is performed (step S18).

The signal level depends on the type of the GPS satellite and the GP.
Since the threshold value changes depending on factors such as the elevation angle of the S satellite, the threshold value is not a constant value, and may be dynamically changed in consideration of these factors.

As described above, in this embodiment, since the correction processing is performed using only the satellite receiving the direct wave having a large signal level, highly accurate position correction can be performed even in a building or the like where there are many reflected waves. It becomes possible.

(Fifth Embodiment) FIG. 9 shows a fifth embodiment of the present invention.
It is a flowchart which shows the position correction | amendment procedure of the portable type position estimation apparatus which concerns on embodiment. Note that the hardware configuration of the portable position assessment device according to this embodiment is the same as that of FIG.

If the positioning position of the GPS receiver 101 is determined to be inside the building even though it is actually outside the building, and the position is corrected in the above-described embodiment, the positional accuracy will be worsened. Therefore, in the present embodiment, it is highly likely that the user is outside the building during high-speed movement.
Determines whether the speed calculated by the GPS receiver 101 is lower than the threshold value (step S19), and proceeds to step S20 only when the speed is lower than the threshold value,
The correction processing of each of the above-described first to fourth embodiments is performed, and otherwise, it is determined that the user is outside the building, and the correction processing is not performed.

As described above, in the present embodiment, when the moving speed exceeds the threshold value, it is determined that the vehicle is outside the building, and the correction process is performed only when the moving speed is lower than the threshold value. Deterioration of position accuracy due to correction can be prevented.

(Sixth Embodiment) FIG. 10 is a flowchart showing a position correction procedure of a portable position estimating apparatus according to a sixth embodiment of the present invention. Note that the hardware configuration of the portable position assessment device according to this embodiment is the same as that of FIG.

The position correction unit 103 according to the present embodiment
It is determined whether or not the moving speed calculated by the PS receiver 101 is equal to or higher than the threshold value (step S21). If the moving speed is equal to or higher than the threshold value (the determination result is Yes), it is determined that the vehicle is on a car or a train, and A road or a track near the positioning position is read from the data part, and the positioning position is corrected to a point on the road or the track closest to the positioning position (step S2).
2).

As described above, in the present embodiment, when the moving speed is equal to or higher than the threshold value, it is determined that the vehicle or the train is on and the positioning position is corrected on the road or the track, so that the position accuracy is improved. be able to.

(Seventh Embodiment) FIG. 11 is a flowchart showing a position correcting procedure of a portable position estimating apparatus according to a seventh embodiment of the present invention. Note that the hardware configuration of the portable position assessment device according to this embodiment is the same as that of FIG.

The position correction unit 103 according to the present embodiment
It is determined whether or not the moving speed calculated by the PS receiver 101 is equal to or higher than the threshold value (step S23). If the moving speed is equal to or higher than the threshold value (the determination result is Yes), it is determined that the vehicle is in a car or a train, and As in the sixth embodiment, a road or a track near the measured position is read from the data section, and the measured position is corrected to a point on the road or the track.

However, in this embodiment, the GPS receiver 1
The positioning position is corrected on a road or a track on which the vehicle is running at an average speed closest to the speed calculated in step S01 (step S24).

As described above, according to the present embodiment, the most GP among the roads or tracks near the position calculated by the GPS receiver is described.
Since the positioning position is corrected on a road or a track having a vehicle average speed close to the speed calculated by the S receiver, the position accuracy can be further improved.

(Eighth Embodiment) FIG. 12 is a flowchart showing a position correction procedure of a portable position estimating apparatus according to an eighth embodiment of the present invention. Note that the hardware configuration of the portable position assessment device according to this embodiment is the same as that of FIG.

The position correction unit 103 according to the present embodiment
It is determined whether or not the moving object speed calculated by the PS receiver 101 is equal to or higher than a threshold value (step S25). When the speed is equal to or higher than the threshold value (the determination result is Yes), it is determined that the vehicle is on a car or a train. As in the sixth embodiment, a road or a track near the positioning position is read from the map data unit, and the positioning position is corrected to a point on the road or the track.

However, in the present embodiment, step S26
In, data of a road or a track near the positioning position is read from the map data part, and the positioning position is corrected on the road or the track whose traveling direction calculated by the GPS receiver 101 is closest to the direction in which the road or the track extends ( FIG.
3).

As described above, in the present embodiment, on a road or a track extending in the same direction as the traveling direction calculated by the GPS receiver or in the direction closest thereto, in the road or the track near the positioning of the GPS receiver. Since the positioning position is corrected,
Position accuracy can be improved.

