JP2007024700A - Pedestrian navigation system, route searching server, and potable terminal device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pedestrian navigation system capable of preventing fluctuation of a position display based on a present position positioning error of a portable terminal device generated during stop of walking. <P>SOLUTION: The navigation system 10 is constituted of the portable terminal device 20 and a route searching server 30. The portable terminal device 20 includes a display means 26, a present position acquisition means 23, a GPS positioning means 231, a walking detection means 232, and a walking stop time control means 25, and displays a guide route, a map including the present position, and a present position mark showing the present position on the display means 26 based on guide route data and map data delivered from the route searching server 30. When detecting stop of walking by the walking detection means 232, a display position of the present position mark displayed on the display means 26 is fixed to a specific position by the walking stop time control means 25. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention comprises a mobile terminal device having a GPS positioning means and a route search server. The route search server searches for an optimum guide route from the departure place to the destination, and the display means of the mobile terminal device The present invention relates to a navigation system, a route search server, and a mobile terminal device that display a current position and a guide route on a map to guide the route. In particular, the present invention provides a navigation system for a pedestrian that includes a mobile terminal device and a route search server as described above, and prevents a display position from being fluctuated based on a current position positioning error that occurs while walking is stopped. The present invention relates to a route search server and a mobile terminal device.

2. Description of the Related Art Conventionally, a navigation device and a navigation system that guide a user by searching for a route from a desired departure place to a destination using map data and road data are known.
As such a navigation device and navigation system, a car navigation device that is installed in an automobile and guides the route to the driver, a mobile phone is used as a navigation terminal, a route search request is sent to the route search server, and the result is received. Communication-type navigation systems that receive route guidance have been put into practical use.

In particular, the communication-type navigation system is a system that uses a mobile terminal such as a mobile phone as a navigation terminal, and is also used as a navigation system for pedestrians. As a navigation system for pedestrians, it is preferable to add a route guidance function including transportation facilities. In addition to road network data for searching for vehicles and walking routes, route routes and operations of transportation facilities are added to the route search server. Time data is stored as traffic network data.
Such a navigation system for pedestrians has a function of guiding a route (boarding candidate train) from a desired departure station to a desired destination station in addition to searching for a walking route and guidance. There is also a traffic guidance system that receives and displays information such as routes, timetables of transportation facilities, and trains that can be boarded from an information distribution server without searching for walking routes.

There is also known a route search system that searches and guides a route from a departure place to a destination using transportation means such as an airplane, a train, a train, and a bus. Such a route search system generally performs route search based on route search conditions such as departure date and time, departure place, destination, arrival time specified by the user.
In other words, by referring to the traffic network data in which the route data and operation time data of each transportation system are made into a database, the route search is performed by sequentially using each available transportation means connecting the departure point and the destination including the connection as a route. One or more candidate guide routes (transportation means such as trains) that meet the conditions are presented. As route search conditions, it is generally possible to specify conditions such as required time, number of transfers, and fares.

  The optimum route data searched in the various navigation systems as described above include map data and guidance data in addition to the guidance route data, and the navigation device that has been positioned using GPS positioning means such as a GPS receiver. Based on the current position, a guide route and a mark indicating the current position are superimposed on a map of a certain scale and a certain range including the current position, and the current position mark is displayed at the center of the display screen. .

Position information measured using a GPS receiver contains errors, so if the current position is off the guide route, the route matching process that corrects the current position on the guide route or the nearest road on the map A map matching process is performed to correct the image.
In addition, guidance points such as intersections are set in the guidance route data, and voice guidance data (for example, a voice message such as “This is a 300m intersection, please turn left”) is added as guidance at the guidance points. If so, the user is guided by reproducing and outputting the voice message through the speaker.

Such a navigation system and route search method are disclosed, for example, in the following Patent Document 1 (Japanese Patent Laid-Open No. 2000-258184) as “a traffic network route search method and device”.
This route search navigation system expresses the route from the departure point to the destination point as road network and traffic network data with the point as a node and the link between the points as a link. This is a search for walking section and transportation section.

  Further, a communication type navigation system including a mobile terminal device such as a mobile phone having GPS positioning means and a route search server is disclosed in, for example, “pedestrian” in the following Patent Document 2 (International Publication No. WO2004 / 092679 pamphlet). It is disclosed as “navigation device, pedestrian navigation system, pedestrian navigation method and program”.

  When a mobile phone is used as a terminal device in a navigation system for pedestrians, positioning means using GPS cannot be used underground or in a tunnel, so the mobile phone is based on autonomous navigation using a 3-axis acceleration sensor, geomagnetic sensor, etc. It is necessary to provide positioning means and use them together.

As a technique for detecting the moving distance of the apparatus without using GPS or the like, a conventional technique described in Patent Document 3 (Patent No. 33599781) is known.
In Patent Document 3, displacement (movement distance) obtained by integrating twice the acceleration in the X, Y, and Z axis directions detected by a three-dimensional (three-axis) acceleration sensor (8010 to 8030), GPS, and PHS. Describes a technique for detecting the current position based on the absolute coordinates acquired by communication with.

As a technique for detecting the movement distance and movement direction of the apparatus without using GPS or the like, a conventional technique described in Patent Document 4 (Japanese Patent Laid-Open No. 2-216011) is known.
Patent Document 4 describes a technique for calculating a moving direction and a moving distance based on the number of steps counted by the step count circuit unit, the traveling direction detected by the geomagnetic sensor circuit unit, and the stride.

JP 2000-258184 A (FIG. 1) International Publication No. WO2004 / 092679 Pamphlet Patent No. 33599781 Japanese Patent Laid-Open No. 2-216011

  By the way, as described above, it is well known that there is an error in the positioning result of the positioning means using GPS, and map matching processing and route matching processing are performed to correct the positioning error. Such a correction process can be effectively used when a person with an automobile or a mobile terminal equipped with a terminal device is moving (walking). Challenges arise.

