JP2008276316A - Portable gps reception device, and system for analyzing and diagnosing movement of moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To display evaluation diagnostic indices for a user's movement characteristics anytime and anywhere through all the processing including collection and storage of GPS reception information and generation and output of diagnostic indices in a single portable GPS reception device. <P>SOLUTION: Position and time data is read out from a storage device 23 storing data on the position of a moving body and on the time according to GPS reception information, then speed and acceleration is calculated, and diagnostic indices of driving characteristics of the driver who uses the moving body are generated and output. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a portable GPS (Global Positioning System) receiver that can be mounted on a mobile body and obtain position / time data of the mobile body, and a mobile body movement analysis / diagnosis system.

Vehicles and pedestrians are equipped with or carry portable GPS (Global Positioning System) receivers capable of wireless communication such as mobile phones, PHS, and PDAs to obtain position information of the vehicles and pedestrians. (Patent Document 1 below).
Also known is a system that manages and statistically analyzes data such as the position and speed of a moving object acquired via a communication network, and analyzes and diagnoses the movement tendency (running tendency) of the moving object. Yes. A file that describes the results of this analysis / diagnosis is called a form.

In the analysis / diagnosis system, a terminal device mounted on a vehicle collects data such as the position and speed of the vehicle, transfers the data to a diagnostic server (management computer) through a communication line, and is targeted by the diagnostic server. Automatically create forms such as safe driving and fuel saving trends.
JP 2005-115557 A

However, Patent Document 1 does not disclose the content of diagnosing a movement tendency of a driver who is a user of a moving body.
Further, in the analysis / diagnosis system, in order to analyze the movement tendency of the driver when the driver changes a moving object such as a vehicle, it is necessary to provide a terminal device for each moving object. There was a problem if it was expensive.

On the other hand, as described above, a vehicle, a pedestrian, or the like can obtain position information by mounting or carrying a portable GPS receiver.
Accordingly, the present invention focuses on such a portable GPS receiver and provides a portable GPS receiver capable of acquiring a diagnostic index related to a user's movement characteristics with the portable GPS receiver alone. And

  In addition, the present invention relates to a mobile body movement analysis and diagnosis system in which a portable GPS receiver and a management computer are connected by a communication line, and a diagnosis index relating to a user's movement characteristic can be efficiently created by cooperation between the two. The purpose is to provide.

  The portable GPS receiver of the present invention includes a GPS reception / positioning unit that acquires GPS reception information, a calculation unit that calculates position / time data of the mobile body based on the GPS reception information, and stores the data in a storage device. , Reading out the position / time data stored in the storage device, and performing statistical processing, thereby generating a diagnostic index relating to the moving characteristic of the user of the moving object, and the moving characteristic of the user And an output unit that outputs a diagnostic index relating to the above (claim 1).

  According to this configuration, the position / time data is read from the storage device that stores the position / time data of the mobile body based on the GPS reception information, and the speed and acceleration are calculated. It is possible to generate and output a diagnostic index related to a person's movement characteristics. In this way, by carrying out all the processes from collection / accumulation of GPS reception information to diagnostic index generation processing and output with a portable GPS receiver alone, the evaluation diagnostic index related to the user's mobility characteristics can be viewed anytime and anywhere Will be able to.

  According to another aspect of the present invention, there is provided a mobile analysis analysis system for a mobile body including a management computer connected to the portable GPS receiver, wherein the management computer receives the mobile computer from the portable GPS receiver. The diagnostic index relating to the movement characteristics of the user is accumulated and managed (claim 2). This system uses a portable GPS receiver as a terminal of a management computer, so that diagnostic indexes of a plurality of moving objects can be accumulated and managed, and convenience can be further improved.

  The mobile body movement analysis and diagnosis system of the present invention is a system including a management computer connected to a portable GPS receiver, wherein the portable GPS receiver acquires GPS reception information. A positioning unit; a calculation unit that calculates position / time data of the mobile body based on the GPS reception information and stores the data in a storage device; and an output unit that outputs the position / time data. In the computer, by reading out and processing the received position / time data, a diagnostic index generation unit that generates a diagnostic index related to the moving characteristic of the user of the moving body, and a diagnostic index related to the moving characteristic of the user are stored And a management unit for management (claim 3).

This system uses a portable GPS receiver as a terminal of a management computer, and the management computer acquires position / time data of the portable GPS receiver and generates a diagnostic index itself. Therefore, it is possible to accumulate and manage diagnostic indices of a plurality of mobile objects, and to further improve convenience.
The output unit transmits the position / time data at a predetermined time interval or when an event occurs, and the diagnosis index generation unit processes the received position / time data to move the user of the mobile object. It can also be configured to generate a diagnostic indicator relating to the characteristic in real time (claim 4). According to this, the management computer can generate and check the diagnostic index of the moving moving object in real time, so that feedback to the moving object is also possible.