(Ninth Embodiment) The basic configuration of this embodiment is the same as that of the first embodiment (FIG. 1), except for the train operation such as a timetable as shown in FIG. The point is that a train operation information unit 105 that holds information is provided, and the position correction unit 103 performs position correction using the train operation information.

FIG. 15 is a flowchart showing a position correction procedure in the ninth embodiment. Position correction unit 1
03 determines whether the speed calculated by the GPS receiver 101 is equal to or higher than the threshold value (step S30).
If the threshold value is equal to or more than the threshold value, that is, if it can be determined that the user is in a car or a train, the next step S
Go to 31. In this step S31, data of a road or a track near the positioning position is read from the map data section, and train operation information such as a timetable is read from the train operation information section 105, and the train is moved between two stations near the positioning position. It is determined whether or not exists. If the result of this determination is that the train is on a nearby track, the correction process is performed on the track or on the road as a corrected position candidate. If the result of determination in step S31 is that there is no train,
The process proceeds from step S31 to step S33, and a correction process is performed only on the road as a corrected position candidate.

As described above, in this embodiment, when there is no train between two stations near the positioning position, the position is corrected only on the road without correcting the position on the track.
The position is not corrected by mistake on the track, and the position accuracy can be improved.

(Tenth Embodiment) FIG. 16 is a flowchart showing a position correction procedure according to this embodiment. This embodiment is basically the same as the ninth embodiment described above, except that step S35 is provided next to step S31 so that the traveling direction of the train and the GPS receiver 1
Step S3 when the traveling direction calculated in Step 01 matches the traveling direction
2 and when the values do not match, the process proceeds to step S33.

As described above, in this embodiment, when the traveling direction of the train does not match the traveling direction calculated by the GPS receiver, the position is corrected only on the road without correcting the position on the track. Therefore, the position is not erroneously corrected on the track than in the ninth embodiment, and the position accuracy can be further improved.

(Eleventh Embodiment) FIG. 17 is a flowchart showing a position correction procedure according to this embodiment.
The hardware configuration of the portable position estimation device according to this embodiment is the same as that in FIG.

In this embodiment, similarly to the ninth embodiment in FIG. 15, first, it is determined whether or not the calculation speed of the GPS receiver 101 is equal to or higher than a threshold value (step S).
30) If the value is equal to or more than the threshold value, the next step S
At 31, it is determined whether or not a train exists between two stations near the positioning position. And if there is a train,
Proceeding to the next step S36, the position of the train is predicted from the train operation information. For example, the following equation is used as the equation to be predicted. However, the present invention does not limit the method of estimating the position of the train.

LatT = LatS0 + (t-t0) (LatS1-LatS0) / (t1-t0) LonT = LonS0 + (t-t0) (LonS1-LonS0) / (t1-t0) where LatT: predicted train latitude LonT: Predicted longitude of the train LatS0: Latitude of the station where the train just departed LonS0: Latitude of the station where the train just departed LatS1: Latitude of the station where the train will arrive next LonS1: Latitude of the station where the train arrives next t: Current time t0: Time when the train left the previous station t1: Time when the train arrives at the next station.

In the next step S37, it is determined whether or not the distance between the predicted position of the train and the measured position is smaller than the threshold value. If the threshold value is less than the threshold value, the process proceeds to step S32, and the correction process is performed with the track or road as a corrected position candidate. Perform correction processing.

As described above, in the present embodiment, the position of the train is predicted, and when the distance between the predicted position of the train and the position calculated by the GPS receiver is equal to or larger than the threshold value, the position is not corrected on the track. Since the position is corrected only on the road, the position is not erroneously corrected on the track, and the position accuracy can be improved.

(Twelfth Embodiment) FIG. 18 is a flowchart showing a position correction procedure according to this embodiment.
The hardware configuration of the portable position estimation device according to this embodiment is the same as that in FIG.

In this embodiment, after the processing of step S32 of the eleventh embodiment (FIG. 17), that is, the correction processing is performed using the track or the road as a corrected position candidate, the process proceeds to step S38, and the correction by this correction processing is performed. It is characterized in that it is determined whether or not the position is on the track, and when the corrected position is on the track, the positioning position is corrected to the train position predicted in step S36 (step S39).

As described above, in the present embodiment, when correction is performed on the track, the position is corrected to the predicted train position, so that the position accuracy can be further improved.

(Thirteenth Embodiment) FIG. 19 is a flowchart of a position correction procedure according to the present embodiment. The hardware configuration is the same as that shown in FIG. 1 or FIG.