  As described above, in the navigation system, a guide route and a mark indicating the current position of the navigation device are superimposed on a map of a certain scale and a certain range including the current position measured using the GPS receiver, The current position mark is displayed at the center of the display screen. Although the interval of the positioning process by the GPS receiver varies depending on the system, for example, it is performed at intervals of 5 seconds.

  When a pedestrian stops walking at an intersection or the like, the current position should be originally fixed at a sidewalk position near the intersection. However, since the error included in the positioning result using GPS is not constant for each positioning, there arises a problem that variation (position fluctuation) occurs in the current position measured at fixed intervals while walking is stopped. If the current position displayed on the display device varies at regular intervals even while walking is stopped, the user may be mistaken for a malfunction of the mobile terminal device or system, and this problem can be resolved. I need it.

  None of the navigation systems disclosed in Patent Literature 1 to Patent Literature 4 mentioned the recognition of the problem with respect to the variation in display position due to the current position positioning error while walking is stopped, and the method for solving the problem. There was a problem that such problems could not be solved.

  As a result of various studies to solve the above problems, the inventor of the present application has an autonomous navigation means including an acceleration sensor or the like in a portable terminal device having a positioning means by a GPS receiver, and walks by the autonomous navigation means. Stops detection, stops positioning by GPS while stopping walking, lengthens the sampling interval of predetermined GPS positioning, stops displaying the current position, or lengthens the display update interval Thus, the present invention has been completed by conceiving that the above problems can be solved.

  That is, the present invention has an object to solve the above-mentioned problems, and a pedestrian navigation system and a route search that prevent fluctuation of position display based on a current position positioning error of a mobile terminal device that occurs while walking is stopped. The object is to provide a server and a mobile terminal device.

In order to solve the above-mentioned problem, the invention according to claim 1 of the present application is
A display means and a current position acquisition means, transmitting route search conditions to the route search server, and based on the guide route data and map data distributed from the route search server, the display means A mobile terminal device that displays a map including the current position and a current position mark indicating the current position, and a database that stores network data for route search, and searches for a guide route according to the route search condition. In a pedestrian navigation system comprising a route search server that delivers to a mobile terminal device,
The portable terminal device includes GPS positioning means, walking detection means, and walking stop control means,
When the walking detection means detects a walking stop, the walking stop control means fixes the display position of the current position mark displayed on the display means to a specific position.

The invention according to claim 2 of the present application is the invention according to claim 1,
The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop control means stops the GPS positioning means or is walking a positioning interval. The display position of the current position mark displayed on the display means is fixed to the current position acquired by the current position acquisition means when the walking stop is detected.

The invention according to claim 3 of the present application is the invention according to claim 1,
The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop time control means stops updating the display of the display means, or re-display interval The display position of the current position mark displayed on the display means is fixed to a specific position by making the length longer than during walking.

The invention according to claim 4 of the present application is the invention according to claim 1,
The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop control means obtains a position obtained from the positioning result acquired by the current position acquisition means. And the display position of the current position mark displayed on the display means is fixed at the position of the center of gravity.

The invention according to claim 5 of the present application is the invention according to claim 4,
When the walking detection means detects a walking stop, the walking stop control means acquires the current position by the current position acquisition means for a predetermined time after detecting the walking stop, and the center of gravity of the position obtained as a result Is the current position, and the display position of the current position mark displayed on the display means is fixed to the position of the center of gravity.

  The invention according to claim 6 of the present application is characterized in that, in the invention according to any one of claims 1 to 5, the walking detection means is constituted by an acceleration sensor having two or more axes.

  The invention according to claim 7 of the present application is the invention according to any one of claims 1 to 5, wherein the walking is performed after a predetermined delay time has elapsed since the walking detecting means detected a walking stop. It shifts to the process of a control means at the time of a stop, It is characterized by the above-mentioned.

  The invention according to claim 8 of the present application is the invention according to any one of claims 1 to 5, wherein the current position acquisition unit is configured to transmit the route search condition to a route search server and start navigation. When the current position is acquired for the first time, the current position is acquired by the current position acquisition unit regardless of whether the walking detection unit detects the walking state.

  The invention according to claim 9 of the present application is the invention according to any one of claims 1 to 5, wherein the portable terminal device further includes a direction detection unit, and the direction detection unit is the portable unit. When it is detected that the direction in which the terminal device is facing has changed, the display of the display means is updated.

The invention according to claim 10 of the present application is
A mobile terminal device having a database storing network data for route search, searching for a guidance route according to route search conditions, and distributing it to a mobile terminal device, and a mobile terminal device connected via a network , Having a display means and a current position acquisition means, transmitting route search conditions to the route search server, and based on the guide route data and map data distributed from the route search server, the display means And a mobile terminal device that displays a map including the current position and a current position mark indicating the current position.
The portable terminal device includes GPS positioning means, walking detection means, and walking stop control means,
When the walking detection means detects a walking stop, the walking stop control means fixes the display position of the current position mark displayed on the display means to a specific position.

The invention according to claim 11 of the present application is the invention according to claim 10,
The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop control means stops the GPS positioning means or is walking a positioning interval. The display position of the current position mark displayed on the display means is fixed to the current position acquired by the current position acquisition means when the walking stop is detected.

The invention according to claim 12 of the present application is the invention according to claim 10,
The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop time control means stops updating the display of the display means, or re-display interval The display position of the current position mark displayed on the display means is fixed to a specific position by making the length longer than during walking.

The invention according to claim 13 of the present application is the invention according to claim 10,
The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop control means obtains a position obtained from the positioning result acquired by the current position acquisition means. And the display position of the current position mark displayed on the display means is fixed at the position of the center of gravity.

