JP2009258130A - Portable navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect a correct moving distance and a moving direction to detect a correct current position. <P>SOLUTION: A portable navigation system has a walk detecting means (KC13) for detecting whether or not a user walks based on acceleration data detected by an acceleration sensor (SN3), a walk cycle detecting means (KC18) for detecting whether or not acceleration history for one cycle of walk of the user is present based on the acceleration data, a stop determining means (KC14) for determining whether the walk detecting means (KC13) detects the walk during a stop determination time for determining whether or not the user stops walking, and a speed resetting means (KC15) for resetting moving speed stored in a speed detecting and storing means (KC12) to zero if the stop determining means (KC14) determines that no walk has been detected. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to a portable navigation device capable of displaying a route guidance image indicating a route from a starting point specified by a user to a destination, and in particular, an acceleration sensor for detecting acceleration during movement of the portable navigation device and a portable device. The present invention relates to a portable navigation device having a geomagnetic sensor for detecting the magnetic orientation of the navigation device.
The present invention can be suitably applied to portable navigation devices such as a mobile phone, a PDA (Personal Digital Assistance), a notebook personal computer, and the like in which a navigation program is incorporated.

  Currently, a navigation device that is installed in a car as a navigation device that performs route guidance (navigation) from a departure point to a destination, and software for navigation on a portable terminal such as a mobile phone or a PDA, which guides the moving route of the vehicle And a portable navigation device that displays an image for guiding a user to a destination. In such a navigation device, the current position is detected using GPS (Global Positioning System). In addition, when GPS is used in a mobile phone, PHS, or the like, not only radio waves from GPS satellites but also communication with a base station may be used (MS-base method or the like). However, the current position cannot be confirmed in places where radio waves from GPS satellites or radio waves from mobile phone base stations cannot be received (for example, in tunnels, subway premises, inside buildings, etc.).

As a technique for detecting the moving distance of the apparatus without using GPS or the like, a conventional technique described in Patent Document 1 below is known.
(Technique described in Patent Document 1 (Patent No. 33599781))
Patent Document 1 obtains the displacement (movement distance) obtained by integrating twice the acceleration in the X, Y, and Z-axis directions detected by a three-dimensional acceleration sensor (8010-8030) and communication with GPS and PHS. A technique for detecting the current position based on the absolute coordinates is described.

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

However, since the technique described in Patent Document 2 uses a geomagnetic sensor, there is a problem that the traveling direction cannot be determined unless the movement direction of the person (device) and the direction of the geomagnetic sensor are always constant. (See Patent Document 2 publication, page 3, upper right column, lines 4 to 12).
Therefore, in the technique described in Patent Document 2, the direction of movement and the distance of movement are detected in a pedometer attached to the user's waist or the like in a predetermined posture, or an in-vehicle car navigation device held in a predetermined posture. can do. However, in a portable navigation device such as a mobile phone, for example, the user may hold it in his hand or hold it in a pocket, the posture of the device is unknown, the user's movement direction and geomagnetic sensor The direction of is likely to be different. Therefore, the technique described in Patent Document 2 has a problem that the portable navigation device cannot accurately detect the traveling direction and the movement distance, and cannot accurately detect the current position.

As a method for solving such a problem, for example, it is conceivable to combine the conventional technique described in Patent Document 2 with the conventional technique of the electronic compass described in Patent Document 3 below.
(Technique described in Patent Document 3 (JP-A-8-278137))
Patent Document 3 discloses an error based on the geomagnetic directions in the X, Y, and Z axis directions obtained from the three-dimensional geomagnetic sensor unit (1) and the tilt amount obtained from the tilt sensor unit (2). A technique for detecting a magnetic orientation (θmg) without a gap is described.

Japanese Patent No. 33599781 ("0031" to "0037", FIGS. 7 to 9) Japanese Patent Laid-Open No. 2-216011 (Gazette page 2, upper right column, line 19 to gazette page 3 upper right column, line 16, FIGS. 1 to 4) JP-A-8-278137 ("0016" to "0055", FIGS. 1 to 4, FIGS. 7, and 8)

When the techniques described in Patent Documents 1 to 3 are used in a portable navigation device, the movement direction and the movement distance can be detected without using GPS even when the portable navigation device is tilted, and the current position Can be detected.
When the current position is detected by a portable navigation device, if GPS or the like can be used, it is preferable to use GPS or the like because the current position can be more accurately determined by using GPS or the like. Therefore, it is desirable to detect the current position by detecting the moving distance and the moving direction using the prior art described in Patent Documents 1 to 3 in a state where GPS or the like cannot be used.

  However, when the GPS or the like can be used, the user moves while holding the portable navigation device, and the portable navigation device has speed (speed and direction). There is a high possibility. That is, when GPS becomes unavailable, it is practically impossible to fix the portable navigation device so that it does not move. When starting detection of the moving distance and moving direction, The portable navigation device has a speed (initial speed). When the speed is obtained by integrating the acceleration as in the technique described in Patent Document 1, if the initial speed is not 0, the initial speed is accumulated as an error component when calculating the movement distance. Similarly, in the technique described in Patent Document 3, if the initial speed is not 0, the initial speed has an adverse effect as an error when detecting the moving direction. That is, in the techniques described in Patent Documents 1 to 3, since the movement distance and the movement direction include errors, there is a problem that the accurate movement distance and movement direction cannot be detected, and the accurate current position cannot be detected. .

  In view of the above-described circumstances, the present invention detects an accurate current position by detecting an accurate distance and direction of movement in a portable navigation device that uses an acceleration sensor or the like to detect a distance or direction of movement. This is the first technical problem.

  Next, the present invention that has solved the above problems will be described. In order to facilitate the correspondence between the elements of the present invention and elements of specific examples (examples) of the embodiments described later, Add the code enclosed in parentheses. The reason why the present invention is described in correspondence with the reference numerals of the embodiments described later is to facilitate understanding of the present invention, and not to limit the scope of the present invention to the embodiments.

In order to solve the above-mentioned problem, a portable navigation device according to a first invention is
Map data storage means (KC5B) for storing map data for route guidance;
Route guidance image display means (KC23) for displaying a route guidance image from the departure point to the destination using the map data;
An acceleration sensor (SN3) for detecting acceleration during movement of the portable navigation device (1);
A geomagnetic sensor (SN1) for detecting geomagnetism;
Acceleration data storage means (KC11B) for storing acceleration data detected by the acceleration sensor (SN3);
Speed detection storage means (KC12) for obtaining and storing the moving speed of the portable navigation device (1) based on the acceleration data;
Magnetic direction detection means (KC10B) for detecting the magnetic direction of the portable navigation device (1) based on the geomagnetism;
A moving distance detecting means (KC19) for detecting a moving distance and a moving direction based on the moving speed and the magnetic direction;
Walking detection means (KC13) for detecting whether or not the user is walking based on the acceleration data;
A walking cycle detection means (KC18) for detecting whether there is a history of acceleration for one cycle of walking of the user based on the acceleration data;
A stop determination time storage means (KC14B) for storing a stop determination time for determining whether or not the user has stopped walking;
A stop determination means (KC14) for determining whether or not the walking detection means (KC13) did not detect a walk during the stop determination time;
When it is determined by the stop determination means (KC14) that the walking detection means (KC13) has not detected a walk during the stop determination time, the movement speed stored in the speed detection storage means (KC12) is calculated. Speed resetting means (KC15) for setting to 0;
It is characterized by having.

(Operation of the first invention)
In the portable navigation device (1) according to the first invention having the above-described configuration requirements, the route guidance image display means (KC23) uses the map data for route guidance stored in the map data storage means (KC5B). The image for route guidance from the departure point to the destination is displayed. The acceleration sensor (SN3) detects the acceleration when the portable navigation device (1) moves. The geomagnetic sensor (SN1) detects geomagnetism, and the magnetic direction detection means (KC10B) detects the magnetic direction of the portable navigation device (1) based on the geomagnetism. Based on the acceleration data stored in the acceleration data storage means (KC11B), the speed detection storage means (KC12) calculates and stores the moving speed of the portable navigation device (1).