The positioning accuracy of GPS is determined by the GP used for positioning.
It is greatly affected by the arrangement of S satellites. DOP (Dilutio) is used as a coefficient that indicates the effect of the positioning of GPS satellites on position accuracy.
n of Precision) is generally used, and the smaller the DOP value, the better the position accuracy. Therefore,
In the present embodiment, it is determined in step S40 whether or not the DOP value is equal to or greater than the threshold value. If the DOP value is less than the threshold value, the positioning accuracy is high and the processing in FIG. If the positioning accuracy is not high, that is, if the DOP value is equal to or larger than the threshold value, the process proceeds to step S41, and the correction processing in each of the above-described embodiments is performed.

As described above, in the present embodiment, the correction processing is performed only when the DOP value indicating the accuracy of the positioning position is equal to or larger than the threshold value, so that it is possible to prevent deterioration of the position accuracy due to erroneous correction.

(Fourteenth Embodiment) FIG. 20 is a configuration diagram of a portable position estimating apparatus according to a fourteenth embodiment of the present invention. The portable position rating device of this embodiment is capable of always correcting the positioning position based on the latest map data and train operation information even if the memory capacity is small. Has a downloadable configuration.

That is, the portable position estimating apparatus according to the present embodiment comprises a map data section 106 and a train operation information section 1 in addition to the GPS receiver 101, the position correcting section 103 and the display section 104.
07 and a communication unit 108, and the map data unit 106 and the train operation information unit 107 can download the latest data from an external server (not shown) via the communication unit 108. Then, based on the latest data, in order to correct the positioning position based on each of the above-described embodiments,
The position accuracy is further improved, and it is not necessary to mount a large-capacity memory, so that the cost of the apparatus can be reduced.

(Fifteenth Embodiment) FIG. 21 is a block diagram showing a portable position estimating apparatus according to a fifteenth embodiment of the present invention realized by a portable telephone or a simple portable telephone. In FIG. 21, reference numeral 109 denotes a mobile phone;
A GPS external module 110 has the same basic configuration as that of FIG. That is, in the configuration shown in FIG.
Mobile phone 1 using PS receiver 101 as an external module
09 and the other configurations 103 and 10
4, 106, 107 and 108 are realized using the function of the mobile phone 109. That is, the display unit 104 is realized by a liquid crystal display unit of a mobile phone, the communication unit 108 is realized by a communication function of the mobile phone, and the map data unit and the train operation information unit download each data from an external server to a built-in memory. The function of the position correction unit 103 is realized by operating a CPU mounted on the mobile phone with position correction software.

As described above, in this embodiment, each function provided in the mobile phone is operated as a position estimating device,
By connecting only the GPS receiver to the mobile phone as an external module, it is possible to provide an inexpensive and highly accurate portable position estimating device.

According to each of the embodiments described above, the fact that the user is outside the building is detected based on the elevation angle of the satellite being received.
By correcting the position calculated by the GPS receiver, the position can be accurately detected. In addition, it detects that it is inside the building by the elevation angle of the satellite being received,
By correcting the position calculated by the PS receiver, the position can be detected with higher accuracy. Further, by correcting the positioning position based on the azimuth of the satellite being received, the position can be detected with higher accuracy. Furthermore, the position can be detected with high accuracy by correcting the measured position as a corrected position candidate even in an adjacent building.

Further, by performing the correction process using only the satellite receiving the direct wave having a large signal level,
It can accurately detect the position even in a building with many reflected waves, and if the moving speed is higher than the threshold value, it is judged that it is outside the building, and correction is made only when the moving speed is lower than the threshold value By performing the processing, it is possible to prevent the position accuracy from deteriorating due to erroneous correction.

When the moving speed is equal to or higher than the threshold value, it is determined that the vehicle or the train is on, and the positioning position is corrected on the road or the track, so that the position accuracy can be improved. To further improve the position accuracy by correcting the positioning position on a road or a track having a vehicle average speed closest to the speed calculated by the GPS receiver among the roads or tracks near the position calculated by the GPS receiver. In addition, the position accuracy is further improved by correcting the positioning position on the road or track closest to the traveling direction calculated by the GPS receiver in the road or track near the positioning of the GPS receiver. Can be done.

When there is no train between the two stations near the positioning position, the position is corrected only on the road without correcting the position on the track, so that the position on the track is erroneously determined. Correction can be prevented and the position accuracy can be improved. If the traveling direction of the train does not match the traveling direction calculated by the GPS receiver, the position is corrected only on the road without correcting the position on the track By doing so, it is possible to prevent the position from being erroneously corrected on the track, and to improve the position accuracy.