The invention according to claim 14 of the present application is the invention according to claim 13,
When the walking detection means detects a walking stop, the walking stop control means acquires the current position by the current position acquisition means for a predetermined time after detecting the walking stop, and the center of gravity of the position obtained as a result Is the current position, and the display position of the current position mark displayed on the display means is fixed to the position of the center of gravity.

  The invention according to claim 15 of the present application is characterized in that, in the invention according to any one of claims 10 to 14, the walking detecting means is constituted by an acceleration sensor having two or more axes.

  The invention according to claim 16 of the present application is the invention according to any one of claims 10 to 14, wherein the walking is detected after a predetermined delay time has elapsed since the walking detecting means detected a stop of walking. It shifts to the process of a control means at the time of a stop, It is characterized by the above-mentioned.

  The invention according to claim 17 of the present application is the invention according to any one of claims 10 to 14, wherein the current position acquisition unit is configured to transmit the route search condition to a route search server and start navigation. When the current position is acquired for the first time, the current position is acquired by the current position acquisition unit regardless of whether the walking detection unit detects the walking state.

  The invention according to claim 18 of the present application is the invention according to any one of claims 10 to 14, wherein the mobile terminal device further includes a direction detection unit, and the direction detection unit is the mobile terminal device. When it is detected that the direction in which the head is facing has changed, the display of the display means is updated.

In the invention concerning Claim 1, it has a display means and a present position acquisition means, transmits route search conditions to a route search server, and based on guidance route data and map data distributed from a route search server, In a pedestrian navigation system having a portable terminal device that displays the guide route, a map including the current position, and a current position mark indicating the current position on the display means, display when the walking detection means detects a walking stop The stop position control means fixes the display position of the current position mark displayed on the means to a specific position.
Therefore, fluctuations in the current position displayed on the display means due to variations in GPS positioning errors when walking is stopped can make it easier to see the map display. In addition, since the walking history does not acquire data due to GPS positioning errors around the stopped position, data close to the actual walking route can be obtained.

Further, in the invention according to claim 2, in the pedestrian navigation system according to claim 1, when the current position acquisition means acquires the current position from the GPS positioning means, and the walking detection means detects the walking stop, the walking stop is performed. The time control means stops the GPS positioning means or makes the positioning interval longer than during walking, and the current position acquisition means acquires the display position of the current position mark displayed on the display means when the walking stop is detected. The current position is fixed.
Therefore, fluctuations in the current position displayed on the display means due to variations in GPS positioning errors when walking is stopped can make it easier to see the map display. In addition, since the walking history does not acquire data due to GPS positioning errors around the stopped position, data close to the actual walking route can be obtained. Furthermore, it becomes possible to reduce power consumption by reducing the number of times GPS positioning is performed.

Further, in the invention according to claim 3, in the pedestrian navigation system according to claim 1, when the current position acquisition means acquires the current position from the GPS positioning means and the walking detection means detects the walking stop, the walking stop is performed. The time control means stops updating the display of the display means or makes the re-display interval longer than during walking, and fixes the display position of the current position mark displayed on the display means to a specific position.
Therefore, fluctuations in the current position displayed on the display means due to variations in GPS positioning errors when walking is stopped can make it easier to see the map display. In addition, since positioning by GPS is performed at a predetermined cycle and the acquisition of GPS satellites is continued, satellite orbit data can always be kept up-to-date, and GPS satellites are not lost.

Further, in the inventions according to claims 4 and 5, in the pedestrian navigation system according to claim 1, the walking stop time control means obtains the current center of gravity of the position obtained from the positioning result obtained by the current position obtaining means. The display position of the current position mark displayed on the display means is fixed at the position of the center of gravity.
Therefore, fluctuations in the current position displayed on the display means due to variations in GPS positioning errors when walking is stopped can make it easier to see the map display. In addition, since positioning by GPS is performed at a predetermined cycle and the acquisition of GPS satellites is continued, satellite orbit data can always be kept up-to-date, and GPS satellites are not lost.

  According to a sixth aspect of the present invention, in the pedestrian navigation system according to any one of the first to fifth aspects, the walking detecting means is composed of an acceleration sensor having two or more axes. Therefore, the walking state and the walking stop state can be easily detected.

According to a seventh aspect of the present invention, in the pedestrian navigation system according to any one of the first to fifth aspects, the predetermined time delay has elapsed after the walking detecting means detects a walking stop. The process proceeds to the process of the control means when walking is stopped. When the current location may be fixed after communication with the location information server, such as A-GPS, or when it overlaps with the download of the map, the processing of the walking stop control means is performed after those processing. It is convenient to set the delay time to be executed.
Therefore, it is possible to reliably acquire the current position when the walking stop is detected, and to display the current position on the display means.

  According to an eighth aspect of the present invention, in the pedestrian navigation system according to any one of the first to fifth aspects, the current position acquisition unit is configured to transmit a route search condition to the route search server and start navigation. When acquiring the current position for the first time, the current position is acquired by the current position acquisition means regardless of whether the walking detection means detects the walking state. Therefore, the current position can be acquired and the map data can be distributed immediately after the navigation is started, and the map display and the current position display can be performed even when the user is not walking.

  According to a ninth aspect of the present invention, in the pedestrian navigation system according to any one of the first to fifth aspects, the portable terminal device further includes a direction detecting unit, and the direction detecting unit is a portable terminal device. When it is detected that the facing direction has changed, the display of the display means is updated. In addition, portable terminal devices equipped with orientation detection means such as an electronic compass that perform heading-up display need to rotate the map when the orientation of the terminal changes even when walking is stopped, It becomes possible to cope with this.

  Further, in the inventions according to claims 10 to 18, it is possible to provide portable terminal devices constituting the pedestrian navigation system of the invention according to claims 1 to 9, respectively.

  Hereinafter, specific examples of the present invention will be described in detail with reference to examples and drawings. In this embodiment, a communication type pedestrian navigation system using a mobile phone as a terminal device will be described as an example. However, the terminal device may be a portable electronic device such as a PDA, and a route search server. May be a server that has a navigation function for automobiles in addition to a navigation function for pedestrians.