  A movement distance detection means (KC19) detects a movement distance and a movement direction based on the movement speed and the magnetic direction. The walking detection means (KC13) detects whether or not the user is walking based on the acceleration data. The stop determination means (KC14) determines whether or not the walking detection means (KC13) has detected no walking during the stop determination time stored in the stop determination time storage means (KC14B). The walking cycle detection means (KC18) detects whether there is a history of acceleration for one cycle of the user's walking based on the acceleration data. When it is determined by the stop determination means (KC14) that the walking detection means (KC13) has not detected a walk during the stop determination time, the speed reset means (KC15) is a speed detection storage means (KC12). The moving speed stored in is set to zero.

  Therefore, the portable navigation device (1) according to the first aspect of the invention stops when the user has no history of acceleration for one cycle of walking and the user is not walking during the stop determination time. It is determined that the portable navigation device (1) is stopped. When it is determined that the user and the portable navigation device (1) are stopped, the moving speed is reset. As a result, since the stop of the portable navigation device (1) is detected and the speed is reset, no error is included in detecting the movement distance and movement direction after the reset. Therefore, the portable navigation device (1) of the first invention can detect an accurate moving distance and moving direction. And when the said exact movement distance and movement direction are used for the detection of the present position, an exact present position can be detected.

(First Embodiment 1)
The portable navigation device (1) according to the first aspect of the present invention is the first invention,
Stride storage means (KC8) for storing the stride of the user;
When the walking is detected by the walking detection means (KC13), the movement distance detection means (KC19) that detects the movement distance and the movement direction based on the stride, the movement speed, and the magnetic direction;
It is characterized by having.

(Operation of Form 1 of the First Invention)
In the portable navigation device (1) according to the first aspect of the first invention having the above-described structural requirements, the movement distance detection means (KC19) stores the stride length when walking is detected by the walking detection means (KC13). The moving distance and the moving direction are detected based on the user's stride, the moving speed, and the magnetic orientation stored in the means (KC8).
Therefore, in the portable navigation device (1) according to the first aspect of the first invention, the movement distance can be detected based on the detection of the walking and the stride without integrating the acceleration twice to obtain the movement distance.

(First Embodiment 2)
The portable navigation device (1) according to the second aspect of the first invention is the same as the first aspect of the first invention,
A height input key (12) for inputting the height of the user;
Height storage means (KC6A) for storing the height input by the height input key (12);
Stride calculation means (KC7) for calculating the stride based on the height;
The stride storage means (KC8) for storing the stride calculated by the stride calculation means (KC7);
It is characterized by having.

(Operation of the second aspect of the first invention)
In the portable navigation device (1) according to the second aspect of the first invention having the above-described constituent elements, the height of the user input by the height input key (12) is stored by the height storage means (KC6A). A stride calculating means (KC7) calculates the stride based on the height. The stride storage means (KC8) stores the stride calculated by the stride calculation means (KC7).
Therefore, in the portable navigation device (1) according to the second aspect of the first invention, the stride is automatically calculated based on the height of the user, and the moving distance can be detected.

(Embodiment 3 of the first invention)
A portable navigation device (1) according to a third aspect of the first invention is the portable navigation device (1) according to any one of the first invention and the first and second aspects of the first invention.
The map data storage means (KC5B) for storing the map data and data of a deviation angle with respect to geomagnetism;
A true azimuth calculating means (KC10C) for calculating a true azimuth based on the declination data and the magnetic azimuth;
It is characterized by having.

(Operation of the third aspect of the first invention)
In the portable navigation device (1) according to the third aspect of the first invention having the above-described configuration requirements, the map data storage means (KC5B) stores the map data and the data of the deviation angle with respect to the geomagnetism. The true orientation calculating means (KC10C) calculates the true orientation based on the declination data and the magnetic orientation.
Therefore, the portable navigation device (1) according to the third aspect of the first invention can detect the true direction, not the magnetic direction, and can detect the accurate moving direction based on the true direction.

  The above-described present invention can detect an accurate current position by detecting an accurate distance and direction of movement in a portable navigation device that uses an acceleration sensor to detect a distance and direction of movement.

FIG. 1 is an explanatory diagram of Embodiment 1 of the route guidance system of the present invention. FIG. 2 is a block diagram (function block diagram) showing functions of the mobile terminal of the route guidance system shown in FIG. FIG. 3 is a block diagram of the portable terminal according to the first embodiment, which is a continuation of FIG. FIG. 4 is an explanatory diagram of a route search condition image according to the first embodiment. FIG. 5 is an explanatory diagram of an inclination angle from the horizontal plane of the mobile phone. FIG. 6 is an explanatory diagram showing the relationship between the mobile phone and the north of the magnetic orientation and the north of the true orientation. FIG. 7 is an explanatory diagram of the moving direction of the mobile phone. FIG. 8 is an explanatory diagram of a route guidance image according to the first embodiment. FIG. 9 is a block diagram (function block diagram) illustrating the server function of the route guidance system according to the first embodiment. FIG. 10 is a main flowchart of the current position detection process of the route guidance program provided in the mobile phone of the route guidance system according to the first embodiment. FIG. 11 is a flowchart of the mobile phone movement stop detection process of the first embodiment, and is a flowchart of the subroutine of ST4 of FIG. FIG. 12 is a flowchart of the mobile phone movement distance detection process according to the first embodiment, and is a flowchart of the subroutine of ST21 in FIG. FIG. 13 is a flowchart of the moving distance calculation process of the mobile phone according to the first embodiment, and is a flowchart of ST32, ST35, and ST38 subroutines of FIG. FIG. 14 is an explanatory diagram of an example of acceleration data in the X-axis direction. FIG. 15 is a diagram showing a waveform of the acceleration data shown in FIG. FIG. 16 is an explanatory diagram of the sum of differences calculated based on the acceleration data shown in FIG.

  Next, specific examples (examples) of the embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to the following examples.

FIG. 1 is an explanatory diagram of Embodiment 1 of the route guidance system of the present invention.
In FIG. 1, the route guidance system S of Example 1 has a mobile phone 1 as a portable navigation device that can be carried by a user. The mobile phone 1 is connected to a data communication device 3 of a mobile phone operator via a mobile phone network 2. The data communication device 3 is connected via a dedicated line 4 and the Internet 6 to a route guidance data distribution server 7 and an information distribution server 8 of another information distributor (content provider, application service provider). In the first embodiment, the route guidance data distribution server 7 is connected to the data communication device 3 via the dedicated line 4, but can also be connected via the Internet 6.

The mobile phone 1 has an information display screen 11 on which a display image is displayed and an input key (height input key) 12 for various inputs by a user, and a storage device (recording medium) in which a program and the like are recorded. It has. The mobile phone 1 according to the first embodiment incorporates a GPS (Global Positioning System) device capable of three-dimensionally positioning the current position of the mobile phone.
The route guidance data distribution server 7 also includes a server body 16 and a display (not shown), an input device (not shown) such as a keyboard and a mouse, a hard disk drive (recording medium, not shown), a CD drive, etc. An optical drive (recording medium reading device, not shown) is included.

(Description of the control unit of the mobile phone 1)
FIG. 2 is a block diagram (function block diagram) showing functions of the mobile terminal of the route guidance system shown in FIG.
FIG. 3 is a block diagram of the portable terminal according to the first embodiment, which is a continuation of FIG.
2 and 3, the controller KC of the mobile phone 1 includes an I / O (input / output interface) that performs input / output of signals with the outside and adjustment of input / output signal levels, a program for performing necessary processing, and the like. Performs processing according to programs stored in ROM (read only memory, recording medium) in which data is stored, RAM (random access memory, recording medium) for temporarily storing necessary data, ROM, etc. It is composed of a CPU (Central Processing Unit) and a microcomputer having a clock oscillator and the like, and various functions can be realized by executing programs stored in the ROM or the like.