  As described above, according to the present invention, using an application that operates on a portable GPS receiver or an application that operates on a management computer connected to the portable GPS receiver, safety driving, fuel-saving driving, etc. By providing an evaluation diagnosis index relating to a user's movement characteristics, a business operator who operates the vehicle can construct a safe driving diagnosis system or a fuel-saving driving diagnosis system that minimizes hardware costs. In particular, even when the driver changes the mobile body, there is a cost advantage that it is not necessary to provide a terminal device for each mobile body.

  In addition, by carrying a portable GPS receiver, the user's characteristics can be evaluated even when moving by transferring a plurality of vehicles or different moving means (vehicles, trains, ships, etc.), and if necessary You can see the evaluation diagnostic index anytime and anywhere.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
<Portable GPS receiver>
FIG. 1A is an external view showing a mobile phone with a GPS reception function (hereinafter referred to as “GPS mobile phone”) 1 according to an embodiment of a portable GPS (Global Positioning System) receiver of the present invention. The GPS mobile phone 1 may be carried by a driver or the like into the vehicle, or may be carried by a pedestrian. In this specification, a vehicle, a pedestrian, and the like that move by mounting the GPS mobile phone 1 are collectively referred to as a “moving body”. Note that a portable personal computer, a PDA (Personal Digital Assistant), or the like may be used as the portable GPS receiver in addition to the mobile phone.

  FIG. 1B is a block diagram showing each function provided in the GPS mobile phone 1. When each function is listed, communication function 11 for communicating with the base station, GPS reception / positioning function 12, man-machine input function (input key 13, microphone, etc.), man-machine output function (speaker 14, display 15, etc.) Application software 16 and storage function 17 (internal memory or external memory such as an SD card).

  The GPS reception / positioning function 12 receives radio waves from GPS satellites at regular intervals (for example, every second), and information on the position / coordinate information of the mobile body and the time linked to the position / coordinate information. (Hereinafter collectively referred to as “GPS reception information”). The GPS mobile phone 1 directly receives radio waves from GPS satellites, and receives radio waves from GPS satellites at a base station operated by the mobile phone system carrier, and partially transmits the contents through the wireless communication line. Since the operation method of reducing the reception load of the GPS mobile phone 1 is also performed by transmitting to the GPS mobile phone 1, when “GPS mobile phone 1 receives radio waves from GPS satellites” in this specification, It is assumed that both the case where the GPS mobile phone 1 directly receives a radio wave from a GPS satellite and the case where it receives from a base station.

Hereinafter, the GPS mobile phone 1 is assumed to be mounted on a vehicle.
The application software 16 causes the GPS mobile phone 1 to perform the following operations (1) to (3) when receiving an instruction to start or end the movement of the moving body through the man-machine input function.
(1) Obtaining GPS reception information through the GPS reception / positioning function 12 or stopping the acquisition of GPS reception information, (2) Time shift correction, abnormal data deletion based on the obtained GPS reception information, 2 Position / time corrected by performing point averaging, regularization, multipoint average trajectory generation processing, decimal point average trajectory generation processing, multipoint average trajectory and minority point average trajectory mixing processing, stop determination processing, etc. Information is obtained (these processes are collectively referred to as “data correction estimation process”), and the position / time information is stored in the memory using the storage function 17, and (3) the position subjected to the data correction estimation process・ Based on the time information, calculate the speed / acceleration of the moving object, and use the calculated moving speed / acceleration as a diagnostic indicator for performing a safe driving diagnosis / fuel-saving driving diagnosis of the driver. The administrator created in easy-to-understand form, to output.

FIG. 2 is a flowchart for explaining the processing contents performed by the application software, and FIG. 3 is a screen view displayed on the display 15 of the GPS mobile phone 1.
When the application software is activated, an initial screen (FIG. 3A) is displayed on the display 15 of the GPS mobile phone 1 (step S1). On this screen, for example, when the driver performs a key operation using the input key 13 (step S2), the GPS mobile phone 1 performs a key reading process (step S3). If the key input content is “driving” (step S4), the GPS reception / positioning function 12 of the GPS mobile phone 1 is set to the operating state (active) (step S5). Then, an operation start screen (FIG. 3B) is displayed on the display 15 of the GPS mobile phone 1 (step S6).

  When returning from step S5 to S2, since a GPS reception information acquisition event has occurred based on the processing of step S5, the process proceeds to step S7. In step S7, GPS reception information is acquired based on the GPS reception / positioning function 12. Then, a data correction estimation process is performed based on the GPS reception information (step S8). Details of the data correction estimation process will be described later. The data correction estimation processing result is stored in an internal memory or an external memory such as an SD card.

