JP2011058896A - Positioning device, positioning method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning device, a positioning method, and a program, measuring a travel amount in a self-contained navigation function by multiplying step data by the number of steps detected, and intermittently positioning by GPS, while traveling arbitrary a travel route, to correct the step data. <P>SOLUTION: Positioning by GPS is performed at a back end point of a travel route (T1) where positioning of the self-contained navigation function is performed, information about the travel route (T1) determined by the self-contained navigation function is corrected based on a vector (Vb) showing an amount of difference between a positioning result (B) by GPS at the back end point and a positioning result (B1) by the self-contained navigation function, and the step data used in arithmetic processing of the self-contained navigation function is corrected based on comparing the total travel amount of the travel route (T1) measured by the self-contained navigation function and a path length of a corrected travel route (T2). <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a positioning device having an autonomous navigation function, a positioning method, and a program.

  By combining measurement of the current position with GPS (Global Positioning System) and measurement of movement amount and movement direction with autonomous navigation sensors, each point along the movement path can be used even when GPS satellite radio waves do not reach. There is a navigation device equipped with an autonomous navigation function that can continuously acquire position information.

  In addition, in the autonomous navigation function, the technology that calculates the number of steps by detecting the vertical movement of the walking body with an acceleration sensor and measures the amount of movement of the walking body by multiplying the step data given separately and the number of steps is used. More practical.

  Conventionally, in a positioning device having an autonomous navigation function for a walking body, by comparing the distance traveled by a certain section obtained by the autonomous navigation function with the route length of the same section measured by GPS, Techniques for obtaining an error and correcting the error have been proposed. (For example, Patent Documents 1 and 2).

JP-A-11-194033 (paragraph 0052) JP 2006-220653 A (paragraphs 0042-0043)

  However, in the above conventional stride data correction technology, it is necessary to continuously perform GPS positioning to obtain an accurate walking distance in a certain section, or to perform GPS positioning intermittently at two points. Constraints such as walking in a straight line between these two points and finding an accurate movement distance between them have been imposed.

  The object of the present invention is to correct the stride data by intermittently measuring the current position by the positioning means while moving along an arbitrary movement route without being restricted as described above. The object is to provide a positioning device, a positioning method, and a program.

In order to achieve the above object, the invention according to claim 1
Positioning means capable of measuring the current position;
Direction measuring means for measuring the moving direction;
A movement amount measuring means for measuring a movement amount by walking based on detection of walking motion and stride information indicating a stride;
By integrating the movement information obtained by the measurement of the direction measurement means and the movement amount measurement means with the position information of the reference point obtained by positioning by the positioning means, the position of each point in the movement route Autonomous navigation means for information,
A difference between a positioning result obtained by the positioning means and a positioning result obtained by the autonomous navigation means at the first point in an arbitrary movement route where the positioning of the autonomous navigation means is performed. Based on the movement route correction means for correcting the information of the movement route obtained by the autonomous navigation means,
Stride information for correcting the stride information based on a comparison between the total movement amount of the movement route measured by the movement amount measurement unit and the route length of the movement route reflecting the correction of the movement route correction unit. Correction means;
A positioning device characterized by comprising:

The invention according to claim 2 is the positioning device according to claim 1,
The movement path correction means includes
Each point obtained by the autonomous navigation means by a displacement amount obtained by multiplying the difference between the positioning results between the autonomous navigation means and the positioning means at the first point by a ratio according to the movement amount from the reference point By adding to the position information, the position information of each point in the movement route is corrected.

The invention according to claim 3 is the positioning device according to claim 1,
The movement path correction means includes
The difference between the positioning results of the autonomous navigation means and the positioning means at the first point is multiplied by a ratio according to the distance from the reference point, and from the first point around the reference point. The position information of each point in the moving route is corrected by adding a displacement amount to which the rotation amount corresponding to the angular displacement is added to the position information of each point obtained by the autonomous navigation means. Yes.

The invention according to claim 4 is the positioning device according to claim 1,
The movement path correction means includes
Ratio of the straight line distance from the reference point to the first point obtained based on the position information of the autonomous navigation means and the straight line distance from the reference point to the first point obtained from the position information of the positioning means The total movement amount of the movement route is corrected by multiplying the total movement amount of the movement route obtained by the movement amount measuring unit by this ratio.