(Signal input element connected to the mobile phone controller KC)
The controller KC of the mobile phone 1 receives signals from the input key 12, the GPS device, the three-dimensional geomagnetic sensor (geomagnetic sensor) SN1, the tilt sensor SN2, the acceleration sensor SN3, and other signal input elements.
The input key 12 detects that they are input by the user, and inputs the detection signal to the controller KC.
The GPS device positions the position of the mobile phone 1 on the earth from the arrival time of the radio wave of the time signal emitted from the satellite and inputs the position result to the controller KC according to the input signal for starting the position. To do.

The three-dimensional geomagnetic sensor SN1 detects a magnetic orientation. The three-dimensional geomagnetic sensor SN1 according to the first embodiment is a sensor in which high-sensitivity and high-precision geomagnetic sensors are arranged in three orthogonal (X, Y, Z axis) directions. Since such a geomagnetic sensor is conventionally known (for example, refer to Japanese Patent Laid-Open No. 2002-090432), detailed description thereof is omitted. In addition, it is also possible to use the three-dimensional geomagnetic sensor described in Patent Document 3.
The tilt sensor SN2 detects the tilt amount of the mobile phone 1 with respect to the horizontal plane. Since the tilt sensor SN2 of the first embodiment uses a conventionally known tilt sensor (see, for example, Patent Document 3), detailed description thereof is omitted.

The acceleration sensor SN3 detects acceleration when the mobile phone 1 moves. The acceleration sensor SN3 of the first embodiment uses a conventionally known acceleration sensor (see, for example, Patent Document 1) that can detect accelerations in three orthogonal (X, Y, Z axis) directions. The detailed explanation is omitted. In addition, the acceleration data Ax, Ay, Az output from the acceleration sensor SN3 of the first embodiment is converted into 8-bit digital output, and the acceleration is -1G (= -9.8 m / s ² ). Digital data is output with 0, 128 when acceleration is 0, and 255 when acceleration is + 1G. That is, the acceleration sensor SN3 according to the first embodiment adjusts the acceleration of −1G to + 1G to digital data within the range of 0 to 255, and outputs it as acceleration data Ax, Ay, Az. The output data adjustment method and the like can be appropriately changed according to the design.

(Control elements connected to the mobile phone controller KC)
The controller KC of the mobile phone 1 is connected to the liquid crystal drive circuit KD1, the GPS drive circuit KD2, a power supply circuit (not shown), and other control elements, and outputs their operation control signals.
The liquid crystal driving circuit KD1 displays a display image on the information display screen 11 by controlling on / off of display electrodes of the liquid crystal display panel.
The GPS drive circuit KD2 outputs a side position start signal to the GPS device to drive the GPS.

(Function of mobile phone controller KC)
The controller KC of the mobile phone 1 has a route guidance program (navigation software) P1, a call control program P2, and other programs, and executes processing corresponding to the output signals from the signal output elements. And a function (control means) for outputting a control signal to each control element. Next, the function (control means) of the route guidance program P1 of the controller KC will be described. Note that the call control program P2 is a conventionally known program for controlling the call of the mobile phone 1, and various conventionally known techniques can be adopted, and thus detailed description thereof is omitted.

KC1: Liquid crystal drive circuit control means In FIG. 2, the liquid crystal drive circuit control means KC1 controls the liquid crystal drive circuit KD1 to display an image on the information display screen 11.
KC2: GPS control means The GPS control means KC2 controls the driving of the GPS device via the GPS driving circuit KD2, and measures the current position of the mobile phone 1 at a predetermined input signal or at predetermined time intervals by the GPS device.

FIG. 4 is an explanatory diagram of a route search condition screen according to the first embodiment.
KC3: Route search condition input screen display means The route search condition input screen display means KC3 has a route search condition storage means KC3A, and a route for inputting a route search condition including a departure place and a destination on the information display screen 11 A search condition input screen (see FIG. 4) is displayed. In FIG. 4, in the route search condition input screen of the first embodiment, a departure point input field for inputting a departure point, a destination input column for inputting a destination, a departure date / time or arrival date / time for route guidance are input. A date and time input field for input, a search path number input field for inputting the number of routes to be searched, a transport means input field for inputting a transport means used for route guidance, and a route guidance data distribution server (server) A search condition transmission icon (search icon) for executing transmission of the search condition to 7 is displayed.

KC3A: route search condition storage means The route search condition storage means KC3A stores the route search conditions (departure point, destination, departure date, etc.) set by the input to the route search condition input image (see FIG. 4). .
KC4: Terminal-side data transmission means The terminal-side data transmission means KC4 has route search condition data transmission means KC4A, and transmits data such as route search conditions to the route guidance data distribution server 7.

KC4A: Route search condition data transmission means The route search condition data transmission means KC4A stores the route search condition data in the route search condition storage means KC3A when the search condition transmission icon displayed on the route search condition input image (see FIG. 3) is selected. The stored route search condition data is transmitted to the server 7.
KC5: Terminal-side data receiving means The terminal-side data receiving means KC5 has search result receiving means KC5A and map data receiving means KC5B, and receives the map data and the like transmitted from the route guidance data distribution server 7.

KC5A: Search result receiving means The search result receiving means KC5A is route data created by the route guidance data distribution server 7 in accordance with the route search conditions transmitted from the mobile phone 1, and is set at the destination after leaving the departure place. Route data representing the route until arrival is received from the route guidance data distribution server 7.
KC5B: Map data receiving means (map data storage means)
The map data receiving means KC5B receives and stores the map data transmitted from the server. The map data receiving means KC5B according to the first embodiment receives data of a plurality of unit maps in a predetermined range transmitted from the server according to the current position of the mobile phone 1. Since a technique for dividing a map into unit maps and transmitting / receiving necessary unit map data is conventionally known (see, for example, Japanese Patent Application Laid-Open No. 2003-214860), detailed description thereof is omitted. Further, the map data receiving means KC5B of Embodiment 1 receives and stores the geomagnetic declination data transmitted from the server 7 together with the unit map data.

KC6: Height input image display means Height input image display means KC6 has a height storage means KC6A, and displays a height input image (not shown) for inputting the height of the user of the mobile phone 1 on the information display screen 11. To do.
KC6A: Height storage means The height storage means KC6A stores the height data input by the input key 12 when the height input image is displayed.

KC7: Stride calculating means The stride calculating means KC7 calculates the user's stride STP based on the height data stored in the height storage means KC6A. The stride length calculating means KC7 of the first embodiment calculates the user height × 0.45 as the stride length STP.
KC8: Stride storage means The stride storage means KC8 stores the stride STP calculated by the stride calculation means KC7.

FIG. 5 is an explanatory diagram of an inclination angle from the horizontal plane of the mobile phone.
KC9: Inclination angle detection means The inclination angle detection means KC9 has an inclination data storage means KC9A, and calculates the inclination angle of the mobile phone 1 based on the inclination data output from the inclination sensor SN2. In FIG. 5, the tilt angle detecting means KC9 of the first embodiment includes an X-axis, a Y-axis of an observation coordinate system that is set to observe acceleration, magnetic direction, and the like with the acceleration sensor SN3 and the three-dimensional geomagnetic sensor SN1 of the mobile phone 1. Inclination angles α and β between the X axis and Y axis in the Z axis and the X ′ axis, Y ′ axis, the X ′ axis in the Z ′ axis, and the Y ′ axis of the coordinate system projected onto the horizontal plane are calculated. . In addition, since the calculation method of the said inclination | tilt angles (alpha) and (beta) is conventionally well-known (for example, refer patent document 3 etc.), detailed description is abbreviate | omitted.
KC9A: Inclination data storage means The inclination data storage means KC9A stores the inclination data output from the inclination sensor SN2 and the inclination angles α and β detected by the inclination angle detection means KC9.