  Next, returning to step S2, if a key operation is performed, a key reading process is performed (step S3). If the key input content is “end” (step S4), the GPS reception / positioning function 12 of the GPS mobile phone 1 is performed. Is stopped (step S10). Then, the data correction estimation process result is read from the internal memory or the external memory, a diagnostic index generation process is performed (step S11), and the diagnostic index is displayed on the operation end screen (step S12).

  FIG. 3C is a display screen of the driving diagnosis result. In addition to the standard numbers such as the distance traveled and the driving time, the display contents are as follows by performing statistical processing on the moving speed and acceleration obtained as a result of the driving data correction estimation process at regular time intervals or when an event occurs: Items (a) to (d) are expressed by continuous numerical values (points, graphs), multi-stage numerical values (points, levels, marks), comment sentences, and the like. In addition to the screen display, the output method may be performed by sound through a speaker as necessary.

(a) Acceleration and deceleration: Evaluate how many times positive / negative acceleration exceeding the threshold per unit operation time appears.
(b) Speed: Evaluate the average speed while traveling on general roads or highways on a five-point scale.
(c) Speed unevenness: The speed unevenness that can be read from the speed data, that is, the root mean square (rms) value of the deviation from the average value is evaluated in five levels.

(d) Steep steering wheel: Evaluate the lateral G on a curve that entered at a speed higher than the set speed in five stages.
FIG. 3D is a display screen of the driving diagnosis history. In this driving diagnosis history, the change in the driving diagnosis result of FIG. 3C is graphed over a long period (week, month, etc.).
Based on the display of these driving diagnosis results, the driver or operation manager can easily understand the diagnostic index for performing safe driving diagnosis and fuel-saving driving diagnosis as a moving monitor of the moving body from the calculated moving speed and acceleration. Can be created and output. In addition, even when the driver changes the mobile body, there is a cost advantage that it is not necessary to provide a terminal device for each mobile body.
<Mobile analysis diagnostic system 1>
In the above-described embodiment, the diagnostic index created by the GPS mobile phone 1 is displayed on the display 15 of the GPS mobile phone 1. However, the GPS mobile phone 1 is a management personal computer (hereinafter “ 2), the diagnostic index created by the GPS mobile phone 1 is transmitted to the management personal computer 2 and the management personal computer 2 manages diagnostic index information of one or more vehicles. You can also

FIG. 4 is a block diagram of a mobile analysis diagnosis system including the GPS mobile phone 1 and the management personal computer 2. In this system, only one GPS mobile phone 1 is displayed, but a plurality of GPS mobile phones 1 are replaced or connected to the management personal computer 2 at the same time.
As data communication means between the GPS mobile phone 1 and the management personal computer 2, communication means attached to the GPS mobile phone 1 or other reading means can be used. Examples of the communication means include electronic mail (including short messages), Internet access (including intranet connection by VPN), Bluetooth, IrDA (infrared communication), USB cable, and the like. The reading means includes a memory card, Examples thereof include a barcode (including a two-dimensional barcode).

The management personal computer 2 is equipped with an interface of the data communication means so that data can be taken into the management personal computer main body 21.
The management personal computer 2 classifies the acquired driving diagnosis data and manages it as a file. For this classification and management, a specific application for diagnostic index generation / analysis may be installed, but without it, the management system 2 operating system (OS) file management function or general application file management function May be used.

FIG. 5 is a flowchart showing diagnostic index data transmission processing of the GPS mobile phone 1 in this embodiment, and shows a changed part from FIG.
When the user performs a key operation using the input key 13 on the initial screen (FIG. 3A) (step T2), the GPS mobile phone 1 performs a key reading process (step T3). If the key input content is “communication” (step T4), the diagnostic index data transmission function of the GPS mobile phone 1 is set to the operating state (active) (step T5). Then, a processing start screen displaying characters “sending” is displayed on the display 15 of the GPS mobile phone 1 (step T6).

  Returning to step T2, since a diagnostic index transmission event has occurred, the process proceeds to step T7. In step T7, a communication message creation process or other output preparation is performed. In step T8, data such as a communication message is transmitted using the communication function 11 attached to the GPS mobile phone 1, or stored in a memory card. Or a bar code is displayed on the display screen of the GPS mobile phone 1. When any of these processes is completed, a process end screen is displayed (step T9).

When the management personal computer 2 receives the data or reads the data of the memory card or the barcode, the management personal computer 2 stores the data in the storage device 23 such as a hard disk.
The diagnostic index data file is stored and managed for each driver and each drive date. Then, based on the user's operation, the data can be displayed or printed using the “unique application”, “operating system (OS) file management function”, or “general application file management function”. .