The invention according to claim 5
Based on the information from the positioning means capable of measuring the current position, the direction measuring means for measuring the moving direction, the movement amount measuring means for measuring the moving amount by walking based on the detection of the walking motion and the stride information indicating the stride In the positioning method to obtain the location information of each point in
By integrating the movement information obtained by the measurement of the direction measurement means and the movement amount measurement means with the position information of the reference point obtained by positioning by the positioning means, the position of each point in the movement route An autonomous navigation step for information,
Positioning of the positioning means is performed at a first point in an arbitrary movement path where positioning in the autonomous navigation step is performed, and a difference between a positioning result by the positioning means at the first point and a positioning result by the autonomous navigation step Based on the movement route correction step of correcting the information of the movement route obtained by the autonomous navigation step,
Stride information correction for correcting the stride information based on a comparison between the total movement amount of the movement route measured by the movement amount measuring unit and the route length of the movement route reflecting the correction of the route correction step. Steps,
It is characterized by including.

The invention described in claim 6
From the positioning means that can measure the current position, the direction measurement means that measures the moving direction, and the walking motion detection means that detects the walking motion, respectively, to the computer that can input information,
A movement amount measuring function for measuring a movement amount by walking based on the number of walking movements detected by the walking movement detecting means and stride information indicating a stride;
By integrating the movement information obtained by the measurement of the direction measurement means and the movement amount measurement function with the position information of the reference point obtained by the positioning of the positioning means, the position of each point in the movement route Autonomous navigation function for information,
Positioning of the positioning means is performed at a first point in an arbitrary movement route where the positioning of the autonomous navigation function is performed, and the difference between the positioning result of the positioning means and the positioning result of the autonomous navigation function at the first point Based on the movement route correction function for correcting the information of the movement route obtained by the autonomous navigation function,
Stride information correction that corrects the stride information based on a comparison between the total movement amount of the movement route measured by the movement amount measurement function and the route length of the movement route that reflects the correction of the route correction function. Function and
It is a program that realizes.

  According to the present invention, the stride information is corrected by comparing the amount of travel of the arbitrary travel route obtained by measuring the travel amount with the length of the travel route corrected based on the positioning result of the positioning means. Therefore, there is an effect that it is possible to correct the stride information by intermittently performing positioning by the positioning means while moving along an arbitrary movement route.

1 is a block diagram illustrating an entire navigation device according to an embodiment of the present invention. It is a data chart which shows the control data for position measurement memorize | stored in RAM. It is a data chart which shows the movement history data of a movement history data storage part. It is a figure explaining the 1st correction method which corrects the position data of each point on a movement route. It is a figure explaining the 2nd correction method which correct | amends the position data and path | route length of each point on a movement path | route. It is the first half part of the flowchart which shows the process sequence of the walk positioning process performed by CPU. This is the latter half of the flowchart.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing an entire navigation device 1 as a positioning device according to an embodiment of the present invention.

  The navigation device 1 according to this embodiment performs continuous positioning based on autonomous navigation for pedestrians and intermittent positioning using GPS to obtain position data of each point on the moving route. Device that accumulates movement history data. Hereinafter, positioning by autonomous navigation using the autonomous navigation sensor (three-axis geomagnetic sensor 15 and three-axis acceleration sensor 16) is referred to as autonomous navigation positioning, and positioning using GPS is referred to as GPS positioning.

  As shown in FIG. 1, the navigation device 1 includes a CPU (Central Processing Unit) 10 that performs overall control of the device, a RAM 11 that provides a working memory space to the CPU 10, and a control program executed by the CPU 10. ROM 12 storing control data and control data, GPS receiving antenna 13 and GPS receiving unit 14 for receiving signals sent from a GPS (Global Positioning System) satellite as positioning means, and a triaxial geomagnetic sensor as an autonomous navigation sensor 15, a three-axis acceleration sensor 16 and an atmospheric pressure sensor 17, a display unit 18 for displaying various information and images, a power source 19 for supplying an operating voltage to each unit, and data processing and arithmetic processing necessary for autonomous navigation positioning Dedicated autonomous navigation control processing unit 20 and position data correction calculation performed by autonomous navigation control processing unit 20 are performed exclusively. Autonomous positioning data correction processing unit 21, a movement history data storage unit 22 in which a series of position data along the movement route is accumulated, a map database 23 in which map data is stored, and a time measuring unit that measures the current time 25 and an operation unit 26 for inputting an operation command from the outside.

  Based on the operation command from the CPU 10, the GPS receiving unit 14 performs demodulation processing of a signal received via the GPS receiving antenna 13 and sends various transmission data of GPS satellites to the CPU 10. The CPU 10 can acquire position data representing the current position by performing a predetermined positioning calculation based on the transmission data of these GPS satellites.

  The triaxial geomagnetic sensor 15 is a sensor that detects the magnitude of geomagnetism in the triaxial direction, and the triaxial acceleration sensor 16 is a sensor that detects acceleration in the triaxial direction. The atmospheric pressure sensor 17 is a sensor that detects atmospheric pressure in order to obtain a difference in height when moving in a building or a mountain.