  FIG. 1 is a block diagram showing a configuration of a pedestrian navigation system according to an embodiment of the present invention. The pedestrian navigation system 10 includes a mobile terminal device 20 that uses a mobile phone as a terminal, and a route search server 30 that is connected via a network 12. The mobile terminal device 20 sets a travel means (walking or automated person), a current position, or a desired departure place and destination as route search conditions, and transmits a route search request to the route search server.

  As shown in FIG. 1, the portable terminal 20 includes a control unit 21, a communication unit 22, a GPS positioning unit 231 including a GPS receiver, a walking detection unit 232 including a triaxial acceleration sensor, a current position acquisition unit 23, The walking stop control means 25, a route search request editing means 24, a display means 26 including a liquid crystal display unit, a distribution data storage means 27, and an operation / input means 28 are provided.

  The control means 21 includes a microprocessor (CPU) having a RAM and a ROM (not shown), and controls the operation of each unit by a control program stored in the ROM. The operation / input means 28 is for operation / input means including numeric keys, alphabet keys, other function keys, selection keys, scroll keys, and the like. From the menu screen displayed on the display means 26 which is output means. Various input operations are performed by selecting a desired menu or operating keys. Accordingly, the display unit 26 also functions as a part of the operation / input unit 28. The communication means 22 is an interface for communicating with the route search server 30 via the network 12.

  The GPS positioning means 231 receives the GPS satellite signal, measures the current position (latitude / longitude) of the mobile terminal device 20, and sends it to the current position acquisition means 23. The walking detection unit 232 includes a triaxial acceleration sensor, and detects whether the user having the mobile terminal device 20 is in a walking state or is in a walking stop state. Further, the walking detection means 232 can further determine the current position of the mobile terminal device 20 by autonomous navigation by providing a geomagnetic sensor or the like, and if the positioning by the GPS positioning means 231 cannot be performed, the current position is replaced instead. Positioning can be performed, and current position information can be sent to the current position acquisition means 23.

  As described above, since the error included in the positioning result using GPS is not constant for each positioning, variation (position fluctuation) occurs in the current position measured at a fixed interval while walking is stopped. If the current position displayed on the display device varies at regular intervals even when walking is stopped, the user may be mistaken for a malfunction of the mobile terminal device or the system.

  A method for determining the walking stop state by the three-axis acceleration sensor of the walking detection unit 232 will be described later. When the walking stop state is detected by the walking stop detection unit 232, the detection output is sent to the walking stop control unit 25. Then, control which will be described in detail later is performed, and the current position displayed on the display means 26 is fixed to a fixed position. For example, the current position positioning of the GPS positioning means 231 is stopped until a walking state is detected. By controlling in this way, the current position of the mobile terminal device 20 displayed on the display means 26 can be fixed at a certain position, and the above-mentioned problems can be solved.

  When the user wants to request a route search from the route search server 30, the operation / input unit 28 is operated to display a service menu screen or a predetermined input screen on the display unit 26. (Walk, walking and transportation combined use, car, etc.), route search conditions such as scheduled departure time and desired arrival time are entered. When the current location is selected as the departure location, the current location acquired by the current location acquisition means 23 is used as the departure location.

  The route search request editing unit 24 edits the input route search conditions into data to be transmitted to the route search server 30 and transmits the data to the route search server 30 via the communication unit 22. Distribution data such as a guidance route, a map, and guidance data distributed from the route search server 30 is temporarily stored in the distribution data storage unit 27. These distribution data are read from the distribution data storage means 27 as necessary and displayed on the display means 26. At the time of display, the current position acquired by the current position acquisition unit 23 is displayed as a current position mark on the map together with the guide route.

  Next, a method for determining whether the mobile terminal device 20 is in the walking state or the walking stop state in the walking detection means 232 will be described. FIG. 2 is an explanatory diagram of an example of acceleration data measured by a mobile phone while the user carrying the mobile terminal device 20 of the embodiment is walking, with the vertical axis representing acceleration values and the horizontal axis representing time. FIG. FIG. 3 is a graph showing a spectrum analysis result of the acceleration data of FIG. 2, with the vertical axis representing the spectral intensity and the horizontal axis representing the spectral value.

  2 and 3, in the pedestrian navigation system 10 of the embodiment having the above-described configuration, when a user carrying the mobile terminal device 20 walks, the three-axis acceleration sensor constituting the walking detection unit 232 causes the X-axis to be detected. , Periodic acceleration is detected in the three-axis directions of the Y-axis and the Z-axis. When the periodic acceleration data detected by the acceleration sensor passes through a low-pass filter LPF (not shown), acceleration data having a frequency higher than 32 Hz is cut off and sampled at a sampling frequency of 64 Hz (FIG. 2). reference).

  Then, when the spectrum of 0.5 seconds of the total acceleration (see FIG. 2), which is the magnitude of the acceleration in the three-axis directions, is analyzed by fast Fourier transform (FFT, not shown), as shown in FIG. An analysis result that the spectrum intensity is strong at 3 Hz is obtained. When such an analysis result is obtained, it is determined that the user has walked, and the mobile terminal device 20 detects walking. Otherwise, it is determined that the user has stopped walking, and the mobile terminal device 20 detects the stop of walking.

The walking detection means 232 is an acceleration sensor, and is preferably a triaxial acceleration sensor, but walking can be detected even with a biaxial acceleration sensor. Since vibration of walking has a remarkable spectral peak in the vicinity of 2 Hz, even a relatively slow sampling of about 8 to 64 Hz can be detected by fast Fourier transform. Moreover, even if the portable terminal device 20 is held at any angle, the vibration spectrum of 2 Hz due to walking appears in each direction and can be detected. Even a biaxial acceleration sensor can withstand practical use.
The GPS receiver that constitutes the GPS positioning means 231 may be any of Autonomous, MS-Based, or A-GPS. In the case of A-GPS, since positioning can be stopped when it stops as described later, there is also an effect of reducing traffic in communication with the route search server 30.