FIG. 6 shows an example of the display lower surface of the data list displayed on the management personal computer 2.
<Mobile analysis diagnostic system 2>
In the next embodiment, the GPS mobile phone 1 and the management personal computer 2 are connected, and the GPS reception information collected by the GPS mobile phone 1, the corrected position / time information that is the result of the data correction estimation process, The speed / acceleration information calculated based on the time information is transmitted to the management personal computer 2, and the management personal computer 2 creates and manages movement information of a plurality of vehicles.

  FIG. 7 is a block diagram of a mobile analysis diagnosis system including the GPS mobile phone 1 and the management personal computer 2 according to this embodiment. In this system, only one GPS mobile phone 1 is displayed, but a plurality of GPS mobile phones 1 may be switched and connected, or may be connected to the management personal computer 2 at the same time. The data communication means can use e-mail, Internet access, Bluetooth, IrDA, USB cable or other methods (memory card, barcode, etc.) as previously described.

The management personal computer 2 creates a diagnostic index for the vehicle using the captured data. For this creation, a diagnostic index generation / analysis application is installed.
FIG. 8 is a flowchart for explaining the flow of processing of the diagnostic index generation / analysis application in the management personal computer 2.
When the diagnostic index generation / analysis application is started on the management personal computer 2, menus such as data acquisition, data search, form output, and detailed analysis appear on the initial screen (step U1). The user selects one of the menus using the input key 13 (step U2).

  If the data acquisition menu is selected, the diagnostic index generating / analyzing application is connected to the data communication means, that is, via the communication means such as e-mail, Internet access, Bluetooth, IrDA, or the reading means such as a memory card or barcode. Data of the mobile phone 1 is acquired (step U3). Then, the data is classified by driver, vehicle, time, etc. by the terminal ID of the mobile phone 1 and the time stamp of the data, and this data is stored in the storage device 23 (step U4).

If data search is selected, input of search conditions is accepted (step U5). Search conditions include, for example, a driver name, a vehicle, and a date. The management personal computer 2 searches the database of the storage device based on the input search condition, and displays the search result on the screen (step U6).
If form output is selected, a form type and search condition selection screen is displayed (step U7). The types of forms include a safety indicator monthly report, a driving monthly report, a safety indicator transition, and a driving transition.

  The safety indicator monthly report and the driving monthly report are obtained by statistically processing the evaluation contents such as acceleration and deceleration, speed, speed unevenness, and sudden handle, which are the driving diagnosis results, on a monthly basis. A screen display example of this form image is shown in FIG. The driving diagnosis index is expressed in the form of a monthly report for one month. Evaluation contents such as deceleration, speed, speed unevenness, and sudden handle are displayed in a graph so that they can be seen at a glance. Even if you add a comment such as "It is economical to reduce the speed of the expressway a little more. Let's enter the car after slowing down enough on the curve. good.

The safety index transition and the driving transition are a list of driving diagnosis histories such as acceleration and deceleration, speed, speed unevenness, and abrupt steering, which are the driving diagnosis histories.
The management personal computer 2 prompts the form image under the selected conditions, and displays the screen and outputs it to the printer (step U8).
If the detailed analysis menu is selected, a screen for selecting a type of detailed analysis and a search condition is displayed (step U9). Types of detailed analysis include speed, acceleration / deceleration, curve, and state. “State” means each state such as when the vehicle is moving, refueling, or stopped. The management personal computer 2 displays the analysis result on the screen under the selected conditions (step U10). FIG. 10 is a screen display example of a certain driver's speed, acceleration / deceleration, curve, and state. Time is taken on the horizontal axis, and graphs are displayed so that changes over time in speed, acceleration / deceleration, curves, and state can be seen at a glance.

A detailed driving tendency analysis can be performed by the diagnostic index generation / analysis application of the management personal computer 2, and a highly accurate diagnostic index can be created for each vehicle.
In addition, when there are many vehicles that have suddenly decelerated and steered at the same statistical place, the place can be displayed as a dangerous place.
<Mobile analysis diagnostic system 3>
In the next embodiment, the GPS reception information (time and position information) and speed / acceleration information collected and stored by the GPS mobile phone 1 main body are transmitted to the management personal computer 2 and the communication function 11 (e-mail or This is a system capable of performing a detailed driving tendency analysis in real time in the application of the management personal computer 2 by transmitting using (Internet access).

FIG. 11 is a block diagram of a mobile analysis diagnosis system including the GPS mobile phone 1 and the management personal computer 2 according to this embodiment.
In this system, only one GPS mobile phone 1 is displayed, but a plurality of GPS mobile phones 1 may be switched and connected, or a plurality of GPS mobile phones 1 may be connected to the management personal computer 2 at the same time. Sometimes it is done. As the data communication means, real-time data communication means such as electronic mail, Internet access, Bluetooth, IrDA, USB cable, etc. can be used.

