JP2007187673A - Method and system for detecting moving direction of moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and system for detecting the moving direction of a moving body capable of accurately estimating the moving direction by correcting the directional error by misalignment of terrestrial magnetism. <P>SOLUTION: This method and system are used for specifying the position of the moving body based on a signal from a transmitter 701 disposed at a predetermined position. The system corrects a detection signal value of the travelling direction from a direction detecting means 801 included in the moving body, acquires a misalignment value of the terrestrial magnetism at the current position of the moving body based on the signal from the transmitter 701 in detecting the travelling direction of the moving body, and detects the direction by correcting the directional error of the detected signal value of the travelling direction of the moving body from the direction detecting means 801 using the acquired misalignment value of the terrestrial magnetism at that position. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a moving direction detection method and system for a moving body, and more particularly, to a moving direction detection method and system for a moving body that appropriately considers a shift in geomagnetism due to an object that affects geomagnetism.

  As a prior art for estimating the moving speed of a moving body, particularly a pedestrian, there is Patent Document 1. The description is as follows: (1) A step length for each motion is obtained in advance, (2) A motion is estimated (recognized) from an acceleration change, (3) A step length is obtained from a recognized motion, (4) A movement is performed by integration of the step The moving speed and moving distance of the moving body are estimated by the procedure of obtaining the distance.

  As described above, in the conventional speed estimation method, the stride is obtained in advance from the relationship between the number of steps and the moving distance for each of various movements of the moving body, and the amplitude is obtained by the method (2) using the data. By recognizing a walking state such as walking slowly, quickly walking, running, etc., and then estimating the stride during walking from the data in (3), and then integrating the stride in (4), A method for estimating the moving speed of the vehicle, that is, the walking speed is shown. Furthermore, the prior art publication discloses a position estimation system that estimates the current position of the moving body from the walking speed obtained by these methods and the traveling direction of the moving body.

  Moreover, as a system for measuring the pedestrian's stride, for example, there is Patent Document 2. In the technique disclosed in this publication, a sensor for detecting a swing angle is attached to a leg part of a pedestrian in a stride estimation device and a position detection system, and the pedestrian's leg is detected based on the swing angle detected by the sensor. This is a pedestrian position detection system based on the step length estimation based on changes in the angle of the foot.

  Moreover, there exists patent document 3. FIG. This publication discloses a portable electronic device that can automatically calculate a stride according to a stride pitch peculiar to a pedestrian and can detect an accurate walking distance and walking average speed. There is disclosed a technique for storing a relational expression between a pedestrian's pitch and a stride and calculating a stride corresponding to the pitch calculated by the pitch calculation means.

JP 10-113343 A JP 2000-249571 A JP 7-333000 A

  The technique described in the prior art describes a method of estimating the moving speed and the moving distance of the moving object by estimating the stride of the moving object, particularly a pedestrian. For this purpose, it is necessary to accurately obtain the stride for each of various operations in advance. In order to accurately determine the stride, as described in Patent Document 1, a device for measuring the movement of the foot is attached to the leg of the pedestrian, and the length of the foot is accurately measured. A method such as measuring the stride from the measurement results can be considered. However, in such a method, the pedestrian moves unnaturally due to the influence of the measuring device attached to the leg, and it is difficult to measure an accurate stride unique to the person.

  In addition, a method is also conceivable in which a device for measuring the landing point of a pedestrian's foot is installed (or embedded) on the ground and the stride is measured. However, in this case, it is possible to measure the stride without affecting the pedestrian, but there is a problem that the apparatus becomes very large. And it is not suitable for the use which measures the step length of a several pedestrian especially in a several opportunity.

  According to the above-described conventional method, it is necessary to accurately obtain the stride for each of various operations, which is disadvantageous in that it takes much time. It is also difficult to measure the stride with sufficient accuracy. Therefore, there is a problem that it becomes difficult to accurately determine the walking speed or walking distance of the pedestrian.

  The object of the present invention was made in consideration of the above-mentioned problems, and does not measure a stride that is difficult to measure and easily causes an error, and corrects a direction error due to a geomagnetic shift. Another object of the present invention is to provide a moving direction detection method and system for a moving body that can accurately estimate the moving direction.

  The moving direction detection method of the moving body of the present invention is used for specifying the position of the moving body by a signal from a transmitting device provided at a predetermined position, and proceeds from the direction detecting means of the moving body. When the direction detection signal value is corrected and the traveling direction of the moving body is detected, the displacement value of the geomagnetism at the current position of the moving body is obtained from the signal from the transmitting device, and the traveling state of the moving body from the direction detecting means is obtained. The direction detection signal value appropriately corrects the direction error using the obtained geomagnetic shift value.

  Further, when the moving direction detection system for a moving body of the present invention includes a transmission device provided at a predetermined position and a direction detection unit that the moving body has and outputs a detection signal value in the traveling direction, A means for obtaining a deviation value of geomagnetism for each transmitting device by movement of a moving body, and a direction error using the deviation value of the geomagnetism obtained from the detection signal value of the traveling direction of the moving body from the direction detection means. And a means for calculating a true direction to be corrected.

  According to the present invention, when detecting the moving direction of a moving body, even if there is an object that has a magnetic influence, the azimuth value of the moving body is corrected using deviation information with respect to the true geomagnetic direction. Thus, the moving direction of the moving body can be accurately detected.

  Hereinafter, a method and system for detecting a moving direction of a moving body according to the present invention will be described with reference to the drawings.

  In the system shown in FIG. 1, a moving body detecting means 1 for detecting vibrations or displacement amounts associated with movement of the moving body 7 and periodicity detection for detecting periodicity of a signal characteristically representing the moving speed of the moving body. Means 2, an amplitude and period detection means 3 for detecting a signal that appears characteristically by movement from the periodicity of the signal, and detecting the amplitude and period thereof; and the moving speed of the moving body from the detected amplitude and period The moving speed estimating means 4 for estimating the moving speed and the storage means 6 for storing the relational expression for estimating the moving speed from the amplitude and the period. Then, the speed 5 estimated by the moving speed estimation means 4 is output.