KC10: Direction Detection Unit The direction detection unit KC10 includes a geomagnetic data storage unit KC10A, a magnetic direction calculation unit KC10B (magnetic direction detection unit), and a true direction calculation unit KC10C, and is output from the three-dimensional geomagnetic sensor SN1. The direction is detected based on the geomagnetic data.
KC10A: Geomagnetic data storage means The geomagnetic data storage means KC10A stores the geomagnetic data output from the three-dimensional geomagnetic sensor SN1.

FIG. 6 is an explanatory diagram showing the relationship between the mobile phone and the north of the magnetic orientation and the north of the true orientation.
KC10B: Magnetic direction calculation means (magnetic direction detection means)
Based on the geomagnetic data and the inclination angles α and β, the magnetic direction calculation means KC10B, on the horizontal plane, the angle (magnetic direction) Θmg (the magnetic direction) between the magnetic direction north (Nmg) and the X ′ axis of the mobile phone 1 (See FIG. 6). Note that a method for calculating the magnetic orientation Θmg is conventionally known (see, for example, Patent Document 3), and thus detailed description thereof is omitted.
KC10C: True direction calculation means The true direction calculation means KC10C is based on the magnetic direction Θmg and the angle (declination) Θh formed by the true direction and the magnetic direction stored in the map data receiving means KC5B. The angle (true orientation) Θtr (see FIG. 6) between the north (Ntr) of the mobile phone 1 and the X ′ axis of the mobile phone 1 is calculated. That is, the mobile phone 1 of the first embodiment does not use the magnetic direction Θmg itself, but uses the true direction Θtr calculated based on the magnetic direction Θmg.

KC11: Acceleration data management means The acceleration data management means KC11 includes acceleration calculation means KC11A, acceleration data storage means KC11B, sampling interval storage means KC11C, sampling interval measurement timer TM1, and acceleration data shift means KC11D. Management of reading, calculation, storage, and the like of acceleration data Ax to Az output from the acceleration sensor SN3 is performed.

KC11A: Acceleration calculation means The acceleration calculation means KC11A outputs a coordinate system (X ′, Y ′) on the horizontal plane based on the tilt angles α, β and the read acceleration data Ax, Ay, Az read from the acceleration sensor SN3. , Z ′ axis) acceleration data ax, ay, az are calculated (coordinate conversion is performed). Since the coordinate transformation is conventionally known (for example, refer to “Formula 3” of “0037” of Patent Document 3), detailed description thereof is omitted.

KC11B: Acceleration data storage means The acceleration data storage means KC11B stores acceleration data ax to az calculated by the acceleration calculation means KC11A. The acceleration data storage means KC11B according to the first embodiment stores the calculated acceleration data ax, ay, and az in three directions of the X ′ axis, the Y ′ axis, and the Z ′ axis for each axis. Further, the acceleration data storage means KC11B of the first embodiment has a storage area capable of storing a total of 150 histories from M0 to M149 for each axis, and the latest acceleration data is stored in M149. The The number of storage areas can be changed as appropriate according to the design.

KC11C: Sampling interval storage means The sampling interval storage means KC11C stores an interval (sampling interval) t1 for acquiring the acceleration data. The sampling interval storage means KC11C of Example 1 stores 10 ms as the sampling interval t1.
TM1: Sampling interval measuring timer The sampling interval measuring timer TM1 is timed up when the sampling interval t1 is set and the sampling interval t1 elapses.

KC11D: Acceleration Data Shift Unit When the acceleration data shift unit KC11D stores new acceleration data, the acceleration data shift unit KC11D stores (shifts) the acceleration data stored in M1 to M149 in M0 to M148.
KC12: Movement speed detection means (speed detection storage means)
The moving speed detecting means KC12 has a moving speed calculating means KC12A and a moving speed storing means KC12B, and detects the moving speed Vx, Vy, Vz of the mobile phone 1 based on the acceleration data ax, ay, az. .

KC12A: Movement speed calculation means The movement speed calculation means KC12A calculates the movement speeds Vx, Vy, Vz of the mobile phone 1 based on the latest acceleration data ax, ay, az stored in M149. When calculating the moving speeds Vx to Vz, the moving speed calculating means KC12A of the first embodiment first calculates acceleration data ax to az of 0 to 255 from −9.8 m / s ² (= −1G) to Inverse conversion to acceleration data A′x, A′y, A′z of +9.8 m / s ² (= + 1 G). Based on the moving speeds Vx, Vy, Vz, acceleration data A′x, A′y, A′z stored in the moving speed storage means KC12B, which will be described later, and the sampling interval t1, the latest moving speed Vx. , Vy, Vz are calculated by the following equation (1) and updated.
V (x, y, z) = V (x, y, z) + A ′ (x, y, z) × t1
……… (1)
Note that the calculation of the moving speed is not limited to this calculation method, and for example, it can be obtained by a calculation method that integrates acceleration data stored in M0 to M149.
KC12B: Movement speed storage means The movement speed storage means KC12B stores the movement speeds Vx, Vy, Vz of the mobile phone 1 calculated by the movement speed calculation means KC12A.

KC13: Walking detection means The walking detection means KC13 has stop determination acceleration storage means KC13A, and detects whether or not the user is walking based on the acceleration data, that is, whether or not the mobile phone 1 is moving. To do. First, the walking detection means KC13 of the first embodiment uses acceleration data ax ′ (= ax−128) and ay ′ (= ay−128) in consideration of positive and negative directions from 0 to 255 acceleration data ax, ay, and az. , Az ′ (= az−128). Then, based on the acceleration data Ax'～az ', the latest acceleration magnitude, ^{i.e., {(a'x) 2 + (} a'y) 2 + (a'z) 2} 1/2 is stopped It is determined whether or not it is greater than the discrimination acceleration at, and if it is greater than the stop discrimination acceleration, it is determined that the user is walking. The walking detection means KC13 of the first embodiment detects walking based on the magnitude of acceleration, but the absolute values of the accelerations ax, ay, and az are larger than the predetermined stop determination acceleration at for each axis. It is also possible to determine whether or not the user is walking when any one of them is larger than the stop determination acceleration at.

KC13A: Stop determination acceleration storage means The stop determination acceleration storage means KC13A stores a stop determination acceleration at for determining whether or not the user is walking. The stop determination acceleration storage means KC13A of the first embodiment stores about 0.3 G (35 in 8-bit data) as the stop determination acceleration at. This is usually set based on the observation of an acceleration of 0.5 G to 0.6 G in one cycle when the user walks. However, the value of the stop determination acceleration at is not limited to about 0.3 G, and can be changed to an appropriate value according to the design.

KC14: Stop determination means The stop determination means KC14 has a stop detection counter KC14A and a stop determination count value storage means KC14B, and the walk detection means KC13 did not detect the user's walk during a predetermined stop determination time. It is determined whether or not (whether or not it is stopped). That is, the stop determination means KC14 of the first embodiment does not detect the user's walking continuously for a predetermined stop determination time because the acceleration may instantaneously become zero even when the user is walking. In this case, it is determined that the user has stopped. In addition, the stop determination means KC14 of the first embodiment has a stop determination time of 1.5 seconds (= 10 ms (sampling interval t1) × 150 times) when the number of times it is determined that it is not walking is 150 times or more. As described above, when the magnitude of the acceleration is equal to or less than the stop determination acceleration at, it is determined that the mobile phone 1 is stopped. Note that the stop determination means KC14 of Example 1 determined stop by counting the number of times it was determined that it was not walking. However, the stop determination means KC14 continued to use a timer for measuring the stop duration, and continued to a predetermined stop. It is also possible to determine that the vehicle is stopped when it is determined that the user has not walked for the determination time.

KC14A: Stop detection counter The stop detection counter KC14A counts the number Nt of times when the walking detection means KC13 did not detect walking. The count value Nt is reset (initialized to 0) when the walking detector KC13 detects walking.
KC14B: Stop determination count value storage means (stop determination time storage means)
The stop determination count value storage means KC14B (stop determination time storage means) stores the stop determination count value Nh. The stop determination count value storage means KC14B of Embodiment 1 stores 150 times as the stop determination count value Nh, that is, 1.5 seconds as the stop determination time. The stop determination count value storage means KC14B of the first embodiment uses the stop determination count value Nh 150 times (1.5 seconds) according to the acceleration data storage means KC11B having 150 storage areas (M0 to M149). However, the present invention is not limited to this, and can be changed as appropriate.