The management personal computer 2 creates a diagnostic index for the vehicle using the captured data. For this creation, a diagnostic index generation / analysis application is installed.
FIG. 12 is a flowchart for explaining the flow of processing of the diagnostic index generation / analysis application in the management personal computer 2, and shows a part added to the flowchart of FIG.

When the diagnostic index generation / analysis application is started on the management personal computer 2, the application periodically uses the timer to acquire data, and on the initial screen, each of the real-time terminal display and the real-time terminal display screen update A menu is displayed (step V2).
At the data acquisition timing, the application acquires the data of the GPS mobile phone 1 via the real-time data communication means (step V3). Then, the data is classified based on the terminal ID of the GPS mobile phone 1 and the time stamp added to the movement data, and this data is stored in the storage device 23 (step V4). Next, the speed, acceleration, and diagnostic index are monitored based on the stored data, and a warning mark is attached to a terminal outside the appropriate range (step V5). Further, a real-time terminal information display screen update event is registered (step V6).

Returning to step V2, since the real-time terminal display screen update event is registered, the application acquires the latest terminal information (position, velocity, acceleration, diagnostic index) from the database and updates the display content (step V9). . If terminal information with a warning mark appears, the user is notified by highlighting or the like (step V10).
When the user selects the real-time terminal display menu using the input key 13 on the initial screen, the application acquires the latest terminal information (position, velocity, acceleration, diagnostic index) from the database, and displays it in a list format / map format. Display (step V7). If there is terminal information with a warning mark, the user is notified by highlighting or the like (step V8). For example, it is a warning when “Terminal 1 is rough driving and tends to be dangerous driving”.

FIG. 13 is a screen display example of a real-time situation. On the screen, the current position of each vehicle is displayed, and the state, speed, and driving diagnosis index of each vehicle are displayed in real time. A notification message is also displayed. An example is "No terminal has a warning alarm".
With this system, since the behavior of a plurality of terminals can be grasped in real time, not only can a diagnostic index be created and managed, but also guidance for safe driving and fuel-saving driving can be performed as needed.
<Correction estimation processing of GPS reception information>
Next, in order to calculate movement speed / acceleration using GPS reception information as a moving monitor of a moving object with accuracy without any operational problems, the time and position of GPS reception information are corrected and the movement speed / acceleration is estimated. The processing to be calculated will be described. In this process, the following two processes (primary process and secondary process) are performed to determine the time and position, and the speed and direction are calculated from the time difference between the two points and the moving distance based on the determined time and position. To do. The acceleration is calculated by differentiating the speed.

All or some of the functions of these units are realized by a computer of a GPS reception data processing device executing a program recorded on a predetermined medium such as a CD-ROM or a hard disk. Since the management personal computer 2 can be used as a GPS reception data processing device, the following description will be made assuming that the management personal computer 2 is used.
FIG. 14 is a flowchart showing an outline of the GPS reception information correction estimation process.

First, in the primary process (step W1), each process of time shift correction, abnormal data deletion, two-point averaging, and regularization is performed, and the obtained regular data is stored in the storage device 23.
Next, in the secondary processing (step W2), low speed filtering and high speed filtering are performed, and the majority point average locus and the decimal point average locus are stored in the storage device 23. Then, mixing processing and stop determination processing are performed using these locus data, and correction data is obtained and stored in the storage device 23.

Finally, speed / acceleration calculation is performed (step W3), and the speed / acceleration data is stored in the storage device 23.
(1) Primary processing
(1-1) Time shift correction processing Since the GPS mobile phone 1 shares the functions inherent to the GPS mobile phone, such as telephone, e-mail, and web access, and the GPS reception function, the GPS mobile phone 1 In many cases, GPS reception is not possible during communication with the base station. Therefore, the positioning time may be shifted. Therefore, time shift correction of the position / time data of the moving body is performed so that the calculated speed matches the speed tendency of the moving body.

When a positioning delay occurs, the speed in that section is apparently slow, and the speed in the next section is apparently high. Therefore, the positioning delay is corrected by averaging the speeds of the two sections.
Specifically, with respect to GPS reception information (time Tn, longitude Xn, latitude Yn) (n is a subscript indicating GPS reception information acquisition time), the GPS reception information immediately before (n−1) The speed Vn is calculated from the movement vector.