  Here, a pedestrian is taken as an example of the moving body, and an example in which the walking movement speed, that is, the walking speed is obtained will be described in detail. The detecting means 1 for detecting the vibration or displacement amount of the moving body detects displacement and vibration accompanying walking when the moving body 7, that is, a pedestrian moves. For example, a sensor such as an acceleration sensor or a gyro can be used.

  As an example of vibration detection associated with the walking of the pedestrian, it is possible to use a means for detecting the vibration of the pedestrian in the vertical direction or the vibration in the front-rear direction, and detecting the vibration in a three-dimensional manner. As an example, a case where an acceleration sensor is used as the detection means 1 for detecting the vibration or displacement of the moving body will be described. When detecting vibration in the vertical direction of the pedestrian, the acceleration sensor is attached to the pedestrian in a direction in which vertical acceleration can be detected.

  The position where the acceleration sensor is attached to the pedestrian is a position where the walking state can be detected, and it is effective to attach the acceleration sensor to the pedestrian as a position where a stable waveform can be detected. When a person walks, vibrations that are clear and large in amplitude are generated in the up-and-down direction. By using an acceleration sensor in a direction that can detect vibrations in the up-and-down direction during walking, it is characteristic for walking of pedestrians. A simple vibration waveform can be easily detected.

  In addition, as a means for detecting the vibration of the pedestrian in the vertical direction, it is possible to use a sensor such as a gyroscope or an altimeter, or to detect them in combination.

  In the means 2 for detecting the periodicity of the signal, the vibration waveform due to the movement of the moving body, that is, a signal characteristically representing the moving speed is obtained from the waveform obtained by the detecting means 1 for detecting the vibration or displacement of the moving body. Find the periodicity of. The signal that characteristically represents the moving speed of the moving body is considered to be that the vibration signal represents the walking cycle when the moving body is a human being, for example.

  If the walking cycle is early, it is estimated that the walking is fast, and the moving speed is predicted to increase. The same applies to animals other than humans. Furthermore, even if it is a vehicle, since the period of the vibration from a road surface will become quick if speed increases, it can be used similarly.

  As a method for detecting the periodicity, for example, there is a method of converting the acceleration waveform into the frequency domain by Fourier transform. In addition, as a means for detecting periodicity in the means 2 for detecting signal periodicity, a method using autocorrelation or wavelet transform or the like can also be used. It is possible to obtain a plurality of period candidates for the signal shown in FIG. This is a signal candidate that characteristically represents the moving speed of the moving object.

  Subsequently, in the means 3 for detecting the amplitude and period, the amplitude and period of the characteristic periodic component appearing with the movement are detected from the period candidates obtained by the means 2 for detecting the periodicity of the signal. To do. As a method for detecting the amplitude and the period, for example, a method for extracting the amplitude and the period using the method described in Patent Document 1 of the prior art for detecting the walking period and the spectrum intensity from the body motion spectrum. There is also.

  By the way, depending on how the acceleration sensor is attached and how the pedestrian walks, there may be a case where an inappropriate component due to noise or the like appears greatly in addition to the periodic component indicating the original characteristics associated with movement. Therefore, in the means 3 for detecting the amplitude and period, it is effective to remove in advance a frequency component other than the frequency band that can be related to movement by a method such as filtering. Then, it is conceivable to use a method of extracting a spectrum that appears with walking from the remaining band components and extracting the amplitude and period. According to such a method, the necessary amplitude and period can be extracted more accurately without being influenced by noise or the like. Thus, according to the present invention for detecting the amplitude and period related to movement from the remaining components after removing in advance the components of the frequency band not related to movement, it is not affected by noise or the like, There is an effect that necessary amplitude and period can be extracted more accurately.

Thereafter, in the means 4 for estimating the moving speed from the amplitude and the period, it is assumed that the moving speed depends on the amplitude and the walking period from the amplitude and the period obtained by the means 3 for detecting the amplitude and the period. 7 is estimated.
The relational expression between the amplitude and the period and the moving speed is calculated in advance using data at a plurality of points of the amplitude and the period and the moving speed. It is stored in the storage means 6 of the relational expression of amplitude, period and speed.

As described above, as an example for obtaining the relationship between the amplitude and the period and the moving speed, the relationship between the speed v of the moving body 7 and the amplitude w and the period T of the detected signal is expressed by equation (1). be able to.
v = f (w, T,) (1)
As described above, the moving speed v of the moving body 7 is assumed to be a function of the amplitude w and the period T of the signal, and the relational expression of the amplitude and period and the moving speed is used using a technique such as multiple regression analysis as described above. Ask. The relational expression (1), that is, the relational expression between the amplitude, the period and the speed is temporarily stored in the storage means 6, and the movement speed is calculated using the expression stored in the means 4 for estimating the movement speed from the amplitude and the period. 5 is determined.

This method will be described in more detail with reference to FIG. If the moving speed is calculated, it is easy to obtain the moving distance of the moving body 7 by using a method such as time integration. For example, the movement distance can be obtained by equation (2).
L = ∫vdt (2)
The means 2 for detecting the period of the detected signal, the means 3 for detecting the amplitude and period, and the means 4 for estimating the moving speed from the amplitude and period use a microcomputer, a personal computer, a portable terminal, or the like. And can be easily realized by software. The same applies to the movement distance. Further, when taking in a signal from the sensor of the means 1 for detecting the vibration or displacement of the moving body, A / D conversion or the like is performed and converted into a digital value that can be handled as data by a microcomputer or the like.

  The storage means 6 for the relational expression of the amplitude, period and speed can be stored in a form such as storing mathematical formulas or parameters of the mathematical formulas in a memory such as a microcomputer. By doing in this way, even if it is necessary to estimate the moving speeds of a plurality of different moving bodies 7, it is possible to cope with it sufficiently. It stores mathematical formulas or mathematical parameters suitable for each mobile unit 7. Then, by selecting and using an estimation formula suitable for each moving body 7, it is possible to accurately estimate the moving speed or the moving distance.

  As described above, according to the moving speed estimation method of the present embodiment, the relation between the amplitude, the period, and the speed is calculated from the amplitude and the period of the waveform representing the periodicity characteristic of movement. The movement speed is directly estimated. Therefore, there is no possibility that an error occurs in the estimated moving speed due to the difficulty in obtaining the stride or the influence of the error in obtaining the stride. This is one of the features of the present invention.