  4 and 5 are views showing examples of a display screen of a map, a guide route, and a current position mark displayed on the display means 26 of the mobile terminal device 20. 4 and 5, the menu screen 113 can be operated to return to the menu screen, the map display can be enlarged by operating the zoom-in button 111, and the map display can be reduced by operating the zoom-out button 112.

  As shown in FIG. 4, the display of the display means 26 walks along the guide route (arrows in the figure) with D <b> 1 and D <b> 2. Further, the walking may continue, and the walking may be stopped by waiting for a signal at the current position P in order to turn right at the intersection C as shown in FIG. If the signal has a long waiting time, it may wait about 1 minute 30 seconds. At this time, it has already been described that the acquisition result of the current position fluctuates for each measurement due to the positioning error of the GPS positioning means 231.

  FIG. 5 is a screen display immediately after approaching the intersection C. A circle along the route is a walking history (a mark of the current position at each time point). In FIG. 5, since the signal is waited at the intersection C, the fluctuation of the current position measured by the GPS positioning means 231 remains as a walking history, and the map also moves to a position centered on the latest positioning result. That is, although the vehicle stops at the intersection C, the map moves irregularly and is difficult to see. Even if the positioning result is route matching or map matching, there is no change in movement, so the visibility of the map is still not good. Since the period when the vehicle is stopped at the intersection C is a suitable period for watching the map calmly, the current position display is improved by controlling the positioning or display as follows by the walking stop control means 25.

  That is, in this embodiment, when the walking detection unit 232 detects a walking stop, the walking stop control unit 25 fixes the display position for displaying the mark indicating the current position displayed on the display unit 26 to a specific position. Control.

Control method (1)
Specifically, in this embodiment, when the walking detection means 232 does not detect the walking state, conversely, when the walking stop state is detected, the walking stop time control means 25 detects the current position acquisition means. 23, stopping the positioning position acquisition, that is, stopping the positioning of the GPS positioning means 231, or increasing the positioning position acquisition interval of the current position acquiring means 23, ie, the sampling interval, and displaying the current position mark P displayed on the display means 26 The position is fixed at a specific position to suppress fluctuations.

That is, in this control method, the GPS positioning unit 231 repeatedly performs positioning while the walking detection unit 232 detects walking. As a result, the current position is updated, and the map is scrolled so that the current position is at the center.
When the walking detection means 232 stops detecting walking, the positioning of the GPS positioning means 231 is stopped. Alternatively, the positioning interval is extended. For example, what was measured with a period of about 5 seconds by MS-Based is set to a period of 15 to 30 seconds. Alternatively, when the walking is no longer detected, the positioning is stopped for one cycle, and then the walking stop control is performed to stop the positioning.

  By controlling in this way, the map display is easy to see because there is no fluctuation of the map except during walking. Also, since the walking history does not acquire data due to GPS errors around the stopped position, data close to the actual walking route can be obtained. Furthermore, power consumption can be reduced by reducing the number of times of positioning by GPS. This control method is preferable from the viewpoint of power saving. In particular, when a mobile phone is used as the mobile terminal device 20, battery consumption can be suppressed, which is convenient.

  FIG. 6 is a flowchart showing a procedure of the above walking stop control. In the process of step S10, the GPS positioning means 231 measures the current position (latitude / longitude) of the mobile terminal device 20, and sends the current position data to the current position acquisition means 23 in the process of step S11. Based on the data of the current position, a mark indicating the current position is displayed on the display means 26 together with the map and the guide route in the process of step S12.

  In the process of step S13, the walking detection means 232 detects whether the user having the mobile terminal device 20 is in a walking state or in a walking stop state. If it is a walking state (during walking), it returns to the process of step S10, and GPS positioning is continued with a fixed period. On the other hand, if it is a walking stop state, it will progress to the process of step S14 and the control means 25 at the time of a walk stop will stop the positioning position acquisition of the current position acquisition means 23 or will stop the positioning of the GPS positioning means 231, or it may be a current position acquisition means. The positioning position acquisition interval of 23, that is, the positioning interval (sampling interval) of the GPS positioning means 231 is made longer than during walking, and the display position of the current position mark P displayed on the display means 26 is fixed at a specific position and fluctuated. Suppress.

  On the other hand, the route search server 30 searches the optimum route from the current position or a desired departure point to the destination using the road network data and the traffic network data based on the route search condition transmitted from the mobile terminal device 20, Using this route as a guide route, the map data including the current position is distributed to the mobile terminal device 20. Map data and guidance route data distributed from the route search server 30 are displayed on the display means of the mobile terminal device 20. At the time of display, the current position measured by the mobile terminal device 20 is superimposed on a map and a guide route, and a mark of the current position is displayed.

  The route search server 30 includes control means 31, communication means 32, route search means 33, road network data 34, traffic network data 35, and distribution data editing means 36. The road network data 34 and the traffic network data 35 are data for route search, and are databases in which data having a configuration as described later is accumulated.

  Although not shown, the control unit 31 is a microprocessor having a RAM, a ROM, and a processor, and controls the operation of each unit by a control program stored in the ROM. The communication unit 32 is an interface for communicating with the mobile terminal device via the network 12. The distribution data editing means 36 is for editing the route search result into data for distribution to the mobile terminal device 20. The route search means 33 searches the optimum route from the departure point to the destination with reference to the road network data 34 and the traffic network data 35 based on the route search condition transmitted from the mobile terminal device 20.

  A road network for searching for a route by a pedestrian or an automobile is configured as follows. For example, when the road is composed of roads A, B, and C as shown in FIG. 7, the end points, intersections, and bending points of the roads A, B, and C are used as nodes, and the roads connecting the nodes are directed links. Link cost data and configuration, which is expressed as node data (node latitude / longitude), link data (link number), and link cost of each link (link distance or time required to travel the link) Is done.