FIG. 15A is a graph in which the moving distance with respect to time is plotted, and FIG. 15B is a graph in which the speed with respect to time is plotted. When unevenness appears in the movement distance graph as shown in FIG. 15A, the speed is also far away from the speed tendency V0 in that section as shown in FIG. 15B. In this case, the time is corrected as indicated by a broken line arrow.
For example, if the amount of change in the speed Vn calculated from the time difference between two adjacent points and the distance traveled is, for example, 1.25 times or more and less than 0.8 times the speed tendency of the section, it is considered that there is a time shift, Adjust the positioning time in the section and average the deviation of the acquisition time. The “speed tendency of the section” is an average value of speeds at k points (k−1 section) located before and after the point corresponding to the time. k is, for example, 3 to 6 points. The correction formula is

It is represented by In this equation, Ln is the moving distance in the section (n-1, n), and T′n is the corrected time. This correction formula [Expression 2] represents that the time from T′n−2 to Tn is internally divided by the ratio of the movement distance.
(1-2) Abnormal data deletion process The error included in the GPS position information is a normal distribution centered on the true value, and the influence of the error can be eliminated by averaging. Abrupt position errors that occur at the time of switching or the like cannot be canceled out by averaging because there are no components to cancel out in the vicinity. It is necessary to delete the data from the processing target.

FIG. 16A is data of a movement trajectory, and is a graph showing a case where one of the positioning points is greatly shifted to the north (Y direction) due to the influence of a building shadow during movement in the east (X direction). It is. The data with the largest latitude is the abnormal point.
FIG. 16B is a graph showing the velocity (VY) of the latitude component. Looking at the speed change, it is protruding at the abnormal point. Before and after the abnormal point, the magnitude of acceleration is almost the same and the direction is different. When the speed change (acceleration) before and after the abnormal point is summed, it becomes almost zero. Such a point is determined as an abnormal point.

FIG. 16C is a graph of a movement locus from which abnormal points are deleted.
(1-3) Two-point averaging Since the GPS reception information includes a random position error, the reception time at the central point is obtained for the data that has been subjected to the above-described time shift correction process and deleted abnormal data. The process of averaging the position and time is performed by setting as the intermediate value between the two ends.

  As a model for simplification, as shown in FIG. 17, consider a case where three positions (hereinafter referred to as “points”) of the vehicle are detected in succession. Two sections connecting these points P1, P2, and P3 are defined as (P1, P2) and (P2, P3). If there is an error of ΔL in the P3 direction at the point P2, the distance of P1P2 increases by ΔL and the distance of P2P3 decreases by ΔL. In this way, since the error is in the opposite phase in the adjacent sections, the influence of the error is suppressed by performing the two-point averaging.

Specifically, the intermediate point Q2 = (P1 + P2) / 2 is determined in the section (P1, P2), and the intermediate point Q3 = (P2 + P3) / 2 is determined in the section (P2, P3). In general, the intermediate point Qn = (Pn-1 + Pn) / 2 is determined. The influence of the position error can be reduced by performing the following processing based on these intermediate point sequences.
(1-4) Constant time interval (fixed period)
As a result of the time shift correction process described above, the time interval becomes an indefinite period. Therefore, in order to facilitate the subsequent secondary processing, the time and position are interpolated by proportional distribution so as to obtain position information at a constant time interval (eg, 1 second interval).

FIG. 18A is a graph plotting the trajectory of the vehicle. The horizontal axis is longitude X and the vertical axis is latitude Y.
FIGS. 18B and 18C are graphs showing a state in which the time interval becomes an indefinite period as a result of the time lag correction process in the previous stage after the position information is divided into two components of latitude and longitude. In FIG. 18B, the horizontal axis represents time T and the vertical axis represents longitude X. In FIG. 18C, the horizontal axis represents time T and the vertical axis represents latitude Y.

  In FIGS. 18B and 18C, the time Tn does not have a constant period, so a point Tm having a constant period (1 second) that satisfies the following relationship is added.

  In order to obtain the longitude Xm corresponding to Tm, as shown in FIG. 18B, the two points (Tn-1, Xn-1) (Tn, Xn) before and after that are connected by a straight line, and this straight line and the vertical axis T What is necessary is just to obtain | require the intersection with = Tm. Further, in order to obtain the longitude Ym corresponding to Tm, as shown in FIG. 18 (c), two points (Tn-1, Yn-1) (Tn, Yn) before and after are connected by a straight line, and this straight line and the vertical What is necessary is just to obtain | require the intersection with the axis | shaft T = Tm.

FIG. 18D is a graph in which position data groups having a constant period (1 second) are generated based on the obtained latitude and longitude. In this way, a position sequence with a constant time interval is obtained.
Depending on the GPS reception characteristics, a weighted average of three or more points may be used instead of two points.
(2) Secondary processing (2-1) Filtering according to speed range Position error by weighted average of time and position at consecutive n points with respect to the vehicle position sequence at fixed time intervals obtained in the primary processing Point averaging operation that obtains a smoothed position sequence, and a weighted average of time and position at m points (m> n) that further expands the smoothing range to obtain a position sequence in which the position error is smoothed Perform the average operation.