KC15: Speed reset means The speed reset means KC15 is stored in the moving speed storage means KC12B when the stop determination means KC14 determines that the walking detection means KC13 has not detected walking during the stop determination time. The moved movement speeds Vx to Vz are set to zero.
KC16: Moving distance calculation start determining means The moving distance calculation start determining means KC16 determines whether or not to start calculating the moving distance by determining whether or not the acceleration data has been accumulated to such an extent that the moving distance can be calculated. Is determined. The moving distance calculation start determining means KC16 of the first embodiment has M0 to M0 when any one of the acceleration data ax to az stored in M0 (the storage area of the oldest history data) of the acceleration data storage means KC11B is not 0. The acceleration data is stored in M149, and it is determined that the movement distance can be calculated.

KC17: Acceleration data validity determination means The acceleration data validity determination means KC17 has acceleration validity determination threshold storage means KC17A, and is effective when the acceleration data stored in the acceleration data storage means KC11B calculates the movement distance. Whether or not the data is correct. When a user carrying the mobile phone 1 walks, acceleration (particularly acceleration in the vertical direction) fluctuates at a predetermined cycle for each step. In the route guidance system S of the first embodiment, it is assumed that the user carrying the mobile phone 1 is walking at 80 steps / minute to 160 steps / minute. Therefore, the cycle of one step of the slowest walking person is assumed to be about 750 ms (= 60 seconds / 80 steps). Therefore, the peaks and valleys (maximum and minimum values of acceleration) of the acceleration history waveform (see FIG. 15 to be described later) within a range of 750 ms at the maximum are equal to or greater than a predetermined size. The acceleration data validity determination unit KC17 according to the first embodiment determines whether the difference between the maximum value and the minimum value of the acceleration data stored in M0 to M74 is equal to or greater than a predetermined acceleration validity determination threshold value as. Thus, it is determined whether the change in acceleration is due to some disturbance received by the user while stopped or due to the user's walking. The acceleration data validity determining means KC17 of the first embodiment is determined by comparison with the acceleration validity determining threshold value as, but is not limited to this, and for example, the maximum value of acceleration data is 148 or more (that is, It can also be added as a determination condition that the minimum value is 108 or less (ie, negative acceleration).

KC17A: Acceleration validity determination threshold storage means The acceleration validity determination threshold storage means KC17A stores an acceleration validity determination threshold value as used when the acceleration data validity determination means KC17 makes a determination. The acceleration validity determination threshold value storage means KC17A of the first embodiment stores as = 25 (that is, about 0.2G) as the acceleration validity determination threshold value as. Note that the value of the acceleration validity determination threshold value as can be changed as appropriate.
KC18: Walking cycle detection means In FIG. 3, the walking cycle detection means KC18 includes a difference sum calculation means KC18A, a difference sum storage means KC18B, and a difference sum difference determination means KC18C. Perform detection. In the route guidance system S according to the first embodiment, it is assumed that the user carrying the mobile phone 1 is walking at 80 steps / minute to 160 steps / minute. KC18 assumes that the cycle of one step is in the range of 375 ms (= 60 seconds / 160 steps) to 750 ms (= 60 seconds / 80 steps).

そして、実施例１の差分総和演算手段ＫＣ１８Ａは、差分総和ＳｎをＳ３７〜Ｓ７５まで演算する。なお、前記差分総和Ｓｎの演算は、加減算だけであり、実施例１の差分総和演算手段ＫＣ１８Ａは、積和演算のモジュールを使用し且つ、ＤＳＰ（Digital Signal Processor）を使用するので、高速に処理でき且つ、処理による負荷も軽くすることができる。 KC18A: Difference sum calculating means The difference sum calculating means KC18A calculates a difference between certain acceleration data and acceleration data after a period expected from the acceleration data, and adds the difference for a predetermined period. Calculate. As described above, in the walking cycle detection means KC18 of the first embodiment, since the user's walking cycle is assumed to be 375 ms to 750 ms, the same waveform as the waveform indicating the history of acceleration data for 750 ms exists after 370 ms to 750 ms. Should be. Therefore, the difference sum calculating means KC18A of the first embodiment first calculates the sum of the absolute values of the differences between the acceleration data for 750 ms stored in M0 to M74 and the acceleration data stored in M37 to M111 after 370 ms. The difference sum S37 is calculated for each axis. That is, the generalized difference sum Sn is expressed by the following equation (2) ((Equation 1)), and the difference sum S37 is expressed by the following equation (2 ′) ((Equation 1)).

Then, the difference sum calculation means KC18A according to the first embodiment calculates the difference sum Sn from S37 to S75. The calculation of the difference sum Sn is only addition and subtraction. Since the difference sum calculation means KC18A of the first embodiment uses a product-sum calculation module and uses a DSP (Digital Signal Processor), the difference sum is calculated at high speed. In addition, the processing load can be reduced.

KC18B: Difference sum storage means The difference sum storage means KC18B stores the difference sums S37 to S75 calculated by the difference sum calculation means KC18A.
KC18C: difference sum difference determination means The difference sum difference determination means KC18C has difference sum difference threshold storage means KC18C1 for storing the difference sum difference threshold Ss, and the difference between the maximum value Smax and the minimum value Smin of the difference sums S37 to S75. Is greater than or equal to the difference sum difference threshold Ss. When the acceleration history waveforms match, the value of the difference sum Sn is minimized. That is, when the value of the difference sum Sn is minimized, the waveform is shifted by one cycle, and the value of n when Sn is minimized × 10 ms (sampling interval) is defined as one cycle of the user's walk. It can be detected. However, when the waveform is not periodic or when the period is too long, the difference between the maximum value Smax and the minimum value Smin of the difference sum is not sufficient. Therefore, the difference sum difference determination means KC18C determines whether or not the difference between the maximum value Smax and the minimum value Smin is equal to or greater than the difference sum difference threshold value Ss, and whether or not there is a history of acceleration for one cycle. That is, it is determined whether or not the user has taken one step. In addition, the difference sum total difference threshold value Ss of the first embodiment is set to the minimum value Smin. That is, it is determined whether or not the maximum value Smax is twice or more the minimum value Smin. In this case, it is calculated that the user has taken one step.

KC19: Movement Distance Detection Unit The movement distance detection unit KC19 includes a movement direction calculation unit KC19A and a movement distance calculation unit KC19B, and detects the movement direction Θv and the movement distance L of the mobile phone 1. In the mobile phone 1 according to the first embodiment, when the user walks one step, the moving distance and the moving direction are detected.
FIG. 7 is an explanatory diagram of the moving direction of the mobile phone.
KC19A: Movement direction calculation means The movement direction calculation means KC19A calculates the movement direction on the horizontal plane based on the movement speeds Vx to Vz. The movement direction calculating means KC19A of the first embodiment is configured such that the angle formed by the X ′ axis and the movement direction on the horizontal plane from the movement speed Vx in the X ′ axis direction on the horizontal plane and the movement speed Vy in the Y ′ axis direction. Θv is calculated.

KC19B: Movement distance calculation means The movement distance calculation means KC19B calculates the movement distance L in the coordinate system on the horizontal plane based on the stride STP, the angle Θv formed by the movement direction, and the true direction Θtr. The moving distance calculation means KC19B of the first embodiment uses the component Ln of the moving distance L in the direction of true azimuth north (true north Ntr) and the moving distance L in the direction of true west (true west Wtr) as the moving distance L. The component Lw is calculated. The components Ln and Lw of the movement distance L are expressed by the following formulas (3) and (4), respectively.
Ln = STP × cos (Θv−Θtr) (3)
Lw = STP × sin (Θv−Θtr) (4)
That is, the movement distance calculation means KC19B of the first embodiment is calculated as having moved by the step length STP in the direction of the angle (Θv−Θtr) from true north to west.