  The autonomous navigation control processing unit 20 is for assisting the arithmetic processing of the CPU 10, and inputs measurement data of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16 via the CPU 10 at a predetermined sampling period. The movement direction and the movement amount of the navigation device 1 are calculated from the measurement data. Further, the position data of the reference points supplied from the CPU 10 is integrated with the vector data composed of the calculated movement direction and movement amount, so that the position data of each point on the movement route is obtained and supplied to the CPU 10. To do.

  Specifically, the autonomous navigation control processing unit 20 calculates the movement direction from an output fluctuation pattern specific to walking that appears in the output of the triaxial geomagnetic sensor 15. In addition, the vertical movement of the navigation device 1 is recognized from the output of the three-axis acceleration sensor 16, the number of steps is obtained from this vertical movement, and multiplied by the stride data, thereby calculating the amount of movement due to walking. In addition to the calculation of the movement direction and the movement amount, the movement amount in the height direction is also calculated from the change in the output value of the atmospheric pressure sensor 17.

  The autonomous positioning data correction processing unit 21 is an arithmetic device for assisting the arithmetic processing of the CPU 10, and each point in the movement route calculated by the autonomous navigation control processing unit 20 and stored in the movement history data storage unit 22. The correction calculation based on the result of the GPS positioning performed intermittently is performed on the position data. Details of the correction calculation will be described later.

  The ROM 12 stores a program for walking positioning processing for acquiring position data of each point on the moving route by continuous autonomous navigation positioning and intermittent GPS positioning. In addition to being stored in the ROM 12, this program can be stored in a portable storage medium such as an optical disk and a non-volatile memory such as a flash memory, which can be read by the CPU 10 via a data reader. In addition, a form in which such a program is downloaded to the navigation apparatus 1 via a communication line using a carrier wave as a medium can be applied.

  FIG. 2 shows a data chart representing the position measurement control data stored in the RAM 11.

  Each data of FIG. 2 is stored in the RAM 11 as control data necessary for the walking positioning process of acquiring the position data of each point on the moving route. That is, in the storage area 11a of the first reference point, position data obtained by the previous GPS positioning among the GPS positioning performed intermittently is stored. The storage area 11b of the second reference point stores position data obtained by the latest GPS positioning among the GPS positioning performed intermittently. The storage area 11c stores the total amount of movement obtained by autonomous navigation positioning from the reference point where the most recent GPS positioning was performed to the current point. In the storage area 11d, stride data representing an average stride set and inputted in advance by the user or stride data representing a corrected stride is recorded.

  In FIG. 3, the data chart showing an example of the movement history data memorize | stored in the movement history data storage part 22 is shown.

  The movement history data storage unit 22 is composed of, for example, a RAM or a nonvolatile memory, and records movement history data as shown in FIG. In the movement history data, the position data acquired by the walking positioning process during the movement of the apparatus is sequentially registered. In addition, the movement history data includes an index number “No.” indicating the acquisition order of position data, time data indicating the time when the position data was acquired, and position data, accompanying the series of position data. A correction flag or the like indicating whether or not the correction has been made is registered.

  Next, the walking positioning process in the navigation device 1 having the above-described configuration, the movement history data correction process, and the stride data correction process executed therein will be described.

  FIG. 4 is an explanatory diagram showing a first correction method for correcting the position data of each point on the movement route. In the figure, T1 is a locus corresponding to a series of position data before correction, and T2 is a locus corresponding to a series of position data after correction.

  The walking positioning process is a process of continuously performing current position measurement and position information recording to form the movement history data of FIG. In this walking positioning process, GPS positioning is intermittently performed, and autonomous navigation positioning is continuously performed during that time, and position data of each point on the movement route is acquired.

  Position data acquired intermittently by GPS positioning gives position data of reference points necessary for autonomous navigation positioning, and is also used to correct position data of other points calculated by autonomous navigation positioning. .

  In the example of FIG. 4, the user moves along the road from the first reference point A to the second reference point B, and GPS positioning is intermittently performed twice at the first reference point A and the second reference point B. An example of the walking positioning process while being played is shown. Specifically, first, GPS positioning is performed at the first reference point A that is the start of the moving route, and then, while the user with the navigation device 1 moves along the road and moves to the second reference point B, Autonomous navigation positioning is performed continuously. A series of position data calculated by autonomous navigation positioning is accumulated in the movement history data storage unit 22 as pre-correction data. A locus T1 indicates a point corresponding to the series of position data on the map.