  As described above, according to the present invention, the moving speed is directly calculated from the amplitude and the period of the waveform representing the periodicity characteristic of the movement, using the relational expression of the amplitude, the period, and the speed. Thus, there is an effect of eliminating a defect that causes an error in the estimated moving speed due to the difficulty in obtaining the stride and the influence of the error in obtaining the stride.

  FIG. 2 shows a configuration of an embodiment of a method and system (hereinafter referred to as a relational expression construction system) for obtaining a relational expression stored in the storage means 6 of the relational expression of the amplitude, period, and speed described in FIG. FIG.

  In FIG. 2, the relational expression building system includes a means 1 for detecting vibration or displacement of a moving body, a means 2 for detecting periodicity of a signal, and a means 3 for detecting amplitude and period. A distance measuring means 201 for measuring the moving distance, a time differentiation of the moving distance, or a differentiating means 203 for calculating the speed of the moving body by dividing it by time, characteristic of the speed and movement of the moving body It comprises means 204 for obtaining a relational expression between the amplitude and period of the signal, a relational expression 204 for obtaining the relational expression of the amplitude, period and speed, and a storage means 6 for the relational expression of the amplitude, period and speed.

  Among these, the means 1 for detecting the vibration or displacement of the moving body, the means 2 for detecting the periodicity of the signal, and the means 3 for detecting the amplitude and period are the same as those described with reference to FIG.

  The moving distance measuring means 201 measures the moving distance of the moving body 7 from a predetermined position. For example, a laser distance measuring device can be used. When a laser range finder is used, the laser beam 202 is emitted from the laser range finder, and the distance to the mobile unit 7 is measured by measuring the time until the laser beam hits the mobile unit 7 and is reflected. taking measurement. In this way, using the laser range finder, the moving distance measuring means 201 measures how much the moving body 7 has moved during a predetermined time.

Based on the moving distance and the required time, the differentiating means 203 calculates the speed of the moving body 7 by a method that divides the moving distance by the required time, for example.
In the means 204 for obtaining the relational expression of the amplitude, period and speed, the speed, amplitude and period values are obtained from the speed obtained from the differentiation means 203 and the amplitude and period values obtained from the means 3 for detecting the amplitude and period. Derive a relational expression. As an example of this relational expression, the relation between the speed v, the amplitude w, and the period T of the moving body 7 can be expressed as the above-described expression (1).

It is assumed that it is a function of the amplitude w and the period T, and the relational expression is obtained from a plurality of obtained data sets using a multiple regression analysis technique. A typical example thereof can be expressed by equation (3).
v = (1 / T) × (√w) × 1.35) ^3/4 (3)
According to this relational expression (3), a high correlation was obtained between the measured value and the estimated speed according to the present invention.

  In this way, the moving distance of the moving body is measured using the laser range finder, the speed of the moving body is calculated from the measured data, and the relational expression between the amplitude and period is, for example, multiple regression as described above. By determining by an analysis method and then using this equation, a very accurate speed can be easily detected. Further, according to the regression analysis method, there is an effect that the relational expression can be obtained accurately. A graph which will be described later with a comparison between the speed estimated by the moving speed estimation method shown in FIG. 1 and the actual speed calculated based on the measurement result of the laser range finder shown in FIG. 3 will be described in more detail.

  In FIG. 2, as another method for obtaining the relational expression by means 204 for obtaining the relation between the amplitude, period, and speed, the relationship between the measured speed, the amplitude, and the period is expressed in the form of a table in the form of amplitude and period. A method may be used in which a plurality of relational expressions are stored in the storage means 6 and the speed is estimated from the amplitude and period by a method of complementing or predicting using the data.

  Thus, since the relationship between the speed and the amplitude and period is obtained and stored, and the speed is calculated using the stored relational expression, the moving speed of the moving body of the present invention, According to the moving distance estimation method and system, and the navigation system, it is possible to accurately estimate the moving speed of the moving body without measuring a difficult stride.

  By performing such measurement as described above a plurality of times, it is possible to measure and memorize a plurality of relations between the vibration or the characteristic of the movement of the moving body in various operations or the relationship between the speed and the speed. . For example, in estimating the walking speed of a pedestrian, if the walking motion is performed in various states such as slow walking, fast walking, and running, and each of the above measurements is performed, accurate walking is possible even in various ways of walking. It is possible to derive a speed estimation result. In addition, if a pedestrian walks a predetermined distance, a relational expression can be derived by the regression analysis method. For example, if a pedestrian walks for about 30 meters, there is a feature that a relational expression can be derived.

  Furthermore, performing a plurality of operations continuously, continuously measuring a plurality of sets of characteristic vibrations or displacements associated with the movement in the operation of the moving body in the previous period, and the velocity, If the relationship is obtained by multiple regression analysis, etc., a relational expression adapted to all of these movements can be obtained, so when using the relational expression, the mobile object performs various movements. However, the effect that the speed of the moving body can be correctly estimated can be obtained.

  To explain an example of a pedestrian, for example, various walking methods such as walking slowly, walking fast, and running are continuously performed, and these are recognized as a series of actions, and the walking speed of the pedestrian at that time is measured together. If you find the amplitude and period of the waveform characteristic of walking during walking, and find the relational expression with the speed, how the pedestrian walks using the relational expression However, it is possible to obtain an effect that the walking speed can be correctly estimated by always adapting to various ways of walking of the pedestrian.

  FIG. 3 shows an example in which characteristic vibrations detected for a pedestrian's walk and the speed at that time are measured when walking in various patterns. After obtaining these relationships, a speed 301 calculated based on the amplitude obtained from the means 6 for detecting the amplitude and period, the speed 302 estimated from the period and the distance detected by the laser range finder is obtained. This is a comparison data, and the movement by a plurality of operations is continuously performed, the relationship between the amplitude and the period and the speed is obtained using a series of data, and the moving speed of the moving body is estimated using the relationship. In this case, it can be seen that appropriate speed estimation is possible in each of a plurality of movement patterns.

  FIG. 3 shows a method of applying the method for estimating the moving speed and moving distance of the moving body of the present invention to a pedestrian, and calculating the moving speed from the moving distance of the pedestrian measured by the laser rangefinder as a correct value. It is a graph which shows the result of having performed comparative evaluation of the accuracy of the moving speed of the said pedestrian calculated with the method by this invention.