KC20: Acceleration data initialization means The acceleration data initialization means KC20 cannot detect one cycle by the difference sum total difference determination means KC18C when it is determined that the acceleration validity threshold storage means KC17A determines that the acceleration data is not valid. In the case of acceleration, the acceleration data ax to az that are not used in the calculation of the movement distance are initialized to 0 (acceleration data is deleted). In this case, the acceleration data initialization unit KC20 according to the first embodiment erases the acceleration data stored in M0 to M74 used in the detection of validity and one cycle.
The acceleration data initialization unit KC20 initializes the acceleration data ax to az used for the calculation of the movement distance L to 0 when the calculation of the movement distance L or the like is completed by the movement distance detection unit KC19. In this case, the acceleration data initialization unit KC20 according to the first embodiment erases the acceleration data (M1 to M1) of M0 to Mn used for calculating the movement distance L. Note that n of Mn means the value of n when Sn is minimized.

KC21: Current position detection means The current position detection means KC21 has GPS reception impossibility determination means KC21A and current position storage means KC21B, and detects the current position of the mobile phone 1. The current position detection means KC21 of the first embodiment detects the current position based on GPS in a state where radio waves from GPS satellites can be received. In a state in which radio waves from GPS satellites cannot be received, the latest information is based on the current position immediately before stored in the current position storage means KC21B and the movement direction and movement distance detected by the movement distance detection means KC19. Detect and update the current position of.

KC21A: GPS reception impossibility determining means GPS reception impossibility determining means KC21A determines whether or not radio waves from GPS satellites can no longer be received. That is, it is determined whether or not the vehicle has moved into an underground mall, tunnel, or building. The GPS reception impossibility determining means KC21A of the first embodiment could not continuously receive radio wave data from GPS satellites output at predetermined intervals from the GPS device for a predetermined GPS reception impossibility determination time tg (for example, 10 seconds). In this case, it is determined that the radio wave from the GPS satellite cannot be received, and detection of acceleration data and detection of the movement distance and movement direction are started.

KC21B: Current position storage means The current position storage means KC21B stores the current position detected based on the signal from the GPS when GPS is available, and is detected by the current position detection means KC21 when GPS is not available. Memorize the current position.
FIG. 8 is an explanatory diagram of a route guidance image according to the first embodiment.
KC22: Route guidance image creation means The route guidance image creation means KC22 includes the current position, the search result route data stored in the search result reception means KC5A, and the map data stored in the map data reception means KC5B. Based on, a route guidance image (see FIG. 8) is created.

KC23: Route guidance image display means The route guidance image display means KC23 displays the route guidance image (see FIG. 8) created by the route guidance image creation means KC22 on the information display screen 11.
FL1: Movement distance calculation completion determination flag The movement distance calculation completion determination flag FL1 has an initial value of “0” and is in any of the three axes (X ′ axis, Y ′ axis, Z ′ axis). It becomes “1” when the moving distance and moving direction can be calculated based on the acceleration data, and becomes “0” when it cannot be calculated.

(Description of the control unit of the route guidance data distribution server 7)
FIG. 9 is a block diagram (function block diagram) illustrating the server function of the route guidance system according to the first embodiment.
In FIG. 9, the controller SC of the route guidance data distribution server 7 includes an I / O (input / output interface) that performs input / output of signals with the outside and adjustment of input / output signal levels, a program for performing necessary processes, and According to programs stored in ROM (read-only memory, recording medium such as hard disk) in which data is stored, RAM (random access memory, recording medium) for temporarily storing necessary data, ROM, etc. A CPU (Central Processing Unit) that performs processing and a microcomputer having a clock oscillator and the like are configured, and various functions can be realized by executing a program stored in the ROM or the like.

(Signal input element connected to server controller SC)
The controller SC of the route guidance data distribution server 7 receives signals from input devices such as a keyboard and a mouse and other signal input elements.
The input device detects that they are input by the user and inputs the detection signal to the controller SC.

(Control elements connected to server controller SC)
The controller SC of the route guidance data distribution server 7 is connected to a display, a power supply circuit (not shown), and other control elements, and outputs their operation control signals.
A display image corresponding to a user operation is displayed on the display.

(Function of server controller SC)
The controller SC of the route guidance data distribution server 7 is a route guidance data (map data) distribution application program P3 for processing each data transmitted from the navigation software (route guidance program P1) of the mobile phone 1, and other programs. And a function (control means) for executing processing according to the output signal from each signal output element and outputting a control signal to each control element and the like. Next, the function (control means) of the map data distribution application program P3 of the controller SC will be described.

SC1: Server-side data receiving means The server-side data receiving means SC1 has search condition data receiving means SC1A, and receives the route search condition data transmitted from the mobile phone 1 and the like.
SC1A: Search condition data receiving means The search condition data receiving means SC1A receives and stores the route search condition data transmitted from the mobile phone 1.

SC2: Map data storage means The map data storage means SC2 stores map data. The map data stored in the map data storage means SC2 of the first embodiment is composed of unit map data divided into unit maps in a predetermined range based on latitude and longitude. Each unit map data is stored in association with an angle (declination) Θh formed between the north of the magnetic direction and the north of the true direction. Note that vector map data is used as the map data of the first embodiment.

SC3: Route creation means The route creation means SC3 determines a route from the departure location to the arrival location in accordance with the received route search condition, and indicates the location of the departure location. Optimal route data (route data) including the location data and destination location data indicating the location of the destination is created. In the route search conditions, when the use of transportation is specified, the optimum route including transportation is created, and when multiple routes to be searched are specified, the specified number Create multiple routes according to your needs. In addition, since the technique which produces the said optimal route data is conventionally well-known (for example, refer Unexamined-Japanese-Patent No. 2003-214860 etc.), detailed description is abbreviate | omitted.

SC4: Server-side data transmission means The server-side data transmission means SC4 has route data transmission means SC4A and map information transmission means SC4B. Route data, map data, etc. are sent from the route guidance data distribution server 7 to the mobile phone 1. Send.
SC4A: Route data transmission means The route data transmission means SC4A transmits the route data created by the route creation means SC3 to the mobile phone 1.
SC4B: Map information transmitting means The map information transmitting means SC4B transmits map data corresponding to the current position of the mobile phone 1 to the mobile phone 1.

(Explanation of flowchart)
FIG. 10 is a main flowchart of the current position detection process of the route guidance program provided in the mobile phone of the route guidance system according to the first embodiment.
Each ST (step) process in the flowchart of FIG. 10 is performed according to the route guidance program P1 of the controller KC of the mobile phone 1. This process is executed in parallel with other various processes of the mobile phone 1.

The flowchart shown in FIG. 10 is started when the route guidance program P1 of the mobile terminal 1 is executed.
In ST1 of FIG. 10, it is determined whether or not a radio wave from a GPS satellite has been received. If yes (Y), the process proceeds to ST2, and if no (N), the process proceeds to ST3.
In ST2, the current position of the mobile phone 1 is updated based on the received radio wave from the GPS satellite. Then, the process returns to ST1.
In ST3, it is determined whether or not radio waves from GPS satellites have been continuously received for a GPS reception impossibility determination time tg (for example, 10 seconds) or longer. If yes (Y), the process proceeds to ST4, and, if no (N), the process returns to ST1.

In ST4, while detecting a user's walk and stop, the movement stop detection process (refer the subroutine of FIG. 11 mentioned later) which detects a movement distance and a movement direction is performed. Then, the process proceeds to ST5.
In ST5, the current position is updated based on the moving distance and moving direction detected in ST4 and the current position (immediately preceding current position). Then, the process returns to ST1.