  That is, in FIG. 7, ◯ and ◎ indicate nodes, and ◎ indicates a road intersection. Directional links connecting the nodes are indicated by arrow lines (solid line, dotted line, two-dot chain line). As for the links, there are links facing in the upward and downward directions of the road, but in FIG. 7, only the links in the direction of the arrows are shown for the sake of simplicity.

  When route search is performed using such road network data as a route search database, links linked from the starting node to the destination node are traced to accumulate the link cost, thereby minimizing the accumulated link cost. Search and guide the route. That is, in FIG. 7, when a route search is performed with the departure point as the node AX and the destination as the node CY, the road travels from the node AX along the road A, turns right at the second intersection, enters the road C, and reaches the node CY. The link cost is accumulated sequentially, and a route that minimizes the accumulated link cost is searched for and guided.

  Although other routes from the node AX to the node CY are not shown in FIG. 7, in reality there are other such routes, so a possible route from the node AX to the node CY is similarly searched. Of these routes, the route with the lowest link cost is determined as the optimum route. This method is performed by, for example, a known method called the Dijkstra method.

  On the other hand, the traffic network data for route search of the transportation system is configured as follows. For example, as shown in FIG. 8, in the case of traffic routes A, B, and C, each station (each airport on an aircraft route) provided on each traffic route A, B, and C is a node, and the nodes are connected. A section is represented by a directional link, and node data (latitude / longitude) and link data (link number) are network data. In FIG. 8, ◯ and ◎ indicate nodes, ◎ indicates a transit point (such as a transfer station) on a traffic route, and a directional link connecting each node is indicated by an arrow line (solid line, dotted line, two points). This is indicated by a chain line). As for the links, there are links facing in the upward and downward directions of the traffic route, but in FIG. 8, only the links in the direction of the arrows are shown for the sake of simplicity.

  However, the traffic network basically has a different link cost compared to the road network. In other words, in the road network, the link cost is fixed and static, but in the traffic network, as shown in FIG. 8, trains and airplanes (hereinafter referred to as individual trains and airplanes) that operate the traffic route. A plurality of means of transportation). The time of departure from one node and the time of arrival at the next node are determined for each means of transportation (specified by timetable data and operation data), and individual routes do not necessarily link to adjacent nodes. There is a case. This is the case, for example, with express trains and trains that stop at each station. In such a case, a plurality of different links exist on the same traffic route, and the required time between nodes may differ depending on the transportation means.

  In the transportation network illustrated in FIG. 8, a plurality of transportation means (routes) Aa to Ac... Exist on the same link of the transportation route A, and a plurality of transportation means (routes) Ca to Cc. Will do. Therefore, unlike a simple road network, the transportation network of a transportation facility has a data amount proportional to the total number of transportation means (routes such as individual airplanes and trains). For this reason, the data of the traffic network becomes a huge amount of data compared to the data amount of the road network. Accordingly, much time is required for route search accordingly.

In order to search for a route from a certain departure point to a certain destination using such traffic network data, all the means of transportation that can be used (ride) when arriving from the departure point to the destination are searched. It is necessary to specify the means of transportation that matches the search conditions.
For example, in FIG. 8, when a specific departure time is designated with the departure point as the node AX of the traffic route A and a route search is performed with the node CY of the traffic route C as the destination, the route operates on the traffic route A. Of the transportation means Aa to Ac..., All transportation means after the departure time are sequentially selected as the departure route. And, based on the arrival time at the transit node on the transit route C, among all the transit means Ca-Cc... The total time required for each route, the number of transfers, and the like are guided.

  Next, a control method for displaying the current position when walking is stopped according to the second embodiment of the present invention will be described. In addition, the structure of the pedestrian navigation system 10 concerning Example 2 is the structure similar to the structure shown in FIG.

Control method (2)
In the second embodiment, when the walking detection unit 232 detects the walking stop state, even if the current position acquisition unit 23 acquires the positioning result from the GPS positioning unit 231, the walking stop control unit 25 displays the display unit. The updating of the display 26 is stopped or the re-display interval is lengthened, and the display position of the current position mark P is fixed at a specific position to suppress the fluctuation.

  That is, in this control method, even if the positioning of the GPS positioning means 231 is performed at a predetermined cycle, it is not used for updating the display when no walking is detected. In this control method, since satellite acquisition is continued, satellite orbit data can always be kept up-to-date. If the positioning of the GPS positioning means 231 is stopped for a long time by the control method (1), the satellite may be lost. Especially in autonomous, this control method is preferable because it takes time to restart positioning.

  In addition, the mobile terminal device 20 that performs heading-up display (display that rotates the display direction of the map in accordance with the direction in which the mobile terminal device 20 is facing) is performed on the mobile terminal device 20 that is further equipped with orientation detection means such as an electronic compass. In, when the direction of the mobile terminal device 20 is changed even when walking is stopped, the control for rotating the map is also used. In this case, regardless of whether or not walking is stopped, if the orientation of the mobile terminal device 20 changes, the map display is updated and the map is rotated and displayed.

  FIG. 9 is a flowchart showing a procedure of the above walking stop control. In the process of step S20, the GPS positioning means 231 measures the current position (latitude / longitude) of the mobile terminal device 20, and sends the current position data to the current position acquisition means 23 in the process of step S21. Based on the current position data, a mark indicating the current position is displayed on the display means 26 together with the map and the guide route in the process of step S22.