  In the example shown in FIG. 3, the case where the pedestrian walks relatively slowly is 303, the case of a slightly slower walk is 304, the case of normal walking is 305, the case of fast walking is 306, and the case of running fast 307, continuously walking in various patterns, the moving speed 302 estimated by the moving speed estimation method of the moving body according to the present invention, and the distance of the pedestrian measured simultaneously by the laser range finder Both speeds 301 obtained by differentiating are shown on the graph.

  As can be seen from the graph of FIG. 3, although the speed obtained by the method of estimating the moving speed and the moving distance of the present invention is accompanied by some time delay, the value is almost the correct speed obtained using a laser range finder. It can be seen that the value is very close to. The dotted line represents the speed 301 obtained by the laser range finder, and the solid line represents the speed 302 estimated by the moving speed estimation means according to the present invention. Thus, the performance of the estimation method of the moving speed and the moving distance of the present invention can be confirmed also by the evaluation result shown in FIG.

  4 holds and uses the relational expression of the amplitude and the period for each pedestrian even in the case of targeting a plurality of pedestrians in the relational expression construction system described in FIG. It is a block diagram which shows the Example devised so that the said speed estimation can be performed exactly according to a pedestrian. According to the configuration shown in FIG. 4, a registered user input unit 405 is newly added to the configuration shown in FIG. Thereby, the relational expression for each user in FIG. 1 can be stored.

  In the registered user input unit 405, when the relational expression construction system of the present invention obtains the relational expression of the amplitude, the period, and the speed, the identification information of the moving body 7 that is the target of the relational expression is input, and the relational expression and The moving body 7 is associated and stored in the storage means 6 of the relational expression of the amplitude, period and speed. By doing so, even when the present invention is applied to a plurality of moving bodies 7, the relational expressions of the amplitude, period and speed corresponding to each moving body 7 can be read from the storage means and used. it can. In other words, the moving speed suitable for each moving object can be estimated. 4 are the same as those in FIG.

  Thereby, even when it is used for a plurality of moving bodies 7 having different characteristics, it is possible to obtain an effect that it is possible to estimate the moving speed more accurately suitable for each moving body 7. That is, when the present invention is used in a navigation system for pedestrians, even if a plurality of users are used, an accurate moving speed or moving distance suitable for each user is obtained, and individual or individual individual differences are obtained. Since it can absorb, the effect which enables realization of exact self-contained navigation is acquired.

  FIG. 5 includes user-specific parameter information (hereinafter abbreviated as user information) that affects the moving speed of the moving object in addition to the amplitude and period in the relational expression building system described in FIG. FIG. 3 is a configuration diagram showing an embodiment in which a relational expression for obtaining the speed described in FIG. 2 is obtained and the speed of the moving body can be estimated more accurately. Again, the portions (and 1 to 3) indicated by alternate long and short dash lines are the same as those in FIG.

  The user information input unit 501 in FIG. 5 inputs the value of an element that is a feature related to the movement of the moving body 7 for estimating the speed. For example, when estimating the walking speed of a pedestrian, the information input from the user information input unit 501 is, for example, the length, weight, sex, age, personality, etc. of the pedestrian.

  In the means 204 for obtaining the relational expression of the amplitude and period and the speed, in addition to the amplitude and the period, user information such as a foot length and a weight input by the user information input means 501 is used as a parameter. Based on the relationship between the speeds obtained by the differentiating means 203, as described in FIG. 2 and the like, the amplitude and period, the input user information, and the movement using a technique such as multiple regression analysis Find the relational expression of speed. The relational expression thus obtained is stored in the storage means 6 as a relational expression of amplitude, period and speed, and used for speed estimation of the moving body 7 as described in FIG.

  In this case, in order to estimate the speed, in addition to the amplitude and period obtained by the means 3 for detecting the amplitude and period, each parameter input from the user information input means 501 is used to determine the speed of the moving body 7. Estimate speed.

  As described above, by estimating the speed of the moving body 7 including the parameters indicating the characteristics of the moving body 7, it is possible to estimate the speed more accurately according to the characteristics of the moving body 7. Is obtained.

  FIG. 6 shows a positioning system using an artificial satellite such as GPS as a detecting means for knowing the absolute position of the moving body. The moving speed of the moving body is obtained therefrom, and the moving speed is used in FIG. The explained amplitude and the relational expression between the period and the speed are obtained and stored in the storage means 6. FIG. 6 is a block diagram showing an embodiment of the relational expression construction system when GPS is used. As the absolute position detection means by the artificial satellite, other systems such as Granus and Galileo can be used.

  In FIG. 6, the relational expression construction system includes a detecting means 1 for detecting vibration or displacement of a moving body, a means 2 for detecting signal periodicity, a means 3 for detecting amplitude and period, a GPS receiver 602, A position and time calculation means 603, a time and position storage means 604, a speed calculation means 605, a means 204 for obtaining a relational expression of amplitude, period and speed, and a storage means 6 of a relational expression of amplitude, period and speed.

  Among these, the means 1 for detecting the vibration or displacement of the moving body, the means 2 for detecting the periodicity of the signal, and the means 3 for detecting the amplitude and period are the same as those described with reference to FIG. The means 204 for obtaining the relational expression of amplitude, period and speed and the storage means 6 for the relational expression of amplitude, period and speed are the same as those explained in FIG.

  In the embodiment of FIG. 6, a GPS receiver 602 is provided, which receives a signal from the GPS satellite 601 and calculates the absolute position of the moving body 7 and the time at the time of positioning. The time is used to specify the timing at which the position information of the moving body 7 is acquired, and to calculate the speed of the moving body from a plurality of the positions and combinations of positions, and the timing at which the moving body 7 is moving at the speed. In the means 1 for detecting the vibration or displacement of the moving body in synchronization with the timing of detecting the vibration characteristic of the movement, the relational expression of the amplitude, the period and the speed can be obtained correctly. It is used for The GPS system time can be used as this time, or a separate clock can be provided and used.

  As described above, in order to calculate the moving speed of the moving body from the absolute position measurement result by GPS or the like, the position and time of the moving body 7 are output to the time and position storage means 604 at an appropriate timing, Once memorized. The speed calculation means 605 calculates the speed at that time from the time and a plurality of combinations of time and position stored in the position storage means 604.