(Explanation of Flowchart of Movement Stop Detection Process (ST4 Subroutine))
FIG. 11 is a flowchart of the mobile phone movement stop detection process of the first embodiment, and is a flowchart of the subroutine of ST4 of FIG.
In ST11 of FIG. 11, the sampling interval t1 is set in the sampling interval measurement timer TM1. Then, the process proceeds to ST12.
In ST12, it is determined whether the sampling interval measurement timer TM1 has timed up, that is, whether the sampling interval t1 has elapsed. If no (N), ST12 is repeated, and if yes (Y), the process proceeds to ST13.

In ST13, the acceleration data stored in M1 to M149 of the acceleration data storage means KC11B is shifted to M0 to M148. Then, the process proceeds to ST14.
In ST14, the following processes (1) to (4) are executed, and the process proceeds to ST15.
(1) The tilt angles α and β are calculated based on the output from the tilt sensor SN2.
(2) The magnetic azimuth Θmg and the true azimuth Θtr are calculated based on the inclination angles α and β and the output data from the three-dimensional geomagnetic sensor SN1.
(3) The acceleration data Ax, Ay, Az output from the three-dimensional acceleration sensor SN3 is read, and the accelerations ax, ay, on the horizontal plane are read based on the read acceleration data Ax, Ay, Az and the inclination angles α, β. az is calculated and stored in M149 of the acceleration data storage means KC11B.
(4) Based on ax to az, A′x, A′y, and A′z are calculated, and moving speeds Vx to Vz are calculated.

In ST15, it is determined whether or not the magnitude of acceleration ({(ax ′) ² + (ay ′) ² + (az ′) ² } ^1/2 ) is larger than the stop determination acceleration at. If yes (Y), the process proceeds to ST16, and, if no (N), the process proceeds to ST17.
In ST16, the count value Nt = 0 of the stop detection counter KC14A is set. That is, since the magnitude of the acceleration is equal to or greater than the stop determination acceleration at and it is determined that the user is walking, the count value Nt is initialized to zero. Then, the process proceeds to ST20.

In ST17, the count value Nt = Nt + 1 of the stop detection counter KC14A is set. That is, since it is determined that the magnitude of the acceleration is equal to or less than the stop determination acceleration at and the user is not walking and may have stopped, 1 is added to the count value Nt. Then, the process proceeds to ST18.
In ST18, it is determined whether or not the count value Nt is equal to or greater than the stop determination count value N1 (= 150 times). That is, it is determined whether or not it is determined that the user has not walked for 1.5 seconds (stop determination time) or more. If yes (Y), the process proceeds to ST19, and, if no (N), the process proceeds to ST20.
In ST19, the moving speeds Vx to Vz are initialized. Then, the process proceeds to ST20.

In ST20, it is determined whether or not the acceleration data ax to az stored in M0 are all zero. That is, it is determined whether or not the sampled acceleration data necessary for calculating the movement distance or the like has been accumulated. If yes (Y), the process returns to ST11. If no (N), the process proceeds to ST21.
In ST21, a movement distance detection process for detecting the movement distance L and the movement direction (refer to a subroutine of FIG. 12 described later) is executed. And the movement stop detection process of FIG. 11 is complete | finished, and it returns to ST4 of FIG.

(Explanation of Flowchart of Moving Distance Detection Process (ST21 Subroutine))
FIG. 12 is a flowchart of the mobile phone movement distance detection process according to the first embodiment, and is a flowchart of the subroutine of ST21 in FIG.
In ST31 of FIG. 12, the acceleration data used when calculating the movement distance L, the movement direction, etc. is set as the acceleration data in the X′-axis direction. Then, the process proceeds to ST32.
In ST32, based on the acceleration data in the X′-axis direction, a movement distance calculation process (see a subroutine of FIG. 13 described later) for calculating the movement distance L and the movement direction is executed. Then, the process proceeds to ST33.
In ST33, it is determined whether or not the movement distance calculation completion determination flag FL1 is “0”. If yes (Y), the process proceeds to ST34, and, if no (N), the process proceeds to ST41.

In ST34, since the calculation of the movement distance L or the like cannot be performed with the acceleration data in the X′-axis direction, the acceleration data used when calculating the movement distance L or the like is set as the acceleration data in the Y′-axis direction. Then, the process proceeds to ST35.
In ST35, based on the acceleration data in the Y′-axis direction, the same movement distance calculation processing as that in ST32 for calculating the movement distance L and the movement direction (see the subroutine of FIG. 13 described later) is executed. Then, the process proceeds to ST36.
In ST36, it is determined whether or not the movement distance calculation completion determination flag FL1 is “0”. If yes (Y), the process proceeds to ST37, and, if no (N), the process proceeds to ST41.

In ST37, since the calculation of the movement distance L or the like could not be performed with the acceleration data in the X′-axis direction and the Y′-axis direction, the acceleration data used when calculating the movement distance L or the like is used as the acceleration data in the Z′-axis direction. Set to. Then, the process proceeds to ST38.
In ST38, based on the acceleration data in the Z′-axis direction, the same movement distance calculation processing as ST32 and ST35 for calculating the movement distance L and the movement direction (see the subroutine of FIG. 13 described later) is executed. Then, the process proceeds to ST39.
In ST39, it is determined whether or not the movement distance calculation completion determination flag FL1 is “0”. If yes (Y), the process proceeds to ST40, and, if no (N), the process proceeds to ST41.

In ST40, since the calculation of the movement distance L and the like cannot be performed based on the acceleration data in the X′-axis direction, the Y′-axis direction, and the Z′-axis direction, the acceleration data that cannot be used for the calculation stored in M0 to M74 is stored. to erase. Then, the movement distance detection process in FIG. 12 is terminated and the process returns to ST21 in FIG.
In ST41, since the movement distance L and the like can be calculated based on the acceleration data in any one of the X′-axis direction, the Y′-axis direction, and the Z′-axis direction, one cycle used in the calculation. The acceleration data for (one step), that is, the acceleration data stored in M0 to Mn is deleted. In other words, depending on the attitude (tilt) of the mobile phone 1, only one of the accelerations in the axial direction can be detected. Therefore, the movement distance L can be calculated based on the acceleration data in any one of the axial directions. In this case, the other biaxial acceleration data are also deleted for synchronization. Then, the movement distance detection process in FIG. 12 is terminated and the process returns to ST21 in FIG.

(Explanation of Flowchart of Movement Distance Calculation Processing (Subroutines of ST32, ST35, ST38))
FIG. 13 is a flowchart of the moving distance calculation process of the mobile phone according to the first embodiment, and is a flowchart of ST32, ST35, and ST38 subroutines of FIG.
In ST51 of FIG. 13, it is determined whether or not the difference between the maximum value and the minimum value of the acceleration data stored in M0 to M74 is greater than or equal to a predetermined acceleration validity determination threshold value as. That is, it is determined whether or not the axial acceleration data set in ST31, ST34, and ST37 in FIG. 12 is effective when calculating the movement distance L and the like. If no (N), the process goes to ST52, and if yes (Y), the process goes to ST53.
In ST52, the movement distance calculation completion determination flag FL1 is set to “0”. Then, the movement distance calculation process in FIG. 13 is terminated, and the process returns to any of ST32, ST35, and ST38 in FIG.

FIG. 14 is an explanatory diagram of an example of acceleration data in the X-axis direction.
FIG. 15 is a diagram showing a waveform of the acceleration data shown in FIG.
FIG. 16 is an explanatory diagram of the sum of differences calculated based on the acceleration data shown in FIG.
In ST53, difference sums S37 to S75 are calculated. In FIGS. 14 to 16, for example, when the acceleration data shown in FIG. 14 is obtained, the difference sums S37 to S75 shown in FIG. 16 are calculated. Then, the process proceeds to ST54.
In ST54, the maximum value Smax (S75 in the case of FIG. 16) and the minimum value Smin (S53 in the case of FIG. 16) of the difference sums S37 to S75 are detected. Then, the process proceeds to ST55.