  In the process of step S23, the walking detection unit 232 detects whether the user having the mobile terminal device 20 is in a walking state or in a walking stop state. If it is a walking state (during walking), it returns to the process of step S20, and GPS positioning is continued with a fixed period. On the other hand, if it is a walking stop state, it will progress to the process of step S24, and even if the present position acquisition means 23 has acquired the positioning result from the GPS positioning means 231, the walking stop control means 25 will display the display means 26. Update is stopped or the redisplay interval is lengthened, and the display position of the current position mark P is fixed at a specific position to suppress fluctuations.

  Next, a control method for displaying the current position when walking is stopped according to the third embodiment of the present invention will be described. In addition, the structure of the pedestrian navigation system 10 concerning Example 3 is the same structure as the structure shown in FIG.

Control method (3)
In the third embodiment, when the walking detection unit 232 detects the walking stop state, the center of the position obtained from the multiple positioning results acquired while the current position acquisition unit 23 stops walking (for example, ◯ in FIG. 5). The average of each positioning position coordinate indicated by the mark may be calculated). The calculation method of the center point is not limited to the above, and may be the center point of a figure formed by connecting each positioning point. In the present invention, the center point calculated by these methods is defined as “center of gravity”. The display means 26 displays the current position mark P with the center of gravity as the current position. Alternatively, the positioning positions acquired by the current position acquisition unit 23 for a certain period of time after the walking detection unit 232 no longer detects walking are used, and the centers of gravity of the plurality of positioning positions are displayed on the display unit 26. By controlling in this way, the display position of the current position mark P is fixed at a specific position to suppress fluctuations.

  In other words, in this control method, when the walking detection means 232 detects a walking stop state, the current position positioning is continued for a certain period of time at a normal sampling period, and each positioning point is stored, and after a certain period of time has elapsed. After calculating the center of gravity of the previous positioning position, the center of gravity is displayed on the display means 26 as the current position. According to such a control method, as in the case of (2) above, since satellite acquisition is continued, satellite orbit data can always be kept up-to-date.

  FIG. 10 is a flowchart showing a procedure of the above walking stop control. In the process of step S30, the GPS positioning means 231 measures the current position (latitude / longitude) of the mobile terminal device 20, and sends the data of the current position to the current position acquisition means 23 in the process of step S31. Based on the current position data, a mark indicating the current position is displayed on the display means 26 together with the map and the guide route in the process of step S32.

  In the process of step S33, the walking detection unit 232 detects whether the user having the mobile terminal device 20 is in a walking state or in a walking stop state. If it is a walking state (during walking), it returns to the process of step S30, and GPS positioning is continued with a fixed period. On the other hand, if it is a walking stop state, it will progress to the process of step S34 and the walk stop time control means 25 will temporarily memorize | store the positioning position which the current position acquisition means 23 acquired from the GPS positioning means 231. FIG.

  In the process of step S35, it is determined whether a predetermined time has elapsed. If the predetermined time has not elapsed, the process returns to the process of step S34 to continue the GPS positioning, and the obtained positioning result (current position) is temporarily stored. Remember. If the predetermined time has elapsed, in the process of step S36, the walking stop time control means 25 calculates the center of gravity from a plurality of positioning position (current position) data temporarily stored. Then, the calculated center of gravity is displayed as the current position on the display means 26 in the process of step S37. By controlling in this way, the display position of the current position mark P is fixed at a specific position to suppress fluctuations.

  In the procedure of the flowchart of FIG. 10, the current position data measured within a certain time after the stop of walking is detected is stored, and the center of gravity of the current position data is calculated after a certain time has elapsed. However, it is also possible to calculate the center of gravity from the current position data measured so far each time the current position is measured during a certain period of time. If such a procedure is taken, the mark at the current position is displayed while gradually changing the position, and fluctuations in the current position can be suppressed.

In this way, if the position of the center of gravity is calculated every time positioning data is obtained after walking is no longer detected, and the current position is displayed, the current position mark is displayed while gradually changing the position, and fluctuations in the current position are detected. It can be suppressed. The fixed time may be, for example, an interval of about 5 seconds at the longest, and the GPS positioning interval is shorter than that. Therefore, the fluctuation of the display position of the current position mark is suppressed from the third GPS positioning after stopping walking. .
Actually, the fixed time may be about one cycle of GPS positioning, so there is no sense of incongruity because the switching to the center of gravity is performed immediately after detecting the stop of walking.

Further, in each of the above embodiments, when walking stop is detected, the control shifts to the control at the time of walking stop. However, it is configured to shift to the control at the time of walking stop with a certain delay time after detection of the stop of walking. You can also. For example, at the timing when the current position may be determined after the GPS positioning means communicates with the position information server like A-GPS or when it overlaps with the download of the map, the walking stop is performed after those processes. It is better to have a certain delay time so that the processing of the time control means is executed.
If comprised in this way, the present position acquisition at the time of a walk stop being detected can be performed reliably, and the present position can be displayed now on a display means.

There is a moving means such as an escalator when walking is not detected in the walking route. However, since escalators and the like are mostly installed indoors, there is no influence on this system because GPS is originally a place where GPS does not function.
If this system is applied, the pedestrian navigation system cannot be used for navigation for other vehicle applications. For example, since a walk spectrum is not detected in a bicycle or a car, navigation is virtually impossible, and pedestrian navigation is disabled. Since it is not appropriate to use the pedestrian navigation as it is by using the portable terminal device 20 having a mobile phone as a terminal in a bicycle or a car, it is a countermeasure.