  The time is also input from the position and time calculation means 603 to the means 1 for detecting the vibration or displacement of the moving body, and the timing at which the vibration or displacement amount of the moving body is detected thereby The timing at which the speed of the moving body is calculated is synchronized on the data.

  The means 204 for obtaining the relational expression of the amplitude, period and speed is obtained by the means for detecting the amplitude and period at the same timing as the speed obtained by the speed calculating means 605 and the corresponding timing, that is, the timing at which the speed is measured. Similar to the method described in FIG. 2 above, the relational expression is obtained from the combination of the amplitude and period data, and the relational expression of the amplitude, period and speed is stored in the storage means 6.

  As described above, according to the relational expression construction system for obtaining the relational expression of the amplitude, period and speed by the method shown in the embodiment of FIG. 2 or FIG. 3, for example, for a pedestrian equipped with a GPS receiver as a position acquisition means If the present invention is applied to the navigation device, the relationship between the vibration or displacement characteristic of the movement of the moving body and the speed can be obtained with a simple configuration without newly providing a means for measuring the moving speed or moving distance. By using the relational expression, it is possible to obtain an effect that the speed of the moving body can be easily estimated from the vibration or displacement characteristic of the moving body. Further, when a GPS signal is obtained as shown in FIG. 6, for example, the relational expression (3) can be checked and corrected periodically or at a specific time. There is an effect that the movement distance can be estimated.

  FIG. 7 shows an example in which the relational expression is obtained by using the absolute position signal from the transmitting device 701 in the means for obtaining the relational expression of the amplitude, period and speed described in FIG. It is a block diagram which shows the Example of the said relational expression construction system which derives | leads-out the said speed | velocity using the absolute position detected by the reading of the signal from a transmitter, and calculates | requires the relational expression of the speed, the said amplitude, and a period. Since the transmitter 701 often takes the form of being embedded at a predetermined position, a method of deriving a relational expression using signal data from the transmitter 701 can be employed. The position information is obtained by reading the ID of the installation position of the transmission device.

  In FIG. 7, the relational expression building system includes means 1 for detecting vibration or displacement of a moving body, means 2 for detecting signal periodicity, means 3 for detecting amplitude and period, transmission device 701, transmission device. Signal reading means 702, position information storage means 704 of the transmitting device, current position calculation means 703, clock 705, time and position storage means 604, speed calculation means 605, means 204 for obtaining relational expressions of amplitude and period and speed 204 The storage unit 6 is a relational expression of amplitude, period and speed.

  Among these, the means 1 for detecting the vibration or displacement of the moving body, the means 2 for detecting the periodicity of the signal, and the means 3 for detecting the amplitude and period are the same as those described with reference to FIG. The means 204 for obtaining the relational expression of the amplitude, period, and speed is the same as that described with reference to FIG.

  In the relational expression construction system shown in FIG. 7, in order to acquire the position of the moving body 7, for example, a transmission device 701 installed on the ground is used. As the transmitting device 701, for example, a wireless tag in which an IC chip or the like is embedded can be used. By contacting or approaching the transmitting device reading means 702, various information stored in the transmitting device without contact can be obtained. Can be read. In this embodiment, the transmitting device 701 stores an ID, and the transmitting device reading unit 702 reads the ID.

  The current position calculation unit 703 compares the ID of the transmission device read by the transmission device reading unit 702 with a database stored in the position information storage unit 704 of the transmission device, and acquires the detected position of the transmission device. Here, the position at that time and the time obtained from the clock 705 are stored in the time and position storage means 604. Here, the transmitting device 701 and the transmitting device reading means 702 are only required to be able to specify the position of the moving body 7, and other devices such as a transmitting device, a card printed with an ID, a barcode, and the like can also be used. It is.

  The time and position storage unit 604 is similar to the function described with reference to FIG. 6, and stores a plurality of combinations of time and position. In the speed calculation unit 605, for example, a position difference is converted into a time difference. The speed at that time is calculated by a method of dividing. In the means 204 for obtaining the relational expression of amplitude, period, and speed, the amplitude, period, and speed can be calculated from a combination of a plurality of speeds, amplitudes, and periods using a method such as multiple regression analysis, as described in FIG. Find the relational expression.

  The relational expression of amplitude, period, and speed obtained above is stored in the storage means 6 of the relational expression of amplitude, period, and speed, and is used for estimating the moving speed or moving distance of the moving body 7 described in FIG. It is done.

  In this way, the absolute position is detected using the signal from the transmitter, the moving speed of the moving body 7 is calculated therefrom, and the means 204 for obtaining the relational expression of the amplitude, period and speed is used to determine the amplitude and the According to the relational expression construction system of the present invention for obtaining the relational expression between the period and the speed, for example, the speed of the moving body is specially measured while being used as a navigation device in an area where a wireless tag or the like is embedded in advance. There is an effect that a relational expression of the amplitude, period, and speed can be easily obtained without preparing a device for the above.

  According to the embodiment, when used in an area where a transmission device is installed, it is possible to initialize the estimated current position of the mobile body to the correct position at the timing of receiving a signal from the transmission device. Even if errors are accumulated in position estimation due to speed estimation or direction of travel errors, initialization can be performed to the correct position according to the frequency of signal reception from the transmitter. It has the effect that the error can be kept small.

  FIG. 8 shows another embodiment according to the present invention. This is a block diagram showing an embodiment of a moving body position detection system for grasping the position of the moving body 7 using a moving body speed estimation method. In FIG. 8, the moving body position detection system includes a means 1 for detecting vibration or displacement of a moving body, a means 2 for detecting signal periodicity, a means 3 for detecting amplitude and period, and a moving speed based on the amplitude and period. , A means 6 for estimating the relationship between amplitude and period and speed, a direction detecting means 801, a means 802 for calculating a position from the speed and direction, and a position initializing means 803.