  In ST55, it is determined whether or not Smax−Smin is greater than or equal to the difference sum difference threshold value Ss. That is, it is determined whether or not there is a history of acceleration for one cycle, and it is determined whether or not the user has taken one step. Since the difference sum difference threshold value Ss of the first embodiment is set to the minimum value Smin, it is determined whether or not the maximum value Smax is at least twice the minimum value Smin. If yes (Y), the process proceeds to ST56, and, if no (N), the movement distance calculation process in FIG. 13 is terminated and the process returns to any of ST32, ST35, and ST38 in FIG.

In ST56, the following processes (1) and (2) are executed, and the process proceeds to ST57.
(1) The traveling direction Θv in the coordinate system on the horizontal plane is calculated from the moving speeds Vx to Vz.
(2) The true north direction component Ln and the true west direction component Lw of the movement distance L are calculated from the step length STP and Θv and Θtr.
In ST57, the movement distance calculation completion determination flag FL1 is set to “1”. Then, the movement distance calculation process in FIG. 13 is terminated, and the process returns to any of ST32, ST35, and ST38 in FIG.

(Operation of Example 1)
In the route guidance system S according to the first embodiment having the above configuration, when the current position of the mobile phone 1 is detected, if the GPS is usable, the current position is detected using the GPS. On the other hand, when GPS cannot be used, a periodic waveform (see FIG. 15) appears in the history of acceleration data due to the user's walking, and the user's walking is detected based on the acceleration data. The moving distance and moving direction are detected, and the current position is detected (updated) based on the detected moving distance and moving direction.

  In the route guidance system S according to the first embodiment, when the movement distance and the movement direction are detected, it is determined whether or not the mobile phone 1 is stopped based on the acceleration data. When it is determined that the mobile phone 1 is stopped, the moving speeds Vx to Vz are initialized (reset) to 0. That is, there is no error in detection (calculation) of the movement distance L and the movement direction performed after the reset. Therefore, since the moving speed is reset, it is possible to detect an accurate moving distance and moving direction and to detect an accurate current position as compared with a case where the moving speed is not reset.

Further, the mobile phone 1 of the route guidance system S according to the first embodiment calculates the moving distance L from the user walking one step and the step STP of one step. Accordingly, the error is reduced as compared with the case where the moving distance L is obtained by the double integration of the acceleration affected by the error of the moving speed. In the cellular phone 1 of the first embodiment, the stride STP is automatically calculated according to the height of the user.
Furthermore, since the mobile phone 1 according to the first embodiment uses the true orientation Θtr instead of the magnetic orientation Θmg, a more accurate moving direction can be detected based on the true orientation.

As mentioned above, although the Example of this invention was explained in full detail, this invention is not limited to the said Example, A various change is performed within the range of the summary of this invention described in the claim. It is possible.
For example, in the first embodiment, the tilt sensor SN2 is provided, but the tilt sensor SN2 is omitted, and the vertical acceleration G (9.8 m / s ² ) is detected by the three-dimensional acceleration sensor SN3 to detect the tilt angle α. , Β can also be calculated.
In the first embodiment, the true direction is used. However, it is also possible to calculate the moving direction using the magnetic direction.

In the first embodiment, when the stride length STP is automatically calculated, it is calculated by multiplying the coefficient 0.45 based on the height, but it is also possible to change the coefficient between men and women. Further, the stride STP can be directly input, or the stride STP can be fixed to a predetermined value when the mobile phone 1 is manufactured and shipped.
Further, in the first embodiment, the movement distance is calculated from the detection of one step and the stride, but it is also possible to obtain the movement distance by integrating the movement speed. Even when the movement speed is integrated and the movement distance is detected, the movement speed is reset at the time of stoppage, so that an accurate movement distance can be detected with less error compared to the conventional technique in which the reset is not performed.

  Further, in the first embodiment, when the GPS cannot be used, the movement distance L is calculated and the current position is detected. However, the DOP value (Dilution of Precision, an accuracy index calculated from the arrangement of the GPS satellites) output by the GPS is detected. If the DOP value is smaller, the accuracy is higher) is smaller than the predetermined value. If the GPS-based current position reliability is high, the GPS position information is adopted. If the DOP value is larger than the predetermined value, It is also possible to perform a calculation of the movement distance L and detect the current position by assuming that the reliability of the current position detected from the GPS is low.

  Furthermore, in the first embodiment, it is determined whether or not the user is walking based on the magnitude of the acceleration. However, the present invention is not limited to this. For example, the history waveform of acceleration data is Fourier-transformed to obtain a predetermined frequency. When a spectrum (for example, 2 Hz) is detected, it is possible to determine that it is walking, and when it is not detected, it is possible to determine that it is not walking. In the case of performing the Fourier transform, for example, by using a module for fast Fourier transform (FFT), calculation can be performed at high speed and with low load.

In the first embodiment, the portable navigation device includes a GPS. However, the present invention can also be applied to a portable navigation device that does not include a GPS. In a portable navigation device that does not include a GPS, the current position can be detected by detecting the movement distance L and the like.
Further, in the first embodiment, the mobile phone 1 is cited as a portable navigation device, but the present invention is not limited to this, but the portable phone 1 can be used by removing it from a car and carrying it with a PHS or PDA, a portable personal computer (notebook personal computer, etc.). The present invention can also be applied to a portable navigation device such as a car navigation device.

  Further, in the first embodiment, acceleration data ax to az obtained by coordinate conversion of the read acceleration data Ax to Az output from the acceleration sensor SN3 are stored, and processing is performed based on this data. It is also possible to store data Ax to Az before coordinate conversion and execute each process based on this data.

1 ... portable navigation device,
12 ... Height input key,
KC5B: Map data receiving means,
KC6A ... Height storage means,
KC7: Stride calculating means,
KC8 ... stride length storage means,
KC11B ... acceleration data storage means,
KC12: Moving speed detection means,
KC13: walking detection means,
KC14: stop determination means,
KC14B ... Stop determination time storage means,
KC15: speed resetting means,
KC18: walking cycle detection means,
KC10C ... True direction calculation means,
KC19: Moving distance detecting means,
KC23: route guidance image display means,
SN1 Geomagnetic sensor,
SN3: acceleration sensor.

Claims (4)

Map data storage means for storing map data for route guidance;
Route guidance image display means for displaying an image for route guidance from a departure place to a destination using the map data;
An acceleration sensor for detecting acceleration during movement of the portable navigation device;
A geomagnetic sensor for detecting geomagnetism;
Acceleration data storage means for storing acceleration data detected by the acceleration sensor;
Speed detection storage means for determining and storing the moving speed of the portable navigation device based on the acceleration data;
Magnetic orientation detection means for detecting the magnetic orientation of the portable navigation device based on the geomagnetism;
A moving distance detecting means for detecting a moving distance and a moving direction based on the moving speed and the magnetic direction;
Walking detection means for detecting whether or not the user is walking based on the acceleration data;
Based on the acceleration data, a walking cycle detection means for detecting whether there is a history of acceleration for one cycle of the user's walking;
A stop determination time storage means for storing a stop determination time for determining whether or not the user has stopped walking;
Stop determination means for determining whether or not the walk detection means did not detect walking during the stop determination time;
A speed reset means for setting the moving speed stored in the speed detection storage means to 0 when the stop determination means determines that the walk detection means has not detected a walk during the stop determination time;
The portable navigation device comprising: Stride storage means for storing the stride of the user;
The movement distance detection means for detecting the movement distance and the movement direction based on the stride, the movement speed, and the magnetic direction when walking is detected by the walking detection means;
The portable navigation device according to claim 1, comprising: A height input key for entering the user's height;
Height storage means for storing the height input by the height input key;
Stride calculation means for calculating the stride based on the height;
The stride storage means for storing the stride calculated by the stride calculation means;
The portable navigation device according to claim 2, comprising: The map data storage means for storing the map data and data of a declination with respect to geomagnetism;
Based on the declination data and the magnetic orientation, true orientation computing means for computing the true orientation,
The portable navigation device according to any one of claims 1 to 3, further comprising:

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