  In autonomous navigation positioning, the amount of movement is obtained by multiplying the measured number of steps by the stride data using preset stride data. Therefore, if a certain error is included in the stride data, a certain error also occurs in the movement amount measurement result. In autonomous navigation positioning, errors also occur in the measurement of the movement direction. Since these errors are continuously accumulated as they travel along the movement route, the error of the trajectory T1 increases as it approaches the second reference point B.

  In the walking positioning process, when the autonomous navigation positioning is continuously performed and a predetermined time elapses, the next GPS positioning is performed. In the example of FIG. 4, GPS positioning is performed at the timing when the user passes the second reference point B. Further, the end point B1 of the trajectory T1 is a point corresponding to the position data obtained by the autonomous navigation positioning at this time.

  When intermittent GPS positioning is performed in the walking positioning process, first, the second reference point among the position data of the autonomous navigation positioning recorded in the movement history data storage unit 22 based on the position data acquired by the GPS positioning. Correction processing is performed on the position data corresponding to B. That is, the position data of the autonomous navigation positioning representing the point B1 is corrected to the position data of GPS positioning representing the second reference point B. Further, at this time, the CPU 10 obtains a vector Vb from the point B1 to the second reference point B as a difference amount between these two position data.

  When the vector Vb is obtained, next, the movement history data obtained by the autonomous navigation positioning from the first reference point A to the second reference point B is corrected.

[First correction method]
In the first correction method, the movement history data is corrected as follows. For example, if the position data of the point X1 in FIG. 4 is described, the position data corresponding to the point X1 is corrected to the position data representing the point X2 by the following equation (1).
X2 = X1 + (Lx / L0) × Vb (1)
Here, X2 and X1 are position data before and after correction, and the same symbols as the symbols (X2, X1) representing the points are used. L0 is the path length from the first reference point A to the point B along the trajectory T1, and Lx is the path length from the first reference point A to the correction target point X2 along the trajectory T1. The path lengths L0 and Lx may be obtained by accumulating movement amounts during autonomous navigation positioning and stored in association with each position data. Alternatively, when each position data along the movement route is acquired at a relatively fine interval, a difference amount before and after each position data may be calculated from a series of position data during correction calculation. good.

  When one position data is corrected, the corrected position data is overwritten and stored on the position data before correction in the movement history data storage unit 22. Further, the correction flag corresponding to the position data is changed to a value “1” indicating that correction has been made.

  Such correction of the position data is performed on a series of position data representing the trajectory T1 from the first reference point A to the second reference point B. Thereby, position data after correction applied from the first reference point A to the second reference point B can be obtained. In FIG. 4, the locus T2 is a point on the map that corresponds to the corrected position data. The trajectory T2 is closer to the actual movement route that has moved along the road than the trajectory T1 before correction.

  If the position data of each point on the moving route is corrected as described above, then the stride data is corrected using the corrected position data.

As shown in the following equation (2), the step length data is corrected by the path length C _{T2 of the} trajectory T2 obtained based on the corrected position data and the path length C of the trajectory T1 before correction obtained by the autonomous navigation positioning. _This is done by multiplying the ratio with _{T1 by} the stride data WH1 before correction. This calculation result becomes the corrected stride length data WH2.
WH2 = WH1 × (C _T1 / C _T2 ) (2)
Since the error of the stride data should appear as the error of the path length of the moving route as it is, the error after removing the error is corrected by multiplying the original stride data by the ratio of the path length before and after the correction as described above. Step length data can be obtained.

  The corrected stride length data is written in the storage area 11d in the RAM 11 and used from the next autonomous navigation positioning.

  When the movement history data and the stride data are corrected as described above, and the walking positioning process is continued, the reference point is shifted one by one, and then the autonomous navigation positioning and intermittent operation similar to the above are performed. Repeated GPS positioning. When intermittent GPS positioning is performed, similarly to the above, processing for correcting movement history data acquired by autonomous navigation positioning, and processing for correcting stride data based on two comparisons of route lengths before and after correction Is done in the same way. Finally, position data of each point with improved accuracy can be obtained.

  Further, in the walking measurement process of this embodiment, the current position is displayed on the map image of the display unit 18 in real time as the movement history data is accumulated. Therefore, even if the currently set stride data includes a large error and the current position obtained by the autonomous navigation positioning is relatively inaccurate, the stride data is corrected once. Then, the accuracy of the subsequent autonomous navigation positioning has improved, and the current position in real time is also displayed accurately thereafter.

The position data correction method is not limited to the above example. For example, as shown in the following arithmetic expression (3), the correction item of the above-described expression (2) and other correction items can be combined and used.
X2 = X1 + g1 (Lx / L0) × Vb + g2 (Δtx / Δt0) × Vb
+ G3 (Other correction items) (3)
Here, X2 and X1 are position data representing the points X2 and X1, Δt0 is the time length required for the movement from the first reference point A to the point B1, and Δtx is the movement from the first reference point A to the point X2. The length of time it took. Further, g1 to g3 are weighting coefficients, and are set so that, for example, the corrected position data of the second reference point B has the same value as the GPS positioning position data.