  Among these, the means 1 for detecting the vibration or displacement of the moving body, the means 2 for detecting the periodicity of the signal, the means 3 for detecting the amplitude and the period, the means 4 for estimating the moving speed from the amplitude and the period, the amplitude The storage means 6 for the relational expression between the period and the speed is the same as that shown in the speed estimation embodiment of FIG. The direction detection device 801 is for knowing the traveling direction of the moving body 7, and for example, a geomagnetic sensor or the like can be used. When the moving body 7 is a pedestrian, the direction sensor is preferably attached to the lumbar region of the pedestrian as a method of obtaining a stable value that is substantially the same as the direction of movement. In addition, as the direction detection device 801, various devices such as a sensor that detects the direction of movement by detecting the strength of a radio wave provided on the ground, a gyro, and the like can be considered.

  In the means 802 for calculating the position from the speed and direction, the moving direction of the moving body 7 obtained by the direction detecting means 801 and the speed of the moving body 7 obtained in the means 4 for estimating the moving speed from the amplitude and period. The amount of movement from the current position is integrated (added for calculation) using, and the current position is gradually estimated and stored. The current position 804 can be output to other means (for example, 802) and used. The position initialization unit 803 initializes the current position stored in the unit 802 for calculating the position from the speed and direction at a predetermined position when a predetermined condition is satisfied. As this predetermined position, for example, when an absolute position is detected by a transmitting device or the like, the absolute position may be used as a predetermined position for initialization. This will be specifically described with reference to FIG. 9 or FIG.

  In the moving body position detection system as shown in FIG. 8, the error gradually accumulates at the current position calculated by the estimated speed error and the moving direction error of the moving body 7, and gradually deviates from the correct position. There is. However, by providing the position initialization means 803 and initializing the current position of the moving body 7 at a predetermined timing, the accumulated error is corrected, and the current position is estimated again as the correct initial position. There is an effect that it is possible to go. In FIG. 8, the exchange between the respective means has been described as signal input / output. However, all of these can be realized as software such as a microcomputer or a personal computer.

  9 detects the absolute position by reading a signal from a transmitting device such as a wireless tag in the moving body position detecting system described with reference to FIG. FIG. 9 is a block diagram showing an embodiment of a position estimation system for a moving body that can accumulate the error by initializing the estimated current position based on the absolute position and can perform position estimation with higher accuracy.

  In FIG. 9, the moving body position detection system includes means 1 for detecting vibration or displacement of the moving body, means 2 for detecting signal periodicity, means 3 for detecting amplitude and period, and movement speed from the amplitude and period. Means 4 for estimating the amplitude, period and speed relational expression storage means 6, transmission device 701, signal reading means 702 from the transmission device, current position calculation means 703, position information storage means 704 of the transmission device, direction detection means Reference numeral 801 denotes a unit 802 that calculates a position from speed and direction, and a position initialization unit 803.

  Among these, the means 1 for detecting the vibration or displacement of the moving object, the means 2 for detecting the periodicity of the signal, the means 3 for detecting the amplitude and period, the means 4 for estimating the moving speed from the amplitude and period, the amplitude and The storage means 6 for the relational expression between the period and the speed is the same as the structure shown in the speed estimation embodiment of FIG. Further, the transmission device 701, the transmission device reading unit 702, the current position calculation unit 703, and the location information storage unit 704 of the transmission device detect the signal from the transmission device by the reading unit 702 and detect the transmission device signal. The position of the moving body 7 is obtained from the information recorded in the above, and is the same as the configuration described in FIG. Of course, other than the transmitting device, the transmitting device, distinguishable marker, bar code, and the like can be similarly realized.

  In the position information selection means, the signal from the transmission device 701 is read by the reading means 702, the current position is obtained by the position information storage means 704 of the transmission device and input to the position information selection means 902. The selection means 902 is a selection means for selecting which of the position estimated from the estimated speed of the moving body and the direction detected by the direction detection means 801 and the position calculated from the signal of the transmission device 701 as the current position. is there.

  The direction detection device 801 is for knowing the traveling direction of the moving body 7, and for example, a geomagnetic sensor or the like can be used. When the moving body 7 is a pedestrian, the direction sensor is preferably attached to the lumbar region of the pedestrian as a method of obtaining a stable value that is substantially the same as the direction of movement. In addition, as the direction detection device 801, various devices such as a sensor that detects the direction of movement by detecting the strength of a radio wave provided on the ground, a gyro, and the like can be considered.

  In the means 802 for calculating the position from the speed and direction, the moving direction of the moving body 7 obtained by the direction detecting means 801 and the speed of the moving body 7 obtained in the means 4 for estimating the moving speed from the amplitude and period. The amount of movement from the current position is integrated (added in the calculation) using, and the current position is gradually obtained and stored. The current position 804 can be output to other means and used.

  The position initialization unit 803 functions in the same manner as that described in FIG. 8, and receives a signal from the current position calculation unit 703. The transmission device reading unit 702 transmits the signal. When the information of the device 701 is read and the current position is calculated from the information, the current position stored in the means 802 for calculating the position from the speed and direction is the position obtained from the transmitting device as described above. initialize. That is, a signal is output so as to replace the position calculated from the transmitting device. This is performed using the position initialization means 803.

  In the mobile body position detection system as described in FIG. 9, when used in an area where a transmission device such as a wireless tag is installed, the current position of the mobile body estimated at the timing when the transmission device is received. Can be initialized to the correct position, and even if errors are accumulated in the position estimation due to speed estimation or travel direction errors, initialization is performed to the correct position according to the frequency of reception of the transmitting device. Thus, the estimated position error can be reduced.

  FIG. 10 shows another embodiment of the present invention. The absolute position is detected by a positioning system using an artificial satellite such as GPS in addition to the moving body position detection system described in FIG. 8, and the current position being estimated is initialized with the absolute position. It is the figure which showed the structure of the Example of the moving body detection system which does. In FIG. 10, the moving body position detection system includes means 1 for detecting vibration or displacement of the moving body, means 2 for detecting signal periodicity, means 3 for detecting amplitude and period, and moving speed from the amplitude and period. , Means 4 for estimating the relationship between amplitude and period and speed, GPS 601, GPS receiving means 602, current position calculating means 1001, direction detecting means 801, means 802 for calculating position from speed and direction, initial position And a position information selection unit 902.