The averaging target points n and m can be made variable depending on the GPS reception function and the accuracy depending on the reception environment. In this embodiment, for example, n = 2 and m = 8 are set.
First, in the position sequence (time Tn, longitude Xn, latitude Yn) obtained by the primary processing, a 2-point average position sequence An of the coordinate values Xn and Yn is generated. This An is referred to as the “decimal point average locus”.

  Next, using the 2-point average data, the 4-point average data Bn is similarly generated.

  Next, the 8-point average data Cn is similarly generated using the 4-point average data. This Cn is referred to as “multi-point average locus”.

Multiple point average trajectory _{Cn (T n, X n,} Y n) in, and calculates the velocity V _n based on a number point average trajectory Cn from the movement vectors of the previous data.

(2-2) Mixing process (averaging process)
The majority point average locus Cn and the minority point average locus An are weighted and averaged at the same time to generate a position coordinate sequence Dn. The weighting factor (mixing ratio) α for averaging is a function of the velocity V _n of the multipoint average trajectory.
Here, Va which is a low-speed / high-speed filtering 100% switching point is set. The setting standard for the low-speed high-speed filtering 100% switching point Va is as follows.

  If the GPS position data error is set to 6 m, for example, an error corresponding to 21.6 km / h is obtained in 1-second interval positioning. If it moves below this speed, the influence of the error is large, and if it moves above this speed, the influence of the error is considered to be small. Therefore, the weight coefficient α is set to be around 50% at the speed of 21.6 km / h. Therefore, 43.2 km / h, which is twice the speed of 21.6 km / h, becomes the low-speed filtering 100% switching point Va. The above method of obtaining Va is based on assumptions such as the positioning accuracy of GPS. In practice, it is preferable to obtain the optimum mixing ratio from the actual results after operation.

The weighting factor α is represented by (1−Vn / Va). FIG. 19 is a graph illustrating how to obtain α. If this weighting factor α is used, the weighted average position coordinate sequence Dn is
When Vn <Va Dn = (1−α) An + αCn
When Vn ≧ Va, Dn = An
It is represented by

  In this way, the weighted averaging process of placing the weight on the majority point average trajectory Cn at low speed and placing the weight on the minority point average trajectory An at high speed is because the movement amount per unit time (movement speed) This is because the ratio of the GPS position measurement error (for example, 6 m) with respect to) is larger than that at high speed. For example, if the vehicle moves at a speed of 10 m / s (36 km / h), the ratio of the GPS position measurement error to the moving amount is 6/10 = 0.6, and the error ratio is high. Therefore, during low speed movement, the specific gravity is placed on the multipoint average locus Cn in which errors are smoothed at many points.

During high speed movement, the ratio of the GPS position measurement error to the movement amount per unit time is small. Therefore, during high-speed movement, a specific gravity is placed on the result of a few-point average trajectory that has a large follow-up to the movement trajectory.
FIG. 20 is a map illustrating the weighted averaging process. The horizontal axis represents longitude (X) and the vertical axis represents latitude (Y), and shows the relationship between three types of position coordinate sequences An, Cn, and Dn.

In the above example, the two filtering results of the decimal point average and the majority point average are mixed, but the majority point average trajectory Cn, the medium number average trajectory Bn, and the decimal point average trajectory An are used. More than one species of filtering results may be mixed. At this time, when moving at a low speed, the weighted average of the majority point average trajectory Cn and the medium number point average locus Bn is performed, and at the time of high speed movement, the weighted average of the medium number point average locus Bn and the decimal point average locus An. Do.
(2-3) Stop Determination Processing Since the position information during the stop includes a GPS position data error, minute fluctuations appear even in the multipoint average locus. In order to suppress this fluctuation, a procedure is provided in which the stop is judged and the speed / acceleration is not calculated during the stop.

As the determination condition, the estimated speed Vn in the multipoint average locus is used. For the movement → stop determination, the estimated speed Vn must be equal to or lower than the first reference speed S0 km / h. For the stop → movement determination, the estimated speed Vn should be equal to or higher than the second reference speed S1 km / h. And the vehicle has come out of the circle of the reference radius Rm or more from the stop determination position.
Hysteresis is given to the reference speed so that the relationship of “first reference speed S0 <second reference speed S1” is established. For example, to detect a moving speed (4 km / h) that is about the walking speed, the second reference speed S1 is set to 3.6 km / h, which is 10% lower than 4 km / h, and S0 is 0.75 times that of 2.7 km / h. Let h. If the average position error is 6 m, the distance radius R is set to 7.5 m, which is 1.25 times larger than the error. Of course, these values are only examples, and it is preferable to determine actual experience by evaluating actual reception errors and considering the results of actual operation.

As a result of the determination process, the stop determination position and the movement determination position are different, but there is no problem because the speed / acceleration calculation target is not used during that time.
(3) Speed / Acceleration Calculation Based on the position / time of the two points determined by the secondary processing, the speed / azimuth is calculated from the time difference and the moving distance. The acceleration is calculated by differentiating the speed.