  According to such correction processing, the error accumulated along with the movement distance is effectively corrected by the correction items of the two items on the right side, and the measurement error accumulated over time by the correction items of the three items is corrected. Effectively corrected. Further, if there is a correction term that can effectively correct other errors, it is possible to effectively correct other errors by adding them to four or more items. The weighting coefficients g1 to g3 may be set as appropriate according to the ratio in which each error is included.

[Second correction method]
The second correction method is capable of effectively removing this error when the measurement value of the movement amount in the autonomous navigation positioning always includes an error at a constant rate.

  FIG. 5 shows an explanatory diagram of a second correction method for correcting the position data and the path length of each point on the moving path. In the example of FIG. 5, the vehicle moves along a “U” -shaped movement path from the first reference point A to the second reference point B, and the position data of the trajectory T1 is acquired by autonomous navigation positioning. A case where GPS positioning is performed at the end point B1 of the route and position data of the second reference point B is acquired is shown.

Also in the second correction method, when the position data of the second reference point B is obtained by GPS positioning, the position data of the terminal point B1 of the movement route is corrected with this position data, and the position data of the terminal point B1 and A vector Vb representing the difference amount of the position data of the second reference point B is obtained. And if this vector Vb is calculated | required, the positional data of each point of the locus | trajectory T1 calculated | required by autonomous navigation positioning will be corrected by following Formula (4).
X2 = X1 + Vx
| Vx | = | Vb | × (L _AX1 / L _AB1 )
Vx direction = Vb direction + θx (4)

Here, X1 is position data to be corrected on the trajectory T1, X2 is position data after correction, Vx is a displacement vector of the correction target point, L _AB1 is the length of the line segment A · B1, and L _AX1 is the line segment A. The length of X1, θx, is an angle formed by the line segment A · B1 and the line segment A · X1.

The case of correcting the position data of the point X1 in FIG. 5 will be described in detail. First, a vector Vb representing the difference amount of the second reference point B is expressed by a linear distance (L _AX1) from the first reference point A to the point X1. ) In accordance with a ratio (L _AX1 / L _AB1 ) according to (), and the direction of the vector Vb is changed by a displacement angle θx from the point B1 to the point X1 with the first reference point A as the center. Thus, a displacement vector Vx corresponding to the point X1 is obtained. Then, the position data of the corrected point X2 is calculated by adding the displacement vector Vx to the position data of the point X1.

  Such correction calculation is performed on the position data of each point of the trajectory T1 obtained by the autonomous navigation positioning, whereby the position data of the trajectory T2 in FIG. 5 is acquired.

  The error of autonomous navigation positioning is not random, the error is always included in the measured value of the movement amount (for example, -30%), and the offset of the measured value of the direction is always constant (for example, 3 degrees) If the autonomous navigation positioning is performed by moving along the trajectory T2 and the condition that the position data of the trajectory T1 is obtained by the autonomous navigation positioning is confirmed. Can be verified. Therefore, it can be seen that this second correction method effectively eliminates the above-mentioned autonomous navigation positioning error.

  Next, the path length correction calculation and the stride length data correction process in the second correction method will be described. The corrected path length of the trajectory T2 can be obtained by calculating the path length of the trajectory T2 based on the corrected position data. However, here, a method for directly obtaining the path length of the corrected trajectory T2 from the path length of the trajectory T1 before correction will be described.

In the correction process employing the second correction method, as shown in the following equation (5), the path length C _T1 before correction trajectory T1, the linear distance L _AB1 from the first reference point A to the point B1, By multiplying the ratio with the straight line distance L _AB from the first reference point A to the second reference point B (point B1), the path length C _T2 of the corrected trajectory T2 is obtained.
C _T2 = C _T1 × (L _AB / L _AB1 ) (5)

  As can be seen from FIG. 5, when the above-mentioned uniform error is always included in the autonomous navigation positioning, the trajectory T1 before correction and the trajectory T2 after correction become a figure that can be combined by enlarging or reducing one of them. ing. Further, the ratio of enlargement / reduction of the trajectories T1 and T2 is represented by the ratio of two corresponding line segments before and after correction, such as the line segment AB and the line segment A · B1. Therefore, it can be seen that the path length of the corrected trajectory T2 can be obtained from the path length of the trajectory T1 before correction by the correction formula of the above formula (5).