It is a block diagram which shows the structure of the pedestrian navigation system concerning the Example of this invention. It is explanatory drawing of an example of the acceleration data measured with the portable terminal device while the user who carried the portable terminal device walked, and is the explanatory drawing which took the value of acceleration on the vertical axis and time on the horizontal axis. It is a graph which shows the spectrum analysis result of the acceleration data of FIG. 2, and is a graph which took the spectrum intensity on the vertical axis | shaft and the spectrum value on the horizontal axis. It is a figure which shows an example of the display screen of the map displayed on the display means of a portable terminal device, a guidance route, and a present position mark. It is a figure which shows an example of the display screen of the map displayed on the display means of a portable terminal device, a guidance route, and a present position mark. It is a flowchart which shows the procedure of the control at the time of the walk stop concerning Example 1 of this invention. It is a schematic diagram which shows the concept of the data of a road network. It is a schematic diagram which shows the concept of the data of a traffic network. It is a flowchart which shows the procedure of the control at the time of the walk stop concerning Example 2 of this invention. It is a flowchart which shows the procedure of the control at the time of the walk stop concerning Example 3 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Pedestrian navigation system 12 ... Network 20 ... Mobile terminal device 21 ... Control means 22 ... Communication means 23 ... Current position acquisition means 231 ... GPS positioning means 232 ... walk detection means 24 ... route search request editing means 25 ... walk stop control means 26 ... display means 27 ... delivery data storage means 28 ... -Operation / input means 30-Route search server 31-Control means 32-Communication means 33-Route search means 34-Road network data 35-Traffic network Data 36 ··· Distribution data editing means

Claims (18)

A display means and a current position acquisition means, transmitting route search conditions to the route search server, and based on the guide route data and map data distributed from the route search server, the display means A mobile terminal device that displays a map including the current position and a current position mark indicating the current position, and a database that stores network data for route search, and searches for a guide route according to the route search condition. In a pedestrian navigation system comprising a route search server that delivers to a mobile terminal device,
The portable terminal device includes GPS positioning means, walking detection means, and walking stop control means,
A pedestrian navigation system, wherein when the walking detection means detects a walking stop, the walking stop control means fixes the display position of the current position mark displayed on the display means to a specific position.   The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop control means stops the GPS positioning means or is walking a positioning interval. The display position of the current position mark displayed on the display means is fixed to the current position acquired by the current position acquisition means when the walking stop is detected. Pedestrian navigation system.   The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop time control means stops updating the display of the display means, or re-display interval 2. The pedestrian navigation system according to claim 1, wherein the display position of the current position mark displayed on the display unit is fixed at a specific position so as to be longer than during walking.   The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop control means obtains a position obtained from the positioning result acquired by the current position acquisition means. The pedestrian navigation system according to claim 1, wherein the center of gravity of the current position is set as the current position, and the display position of the current position mark displayed on the display means is fixed at the position of the center of gravity.   When the walking detection means detects a walking stop, the walking stop control means acquires the current position by the current position acquisition means for a predetermined time after detecting the walking stop, and the center of gravity of the position obtained as a result The pedestrian navigation system according to claim 4, wherein the current position is displayed and the display position of the current position mark displayed on the display means is fixed at the position of the center of gravity.   The pedestrian navigation system according to any one of claims 1 to 5, wherein the walking detection means is configured by an acceleration sensor having two or more axes.   The process according to any one of claims 1 to 5, wherein a predetermined delay time elapses after the walking detecting means detects a walking stop, and then the process of the walking stop control means is performed. The described pedestrian navigation system.   When the current position acquisition unit acquires the current position for the first time after the route search condition is transmitted to the route search server and navigation is started, the current position is determined regardless of whether the walking state is detected by the walking detection unit. The pedestrian navigation system according to any one of claims 1 to 5, wherein a current position is acquired by an acquisition unit.   The portable terminal device further includes an orientation detection unit, and updates the display of the display unit when the orientation detection unit detects that the direction in which the portable terminal device is facing changes. The pedestrian navigation system according to any one of claims 1 to 5. A mobile terminal device having a database storing network data for route search, searching for a guidance route according to route search conditions, and distributing it to a mobile terminal device, and a mobile terminal device connected via a network , Having a display means and a current position acquisition means, transmitting route search conditions to the route search server, and based on the guide route data and map data distributed from the route search server, the display means And a mobile terminal device that displays a map including the current position and a current position mark indicating the current position.
The portable terminal device includes GPS positioning means, walking detection means, and walking stop control means,
When the walking detection unit detects a walking stop, the walking stop control unit fixes the display position of the current position mark displayed on the display unit to a specific position.   The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop control means stops the GPS positioning means or is walking a positioning interval. The display position of the current position mark displayed on the display means is fixed to the current position acquired by the current position acquisition means when the walking stop is detected. Mobile terminal device.   The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop time control means stops updating the display of the display means, or re-display interval The mobile terminal device according to claim 10, wherein the display position of the current position mark displayed on the display unit is fixed at a specific position by making the position longer than when walking.   The current position acquisition means acquires the current position from the GPS positioning means, and when the walking detection means detects a walking stop, the walking stop time control means obtains a position obtained from the positioning result acquired by the current position acquisition means. The mobile terminal device according to claim 10, wherein the center of gravity of the current position mark is set as a current position, and a display position of a current position mark displayed on the display unit is fixed to the position of the center of gravity.   When the walking detection means detects a walking stop, the walking stop control means acquires the current position by the current position acquisition means for a predetermined time after detecting the walking stop, and the center of gravity of the position obtained as a result The mobile terminal device according to claim 13, wherein the current position is displayed and the display position of the current position mark displayed on the display unit is fixed to the position of the center of gravity.   The portable terminal device according to any one of claims 10 to 14, wherein the walking detection means includes an acceleration sensor having two or more axes.   15. The process according to any one of claims 10 to 14, wherein a predetermined delay time elapses after the walking detection means detects a walking stop, and then the processing of the walking stop control means is performed. The portable terminal device described.   When the current position acquisition means acquires the current position for the first time after the route search condition is transmitted to the route search server and navigation is started, the current position is detected regardless of whether the walking detection means detects the walking state. The mobile terminal device according to any one of claims 10 to 14, wherein a current position is acquired by an acquisition unit.   The mobile terminal device further includes an orientation detection unit, and updates the display of the display unit when the orientation detection unit detects that the direction in which the mobile terminal device is facing changes. The portable terminal device according to any one of claims 10 to 14.

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