Further, the position of the train is predicted, and if the distance between the predicted position of the train and the position calculated by the GPS receiver is equal to or larger than the threshold value, the position is not corrected on the track but only on the road. By correcting the position, it is possible to prevent the position from being erroneously corrected on the track and improve the position accuracy, and when correcting on the track, the position is corrected by correcting the predicted position of the train. Accuracy can be improved.

Further, by performing the correction processing only when the DOP value indicating the accuracy of the positioning position is equal to or larger than the threshold value, it is possible to prevent the position accuracy from being deteriorated due to erroneous correction, and to prevent the map data or the train operation information. Is downloaded from an external server, which eliminates the need for a large-capacity memory for storing map data or train operation information in the device, thereby reducing the cost of the device and the latest map data on the server. Can be displayed on the position estimation device side. In addition, the position accuracy can be improved by performing the correction process using the latest map data or train operation information on the server.

Further, a portion which can be processed by the function originally provided in the mobile phone is processed by the mobile phone, and only the GPS receiver is connected as an external module, thereby providing an inexpensive and high-accuracy portable position estimating apparatus. be able to.

[0080]

According to the present invention, the positioning position obtained by using the GPS receiver can be corrected with high accuracy, and the positioning position accuracy of the position estimation device can be improved.

[Brief description of the drawings]

FIG. 1 is a functional block configuration diagram of a portable position estimation device according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating a positioning position correction processing procedure according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a state of position correction according to a positioning position correction processing procedure of FIG. 2 (first embodiment).

FIG. 4 is a flowchart illustrating a positioning position correction processing procedure according to a second embodiment of the present invention.

FIG. 5 is a diagram showing a state of position correction according to a positioning position correction processing procedure of FIG. 4 (second embodiment).

FIG. 6 is a flowchart illustrating a positioning position correction processing procedure according to a third embodiment of the present invention.

FIG. 7 is a diagram showing a state of position correction according to a positioning position correction processing procedure of FIG. 6 (third embodiment).

FIG. 8 is a flowchart illustrating a positioning position correction processing procedure according to a fourth embodiment of the present invention.

FIG. 9 is a flowchart illustrating a positioning position correction processing procedure according to a fifth embodiment of the present invention.

FIG. 10 is a flowchart illustrating a positioning position correction processing procedure according to a sixth embodiment of the present invention.

FIG. 11 is a flowchart illustrating a positioning position correction processing procedure according to a seventh embodiment of the present invention.

FIG. 12 is a flowchart illustrating a positioning position correction processing procedure according to an eighth embodiment of the present invention.

FIG. 13 is a diagram showing a state of position correction according to a positioning position correction processing procedure of FIG. 12 (eighth embodiment).

FIG. 14 is a functional block configuration diagram of a portable position estimation device according to a ninth embodiment of the present invention.

FIG. 15 is a flowchart illustrating a positioning position correction processing procedure according to a ninth embodiment of the present invention.

FIG. 16 is a flowchart showing a positioning position correction processing procedure according to the tenth embodiment of the present invention.

FIG. 17 is a flowchart illustrating a positioning position correction processing procedure according to an eleventh embodiment of the present invention.

FIG. 18 is a flowchart showing a positioning position correction processing procedure according to a twelfth embodiment of the present invention.

FIG. 19 is a flowchart showing a positioning position correction processing procedure according to a thirteenth embodiment of the present invention.

FIG. 20 is a functional block configuration diagram of a portable position estimation device according to a fourteenth embodiment of the present invention.

FIG. 21 is a functional block configuration diagram of a portable position estimation device according to a fifteenth embodiment of the present invention.

FIG. 22 is a functional block configuration diagram of a conventional portable position estimation device.

[Explanation of symbols]

 101 GPS receiver 102, 106 Map data section 103 Correction processing section 104 Display section 105, 107 Train operation information section 108 Communication section 109 Mobile phone 110 GPS external module

Claims (19)