  According to this route length correction method, it is possible to obtain the route length of the corrected trajectory T1 without using the position data of each point of the moving route from the first reference point A to the second reference point B. It has become.

Then, when the uncorrected path length C _T1 and the corrected path length C _T2 are obtained as described above, based on these, the corrected step length is calculated from the uncorrected step length data WH1 by the above-described equation (2). Data WH2 is obtained. The stride length data WH2 is stored in the storage area 11d of the RAM 11 and is used in the subsequent autonomous navigation positioning.

[Control procedure of walking positioning process]
6 and 7 show flowcharts of the walking positioning process executed by the CPU 10.

  Hereinafter, the control procedure of the walking positioning process adopting the second correction method will be described in detail. This walking positioning process is started, for example, when an instruction to start the walking positioning process is input from the outside via the operation unit 26. When the walking positioning process is started, the CPU 10 first activates the GPS receiving unit 14 to perform a signal receiving process from the GPS satellite (step S1), and then performs a positioning calculation based on the received data from the GPS satellite. To obtain position data of the reference point (step S2).

  When the position data of the reference point is obtained, first, it is determined whether or not the position data of the second reference point is stored in the storage area 11b set on the RAM 11 (step S3). Is moved to the storage area 11a set on the RAM 11 (step S4), and the process proceeds to the next step S5. On the other hand, if the position data of the second reference point is not stored, the process jumps to step S5 as it is. In step S5, the GPS positioning position data calculated in step S2 is stored in the storage area 11b set on the RAM 11.

  In the processes of steps S3 to S5, each time GPS positioning is intermittently performed, the position data of the reference position is shifted one by one, and the position data of the GPS positioning executed this time is changed to the position data of the second reference position. And the process for making the position data of the GPS positioning executed immediately before the position data of the first reference position.

  Subsequently, the CPU 10 determines whether or not the position data of the first reference point is stored in the storage area 11a set on the RAM 11 (step S6). This step S6 is a process for determining whether only the first GPS positioning has been performed immediately after the start of the walking positioning process or whether the second and subsequent GPS positioning have been performed.

  If there is no position data of the first reference point as a result of the determination process in step S6, it can be determined that only the first GPS positioning has been performed, and the process proceeds to step S11. On the other hand, if there is position data of the first reference point, it can be determined that the second or subsequent GPS positioning is being performed, and therefore the process proceeds to step 7 in order to perform correction processing.

  If it transfers to step S7, first, position data (position data measured and memorized immediately in step S12-S15) of the present point calculated | required by autonomous navigation positioning will be used for the 2nd reference point which is a result of GPS positioning. Correction to position data is performed (step S7). At this time, the correction flag is updated to the corrected value, and the vector Vb data representing the difference between the position data before and after the correction is calculated and stored in the RAM 11.

  Next, the correction calculation shown by the equation (5) of the second correction method is performed on the data of the total movement amount along the movement route measured and integrated by the autonomous navigation positioning from the first reference point. The movement distance from the first reference point is corrected (step S8). Furthermore, when this correction is performed, the step data stored in the storage area 11d of the RAM 11 is also corrected by multiplying the ratio of the movement distance before correction and the movement distance after correction by the step data before correction. (Step S9).

  After the correction of the stride data, it is confirmed from the value of the correction flag whether there is position data before correction in a series of position data recorded in the movement history data storage unit 22 (step S10). If there is, a command is output to the autonomous positioning data correction processing unit 21, and the correction calculation shown in the above equation (4) is performed on a series of position data before correction (step S11). Then, the process proceeds to step S12. On the other hand, if there is no position data before correction in the confirmation processing in step S10, the process proceeds to step S12 as it is.

  After shifting to step S12, the CPU 10 repeatedly performs the autonomous navigation positioning process by the loop process of steps S12 to S17. That is, the detection data of the triaxial geomagnetic sensor 15 is sent to the autonomous navigation control processing unit 20 to measure the traveling direction (step S12), and the detection data of the triaxial acceleration sensor 16 is made to the autonomous navigation control processing unit 20 in parallel with this. To count the number of steps (step S13). Further, the amount of movement by walking is measured by multiplying the step count value and the stride length data stored in the storage area 11d of the RAM 11 (step S14). Then, the current position data is calculated by adding vector data representing the measured moving direction and moving amount to the immediately preceding position data by the autonomous navigation control processing unit, and this is used as the position data before correction. Is registered in the movement history data (step S15). If there is no movement beyond a certain level, registration in the movement history data may be omitted.