  Among these, the means 1 for detecting the vibration or displacement of the moving body, the means 2 for detecting the periodicity of the signal, the means 3 for detecting the amplitude and period, the means 4 for estimating the moving speed from the amplitude and period, the amplitude and The storage means 6 for the relational expression between the period and the speed is the same as that shown in the speed estimation embodiment of FIG. The GPS receiving means 602 is the same as that described with reference to FIG. 6 and receives a GPS 601 signal and detects the position of the moving body 7. The direction detecting means 801 is similar to that described with reference to FIG. 6 and detects the moving direction of the moving body 7.

  Further, the means 802 for calculating the position from the speed and direction is the same as that described in FIG. 8, and the current position of the moving body 7 is gradually calculated and stored from the estimated speed and direction of the moving body. Is. The position initialization unit 803 receives the GPS 601 signal in the GPS reception unit 602, and calculates the position stored in the unit 802 that calculates the position from the speed and direction when the correct position of the moving body 7 is calculated. Initialize to the correct position acquired by the GPS receiving means.

  With this configuration, as in the case of FIG. 8, when the GPS 601 signal can be received, errors such as the estimated speed and direction are accumulated, and the stored position of the mobile object 7 is an error. Even if this occurs, it can be corrected to the correct position, and the subsequent self-contained navigation can estimate the position by integrating the amount of movement from the correct position described above. There is an effect that becomes possible.

  In FIG. 10, the position information selection means 902 is inputted with both the position of the moving body 7 detected by the GPS receiving means 602 and the position estimated by the means 802 for calculating the position from the speed and direction. The appropriate position can be selected and output. For example, when the GPS 601 signal is receivable, the current position 804 is the position estimated by the means 802 that calculates the position from the speed and direction when the position from the GPS receiving means 602 cannot be received. If it outputs, it has the effect that a position as accurate as possible can always be output, and is extremely effective when the present invention is used for navigation or the like.

  A hybrid position detection system combining the mobile body position estimation system of the present invention and the transmitter or the mobile body position estimation system of the present invention and the positioning system using the artificial satellite will be described with reference to FIGS. However, it is also possible to consider a hybrid position detection system including three position detection means of the mobile body position estimation system, the transmitter, and the positioning system using the artificial satellite.

  According to such a position detection system, for example, in an area where a signal from an outdoor GPS satellite can be received, the position of the moving body is detected by the GPS positioning system. In addition, the position stored in the mobile body position estimation system is initialized, and the position of the mobile body is detected by using a signal from the transmission apparatus in an underground shopping area where the transmission apparatus is installed. . And the position which the said mobile body position estimation system memorize | stored in the said position is initialized, and also in the area where those positioning is impossible, or the area during the position detection, the mobile body position estimation of this invention The position of the moving body can be estimated by the system. As described above, the position of the moving body can be detected by switching to a method suitable for each case.

  In this way, when signals from artificial satellites such as GPS are received and positioning is possible, errors such as estimated speed and azimuth are accumulated, and there is an error in the position of the stored mobile object However, it is corrected to the correct position and the accumulated error is reset, and in the subsequent self-contained navigation, it is possible to estimate the position by integrating the amount of movement from the correct position described above. There is an effect that the position can be detected.

  FIG. 11 is a configuration similar to that of FIG. 10 except that an operation control unit 1101 for self-contained navigation is added, and in the situation where the function 1102 for detecting the speed of the moving body is not required by the operation control unit, these operations are performed. It is a block diagram of the Example which made it stop. In FIG. 11, for example, while the position information obtained by the GPS receiving means 602 is used, the function for detecting the speed of the moving body indicated by 1102 in the figure is unnecessary. Therefore, in the mobile body position detection system of the present invention, when it is not necessary to estimate the speed or position of the mobile body by other information such as GPS, the function of the speed or position estimation function 1102 is stopped. Configured to be possible. As a result, in the moving body position detection system of the present invention, unnecessary functions are stopped while the speed of the moving body is not estimated, and as a result, the power consumption consumed by the system is reduced or the system is generated. There is an effect that noise to be reduced can be reduced.

  FIG. 12 is an explanatory diagram for explaining a shift in geomagnetism. Now, suppose that the vertical path in FIG. 12 is directed to the north-south direction, the upper side being the north pole, that is, the true north direction, and the lower side being the south pole, ie, the south direction. Here, the geomagnetic direction of each point is measured while proceeding from the top to the bottom on this route. At the first point A1203, if there is nothing in the surroundings that would disturb the geomagnetism, the measured geomagnetism 1209 is generally equal to the azimuth and the upper side is shown as north. However, as it advances to point B1204 and point C1205, it is influenced by the magnetic object 1201, and the direction of the measured geomagnetism is gradually pointing to the east direction with azimuth 1210 and azimuth 1211. I understand.

  In this way, when a geomagnetic sensor is used to know the direction of the moving body, if there is an object that affects magnetism, such as a magnet, iron, or electromagnetic generation facility, it will be affected and the correct orientation will be measured. It becomes impossible to do so, and an error occurs between the correct orientation.

  Similarly, as it proceeds to point X1206, point Y1207, and point X1208, the direction of geomagnetism measured under the influence of the object 1202 is gradually distorted westward in the direction of azimuth 1212, azimuth 1213, and azimuth 1214, and the above azimuth 1209, It can be seen that an error of a value opposite to that in the case of the azimuth 1210 and the azimuth 1211 occurs.

  As described above, when a geomagnetic sensor is used for the direction detecting means 801 as described with reference to FIGS. 8 to 11, there is a merit in that the absolute direction can be easily detected, but an object that has a magnetic effect. If there is, there is a drawback that an actual azimuth and error are generated, and as a result, an error occurs in the position calculation result by the means for calculating the position from the speed and direction, and the correct position cannot be detected.

  FIG. 13 is a block diagram showing a configuration of an embodiment of the moving body position detection system made in view of the problems shown in FIG. The configuration shown in FIG. 13 is obtained by adding a true direction calculation means 1302 and a geomagnetic deviation information storage means 1301 to the configuration shown in FIG. 9. As an example, a geomagnetic sensor is used for the direction detection means 801. From the azimuth detected by the sensor, the effect of obtaining the correct azimuth is obtained by correcting the geomagnetic shift at each point.