[Claims] 1. A GPS receiver that receives a signal from a GPS satellite and outputs positioning position information, a map data storage unit that holds map data, and the positioning data stored in the map data read from the map data storage unit. Display means for superimposing and displaying, when the positioning position is in a building on the map data and receiving a GPS satellite having an elevation angle higher than a first threshold value, the positioning position is displayed outside the building. A portable position estimating device, comprising: a position correcting unit for correcting the position of the vehicle and displaying the corrected position on the display unit. 2. A GPS receiver for receiving a signal from a GPS satellite and outputting positioning position information, a map data storage unit for holding map data, and the positioning data stored in the map data read from the map data storage unit. Display means for superimposing and displaying the positioning position inside the building when the positioning position is outside the building on the map data and only the GPS satellites whose elevation angles are lower than the first threshold value are received. A portable position estimating device, comprising: a position correcting unit for correcting the position of the vehicle and displaying the corrected position on the display unit. 3. A GPS receiver for receiving signals from GPS satellites and outputting positioning position information, map data storage means for storing map data, and the positioning data stored in the map data read from the map data storage means. Display means for superimposing and displaying, when the positioning position is in a building on the map data and receiving radio waves from a GPS satellite whose azimuth is deviated in one direction, the positioning position is displayed. A portable position estimating device, comprising: a position correcting unit that corrects a side of the building in the one direction and displays the corrected position on the display unit. 4. The correction candidate position according to claim 3, wherein, when there is a neighboring building close to the building, the correction candidate position having the smallest correction amount among the correction candidates whose positioning positions have been corrected in the neighboring building. A portable position estimating device, wherein the positioning position is corrected. 5. The position correcting unit according to claim 1, wherein the position correcting unit corrects the positioning position using a received signal from only a GPS satellite having a signal strength of the received signal equal to or greater than a second threshold value. A portable position estimating device characterized by performing: 6. The position correction device according to claim 1, wherein the position correction means determines whether the moving speed of the GPS receiver obtained by receiving a signal from a GPS satellite is less than a third threshold value. A portable position estimating apparatus characterized in that only a positioning position is corrected. 7. The apparatus according to claim 6, wherein the position correcting means corrects the positioning position on a road or a track in the map data when the moving speed is equal to or higher than the third threshold value. Portable position evaluator. 8. A GPS receiver for receiving signals from GPS satellites and outputting positioning position information and moving speed information, map data storage means for holding map data, and map data read from the map data storage means. Display means for superimposing and displaying the positioning position on the display;
A portable position estimating device, comprising: a position correcting means for correcting the measured position on a road or a track of the map data and displaying the corrected position on the display means when the value is equal to or larger than a threshold value. 9. The map data according to claim 7, wherein the map data includes information on a vehicle average speed of a road or a track, and the position correction unit has a vehicle average speed closest to the moving speed. A portable position estimating device for correcting a positioning position on a road or a track. 10. The position correction means according to claim 7, wherein the position correction means determines the G value obtained from a reception signal of a GPS satellite among roads or tracks near the positioning position.
A portable position estimating device, wherein the positioning position is corrected on a road or a track extending in the same direction as or near the moving direction of the PS receiver. 11. The vehicle according to claim 7, further comprising: train operation information storage means for holding train operation information, wherein the position correction means is configured to store the train operation information near the positioning position.
A portable position rating device that corrects a positioning position only on a road without correcting a position on a track when a train does not exist between two stations. 12. The method according to claim 11, wherein when the traveling direction of the train does not coincide with the moving direction of the GPS receiver obtained from a received signal of a GPS satellite, the position is not corrected on the track but only on the road. A portable position estimating device for correcting a measured position. 13. The position correction means according to claim 11, wherein the position correction means predicts a position of the train from the train operation information, and a distance between the predicted position of the train and the positioning position is equal to or greater than a fourth threshold value. In such a case, the portable position estimating device corrects the positioning position only on the road without correcting the position on the track. 14. The portable position evaluation device according to claim 13, wherein the position correction unit corrects the positioning position to the predicted position when the distance is less than the fourth threshold value. 15. The portable type according to claim 1, wherein the position correction means performs the positioning position correction processing only when the DOP value is equal to or greater than a fifth threshold value. Positioning device. 16. The portable position estimating apparatus according to claim 1, further comprising a communication unit connected to an external server and downloading the map data stored in the map data storage unit. 17. The portable communication device according to claim 16, wherein said communication means is connected to an external server and downloads the train operation information when the train operation information storage means for holding train operation information is provided. Positioning device. 18. A portable position estimating device according to claim 1, wherein the portable telephone to which said GPS receiver is connected as an external module is the portable position estimating device according to claim 1. Description: 19. A mobile phone comprising an arithmetic processing unit, a memory, and a display device.
7. Each of the position correction means, map data storage means, and display means of the portable position evaluator according to any one of items 7 is realized by the arithmetic processing unit, the memory, and the display device,
A mobile phone, wherein the receiver is connected as an external module.