  Once the position data is acquired from the autonomous navigation control processing unit 20, the CPU 10 then sends the display data to the display unit 18 to display the point of the current point corresponding to the current position data and the movement locus on the map image. (Step S12). Subsequently, it is determined whether or not the next GPS positioning time has been reached (step S13). If the next GPS positioning time has not been reached, the process returns to step S12, and the autonomous navigation positioning process of steps S12 to S17 is repeated. On the other hand, if the time for the next GPS positioning has been reached, the process returns from step S12 to S17 to return to step S1.

  According to the above walking positioning process, the autonomous navigation positioning process is continuously performed by the loop process of steps S12 to S17, and the GPS positioning is intermittently performed by the processes of steps S1 and S2. Further, when GPS positioning is executed, the stride data is corrected by the processing of steps S7 to S9, and the accuracy of the subsequent autonomous navigation positioning is improved. Further, the position data acquired by the autonomous navigation positioning is corrected by the correction processing in steps S10 and S11, and more accurate position data is accumulated in the movement history data storage unit 22.

  As described above, according to the navigation device 1, the positioning method thereof, and the walking positioning processing program of this embodiment, when GPS positioning is performed intermittently, it was obtained before that by autonomous navigation positioning. Since the position data of each point on the moving route is corrected as appropriate, accurate position data that reflects the GPS positioning result is recorded even if the autonomous navigation positioning includes an error.

  Furthermore, when GPS positioning is performed at the second reference point, the distance before correction and the corrected distance reflecting the GPS positioning result are obtained for the travel distance from the first reference point to the second reference point. The stride data is appropriately corrected based on these comparisons. Therefore, accurate positioning is performed by the subsequent autonomous navigation positioning, and the real-time current position is displayed more accurately.

  Furthermore, when correcting the stride length data, the route length of the movement route reflecting the GPS positioning result is obtained, and the information on the movement route obtained by the autonomous navigation positioning (total movement amount or position value data of each point). It is obtained by correcting based on the result of GPS positioning. Therefore, there is no restriction such as moving a certain section with GPS positioning continuously performed to correct the stride data, or having to go straight between two points where GPS positioning is performed, and any travel route It is possible to correct the stride data by intermittently performing GPS positioning while moving.

  Further, according to the correction processing of the movement history data and the stride data adopting the above-described first correction method, when the error is accumulated with the movement distance in the autonomous navigation positioning, the movement history data and the stride It is possible to correct the data to a more accurate value as appropriate.

  In addition, according to the correction processing of the movement history data and the stride data adopting the second correction method described above, the movement history data and the stride data are obtained when a uniform error is always added in the autonomous navigation positioning. It is possible to correct to a more accurate value.

  In addition, in the correction process of the stride data adopting the second correction method, the total travel length obtained by the autonomous navigation positioning is not calculated from the corrected travel history data, but the route length of the corrected travel route is obtained. By correcting directly by Equation (5) to obtain the corrected path length, it becomes possible to correct the stride data by a simpler arithmetic process.

  The present invention is not limited to the above-described embodiment, and various modifications can be made. For example, in the above embodiment, the autonomous navigation positioning calculation and the movement history data correction calculation are performed by the autonomous navigation control processing unit 20 and the autonomous positioning data correction processing unit 21, but these calculations are performed by the CPU 10. It may be realized by software processing.

  In the above-described embodiment, the configuration using GPS is exemplified as the positioning means for measuring the current position. However, for example, the configuration performs positioning by three-point surveying by communicating with a plurality of base stations of a mobile phone, respectively. In addition, various other configurations such as a configuration in which position information is received from a position information transmission device that is installed at a predetermined point and transmits the position information of the point can be applied. In addition, the three-axis geomagnetic sensor, the three-axis acceleration sensor, and the atmospheric pressure sensor are exemplified as the configuration for performing the autonomous navigation positioning. However, the atmospheric pressure sensor may be omitted if the position data in the two-dimensional direction is required. Also, a biaxial azimuth sensor or a biaxial acceleration sensor can be used as long as the orientation of the device is fixed.

  In the above-described embodiment, an example in which the stride data is treated as a fixed value to measure the movement amount by the autonomous navigation positioning has been described. However, the stride data is determined according to the magnitude of the vertical movement impact detected by the acceleration sensor. The amount of movement may be obtained from the step length data and the number of steps by changing the size. Even in this case, the reference stride length data can be appropriately corrected by the correction processing according to the present invention.

  In the above embodiment, the condition that the predetermined time has elapsed is shown as a condition for intermittently performing GPS positioning. However, when the GPS distance travels or the GPS satellite radio wave does not reach Various conditions can be applied, for example, when a radio wave arrives at a location where the radio wave arrives.