  In FIG. 13, a true direction calculating means 1302 is a means for removing an error due to geomagnetic distortion as described in FIG. 8 from the direction of the moving body detected by the direction detecting means 801. As shown in Table 1, the geomagnetic deviation information storage means 1301 stores the coordinates 1401 of each point 1400 and the geomagnetic deviation 1402 from the actual orientation at those points, for example, expressed as an angle.

前記真の方向算出手段１３０２には、本移動体位置検出システムで随時検出している移動体の位置８０４が入力されており、前記地磁気のずれ情報記憶手段１３０１に記憶されたデータの中から現在位置の地磁気のずれ１４０２の情報を取り出し、前記方向検出手段８０１で検出された移動体の方位から、前記地磁気のずれの値を引くことで、その地点における地磁気のずれによる方向の誤差の影響を取り除くことができる。

The true direction calculation means 1302 is input with the position 804 of the moving body detected at any time by the moving body position detection system, and the current direction is calculated from the data stored in the geomagnetic deviation information storage means 1301. By extracting information on the geomagnetic deviation 1402 of the position and subtracting the value of the geomagnetic deviation from the direction of the moving body detected by the direction detecting means 801, the influence of the direction error due to the geomagnetic deviation at that point can be reduced. Can be removed.

Further, even if there is no deviation information corresponding to the current position in the geomagnetic deviation information storage means, the deviation information is obtained by using a technique such as interpolation using the geomagnetic deviation 1402 at a plurality of positions near the position. It is possible to obtain
As described above, in the present invention, deviation information with respect to the true direction of geomagnetism is stored in advance, and when detecting the moving direction of the moving body, the value is corrected using the geomagnetic deviation information and used. Even in a place where the geomagnetism is distorted, it is possible to accurately detect the moving direction of the moving body, and there is an effect that an accurate moving body position detection system can be realized.

In the embodiment shown in FIG. 13, the geomagnetic shift information is stored and used in the geomagnetic shift information storage unit 1401 in a form corresponding to the transmitter 701. However, the geomagnetic shift information is stored in correspondence with the coordinates. If this is the case, a mobile body position detection system that obtains position information using GPS or a marker can be similarly configured.
Alternatively, the same effect can be obtained by a method in which the information on the geomagnetism deviation is directly recorded on the transmitting device without using a storage means such as the geomagnetism deviation information storage means 1301, and is read and used.

  FIG. 14 shows an example in the case of pedestrian navigation. A pedestrian 7 wears means 1 for detecting vibration or displacement due to walking. The signals 2, 3, 4 and storage means 6 for processing this signal are the same as in FIG. The means 802 for calculating the position from the speed and the direction initializes the position by the signal from the means 4 for estimating the moving speed from the amplitude and the period, the signal from the direction detecting means 801 or the signal from the GPS as in FIG. A signal from the position initialization unit 803 is input to calculate the position of the moving body 7.

  The position information selection means 902 is a means for selecting either position information from the position calculation means or position information from the current position calculation means 1001 based on a signal from the signal reception means 602 from the GPS. Then, route instruction information from the obtained current position information to the destination is transmitted to the receiver 50. When position information obtained from GPS is selected, more accurate position information or a route instruction based on the position information can be performed. Further, when direction information is obtained from the direction detection means 801, position information with higher accuracy can be obtained by combining with direction information. Similarly, when a transmission device that indicates an absolute position is provided, a highly accurate route instruction can be given.

It is a block diagram which shows the basic composition of the moving speed estimation method of this invention. It is a block diagram which shows the structure of the system which calculates | requires the relational expression of the amplitude, period, and speed demonstrated in the said FIG. It is a comparative graph which compared the estimated moving speed of the moving body by this invention, and the speed measured with the laser rangefinder. It is a block diagram which shows the structure of the relational expression construction system at the time of a several pedestrian using this invention. It is a block diagram which shows the structure of the Example which can estimate the speed more accurately by adding the parameter relevant to movement. It is a block diagram which shows the structure of the Example of the relational expression construction system in combined use with the positioning system by an artificial satellite. It is a block diagram which shows the structure of the Example which derives using the relational expression of an amplitude, a period, and speed, and the absolute position by a transmitter, and calculates | requires the said relational expression. It is a block diagram which shows the Example of the combined use system of the speed estimation method of the moving body by this invention, and the sensor which detects a direction. It is the block diagram which showed the structure of the Example of the mobile body detection system which detects absolute positions by reading transmitters, such as a radio | wireless tag. It is the block diagram which showed the structure of the Example which initializes a present position with positioning systems, such as GPS. It is the block diagram which showed the structure of the Example using the operation control means of the self-contained navigation. It is explanatory drawing for demonstrating the shift | offset | difference of geomagnetism. It is a block diagram which shows the structure of the Example of the system which can estimate the position of a moving body correctly, without being influenced by the shift | offset | difference of geomagnetism. It is a block block diagram which shows the example of pedestrian navigation.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Means which detect the vibration or displacement amount of a moving body, 2 ... Means which detect the periodicity of a signal, 3 ... Means which detect an amplitude and a period, 4 ... The moving speed of a moving body is estimated from an amplitude and a period Means 6: Storage means of relational expression of amplitude and period and speed 50: Receiver 405 ... Registration user input means 501 ... User information input means 601 ... GPS satellite 602 ... GPS reception means 701 ... Transmitting device 801... Direction detection means 905... Current position path instruction means 1301. Geomagnetic deviation information storage means 1302. True direction detection means.

Claims (2)

  Used for identifying the position of the moving body by a signal from a transmitting device provided at a predetermined position, correcting the detection signal value in the traveling direction from the direction detecting means of the moving body, In the moving direction detection method of the moving body for detecting the traveling direction, the geomagnetic shift value at the current position of the moving body is obtained from the signal from the transmitting device, and the detection signal value of the moving direction of the moving body from the direction detecting means is A method of detecting a moving direction of a moving body, wherein an error in the direction is corrected using the obtained geomagnetic shift value.   In a moving direction detection system for a moving body, comprising: a transmitting device provided at a predetermined position; and a direction detecting means that the moving body has and outputs a detection signal value in the traveling direction. Means for obtaining a geomagnetic deviation value for each device, and true direction calculating means for correcting a direction error using the geomagnetic deviation value obtained from the detection signal value of the traveling direction of the moving body from the direction detecting means. A moving direction detection system for a moving body.

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