  Although the embodiments of the present invention have been described above, the embodiments of the present invention are not limited to the above-described embodiments, and various modifications can be made within the scope of the present invention.

(A) is an external view of the GPS mobile phone 1 according to an embodiment of the portable GPS receiver of the present invention, and (b) is a block diagram showing each function provided in the GPS mobile phone 1 It is. 4 is a flowchart for explaining diagnostic index data creation processing contents performed by the GPS mobile phone 1; FIG. 6 is a screen view displayed on the display 15 of the GPS mobile phone 1. 1 is a block diagram of a mobile analysis diagnosis system including a GPS mobile phone 1 and a management personal computer 2. FIG. 4 is a flowchart showing diagnostic index data transmission processing of the GPS mobile phone 1. It is a display example of a data list screen displayed on the management personal computer 2. 1 is a block diagram of a mobile analysis diagnosis system including a GPS mobile phone 1 and a management personal computer 2. FIG. 5 is a flowchart for explaining a flow of processing of a diagnostic index generation / analysis application in the management personal computer 2; It is a screen display example of a form image. It is a screen display example of detailed analysis. 1 is a block diagram of a mobile analysis diagnosis system including a GPS mobile phone 1 and a management personal computer 2. FIG. It is a flowchart for demonstrating the flow of a process of the diagnostic index production | generation / analysis application in the management personal computer 2 It is a screen display example of a real-time situation. It is a flowchart which shows the outline | summary of the correction | amendment estimation process of GPS reception information. (A) is the graph which plotted the movement distance with respect to time, (b) is the graph which plotted the speed with respect to time. It is a graph which shows the deletion process of an abnormal point, (a) is data of a movement locus | trajectory, (b) is a graph of speed, (c) is a graph of the movement locus | trajectory which deleted the abnormal point. It is a graph which shows a 2-point averaging process. It is a graph which shows a regularization process, (a) is a graph which plotted the locus | trajectory of a vehicle, (b), (c) divides position information into two components of latitude and longitude, and the time gap correction process of the front | former stage (D) is a graph showing the position of a fixed period (1 second). It is the graph which illustrated how to obtain | require weighting coefficient (alpha). It is a map illustrating weighted averaging processing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 GPS mobile phone 11 Communication function 12 GPS reception and positioning function 13 Input key 14 Speaker 15 Display 16 Application software 17 Storage function 21 Management personal computer main body 22 Management personal computer display screen 23 Storage device

Claims (4)

A portable GPS (Global Positioning System) receiver mounted on a moving body,
A GPS reception / positioning unit for acquiring GPS reception information;
A calculation unit that calculates the position / time data of the mobile body based on the GPS reception information and stores the data in a storage device;
A diagnostic index generator for generating a diagnostic index related to the moving characteristics of the user of the moving body by reading out the position / time data stored in the storage device, calculating speed and acceleration, and performing statistical processing;
A portable GPS receiver, comprising: an output unit that outputs a diagnostic indicator relating to the movement characteristics of the user. A mobile body movement analysis diagnostic system including a portable GPS (Global Positioning System) receiver mounted on a mobile body, and a management computer connected to the portable GPS receiver,
In the portable GPS receiver,
A GPS reception / positioning unit for acquiring GPS reception information;
A calculation unit that calculates the position / time data of the mobile body based on the GPS reception information and stores the data in a storage device;
A diagnostic index generation unit that generates a diagnostic index related to the moving characteristics of the user of the mobile body by reading out the data of the position and time stored in the storage device and performing statistical processing;
An output unit that outputs a diagnostic index related to the user's movement characteristics;
In the management computer,
A mobile body movement analysis / diagnosis system comprising: a management unit that accumulates and manages a diagnostic index related to the user's movement characteristics received from the portable GPS receiver. A mobile body movement analysis diagnostic system including a portable GPS (Global Positioning System) receiver mounted on a mobile body, and a management computer connected to the portable GPS receiver,
In the portable GPS receiver,
A GPS reception / positioning unit for acquiring GPS reception information;
A calculation unit that calculates the position / time data of the mobile body based on the GPS reception information and stores the data in a storage device;
An output unit for outputting the position / time data;
In the management computer,
By reading out and processing the received position / time data, a diagnostic index generation unit that generates a diagnostic index related to the moving characteristics of the user of the moving object, and the diagnostic index related to the moving characteristics of the user is accumulated and managed A moving body analysis analysis system for a moving body. The output unit transmits the position / time data at a certain time interval or when an event occurs,
4. The mobile body movement analysis / diagnosis system according to claim 3, wherein the diagnostic index generation unit generates, in real time, a diagnostic index related to a moving characteristic of a user of the mobile body by processing the received position / time data.

Images