  Further, in the flowcharts of FIGS. 6 and 7, since the walking positioning process adopting the second correction method is shown, the route length of the moving route reflecting the GPS positioning result is directly calculated from the route length before the correction. The method of correction is illustrated, but after correcting a series of position data obtained by autonomous navigation positioning based on the result of GPS positioning, the path length of the corrected movement path from the corrected series of position data May be requested. In addition, the detailed configuration and the detailed method specifically shown in the embodiment can be appropriately changed without departing from the spirit of the invention.

1 Navigation device 10 CPU
11 RAM
12 ROM
13 GPS receiving antenna 14 GPS receiving unit 15 3-axis geomagnetic sensor 16 3-axis acceleration sensor 18 display unit 20 autonomous navigation control processing unit 21 autonomous positioning data correction processing unit 22 movement history data storage unit A first reference point B second reference point Vb, Vx vector T1 Trajectory before correction T2 Trajectory after correction L _AX1 , L _AB1 Linear distance from first reference point θx Displacement angle

Claims (6)

Positioning means capable of measuring the current position;
Direction measuring means for measuring the moving direction;
A movement amount measuring means for measuring a movement amount by walking based on detection of walking motion and stride information indicating a stride;
By integrating the movement information obtained by the measurement of the direction measurement means and the movement amount measurement means with the position information of the reference point obtained by positioning by the positioning means, the position of each point in the movement route Autonomous navigation means for information,
A difference between a positioning result obtained by the positioning means and a positioning result obtained by the autonomous navigation means at the first point in an arbitrary movement route where the positioning of the autonomous navigation means is performed. Based on the movement route correction means for correcting the information of the movement route obtained by the autonomous navigation means,
Stride information for correcting the stride information based on a comparison between the total movement amount of the movement route measured by the movement amount measurement unit and the route length of the movement route reflecting the correction of the movement route correction unit. Correction means;
A positioning device characterized by comprising: The movement path correction means includes
Each point obtained by the autonomous navigation means by a displacement amount obtained by multiplying the difference between the positioning results between the autonomous navigation means and the positioning means at the first point by a ratio according to the movement amount from the reference point The positioning apparatus according to claim 1, wherein the position information of each point in the movement route is corrected by adding to the position information. The movement path correction means includes
The difference between the positioning results of the autonomous navigation means and the positioning means at the first point is multiplied by a ratio according to the distance from the reference point, and from the first point around the reference point. The position information of each point in the movement route is corrected by adding a displacement amount to which the rotation amount corresponding to the angular displacement is added to the position information of each point obtained by the autonomous navigation means. The positioning device according to claim 1. The movement path correction means includes
A ratio of a straight line distance from the reference point to the first point obtained based on the position information of the autonomous navigation means and a straight line distance from the reference point to the first point obtained from the position information of the positioning means. The positioning apparatus according to claim 1, wherein the total movement amount of the movement route is corrected by multiplying the total movement amount of the movement route obtained by the movement amount measurement unit. Based on the information from the positioning means capable of measuring the current position, the direction measuring means for measuring the moving direction, the movement amount measuring means for measuring the moving amount by walking based on the detection of the walking motion and the stride information indicating the stride In the positioning method to obtain the location information of each point in
By integrating the movement information obtained by the measurement of the direction measurement means and the movement amount measurement means with the position information of the reference point obtained by positioning by the positioning means, the position of each point in the movement route An autonomous navigation step for information,
Positioning of the positioning means is performed at a first point in an arbitrary movement path where positioning in the autonomous navigation step is performed, and a difference between a positioning result by the positioning means at the first point and a positioning result by the autonomous navigation step Based on the movement route correction step of correcting the information of the movement route obtained by the autonomous navigation step,
Stride information correction for correcting the stride information based on a comparison between the total movement amount of the movement route measured by the movement amount measuring unit and the route length of the movement route reflecting the correction of the route correction step. Steps,
A positioning method comprising: From the positioning means that can measure the current position, the direction measurement means that measures the moving direction, and the walking motion detection means that detects the walking motion, respectively, to the computer that can input information,
A movement amount measuring function for measuring a movement amount by walking based on the number of walking movements detected by the walking movement detecting means and stride information indicating a stride;
By integrating the movement information obtained by the measurement of the direction measurement means and the movement amount measurement function with the position information of the reference point obtained by the positioning of the positioning means, the position of each point in the movement route Autonomous navigation function for information,
Positioning of the positioning means is performed at a first point in an arbitrary movement route where the positioning of the autonomous navigation function is performed, and the difference between the positioning result of the positioning means and the positioning result of the autonomous navigation function at the first point Based on the movement route correction function for correcting the information of the movement route obtained by the autonomous navigation function,
Stride information correction that corrects the stride information based on a comparison between the total movement amount of the movement route measured by the movement amount measurement function and the route length of the movement route that reflects the correction of the route correction function. Function and
A program that realizes

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