JP2011069622A - Positioning device, and method and program for recording position data - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To express a detailed moving locus by a series of position data, and to prevent the entire amount of recorded position data from becoming too large in a positioning device for recording the position data by measuring a current position. <P>SOLUTION: In the positioning device including a positioning means of measuring a current position and a recording control means of performing recording control of a series of position data obtained successively by the measurement of the positioning means, and in a method and a program for recording the position data, bent parts (D2, D3, D4, D5) of the moving locus shown by the series of position data are discriminated, thus recording only the position data of a part that has been discriminated to be a bent part by excluding the position data of a part not discriminated to be a bent part. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a positioning apparatus that measures a current position and records position data, a position data recording method, and a program.

  There has been a positioning device that measures the current position and records the measured position data in the device as a history. A route that has moved in the past can be represented as a locus by the recorded position data.

  In the conventional positioning device, it is usual to calculate the current position every predetermined time or every predetermined distance and record all obtained position data (for example, refer to Patent Documents 1 and 2).

Japanese Patent No. 2811520 Japanese Patent Laid-Open No. 08-233854

  When position data is recorded at regular intervals, if the position data acquisition interval is shortened, a detailed movement trajectory can be represented by the recorded position data, but the amount of position data recorded becomes enormous. On the other hand, if the position data acquisition interval is lengthened, the recording amount of the position data is reduced. On the other hand, when moving a number of bends, the position data of the bends is skipped and the detailed movement locus is represented by the position data. The problem arises that it becomes impossible.

  An object of the present invention is to provide a positioning device, a recording data recording method, and a program that can represent a detailed movement path by recorded position data and that does not increase the total recording amount of position data. .

In order to achieve the above object, the invention according to claim 1
Positioning means for measuring the current position;
A recording control means for controlling the recording of a series of position data sequentially obtained by the measurement of the positioning means;
With
The recording control means includes
Of the series of position data, the recording of the position data of the portion of the moving locus indicated by the series of position data is recorded by omitting the recording of the position data of the part whose position changes substantially linearly. It is characterized by.

The invention according to claim 2 is the positioning device according to claim 1,
A bending point determining means for determining the presence or absence of a change in the moving direction based on the measurement of the positioning means;
The recording control means includes
The position data of the portion of the bent portion is recorded with the point where the bent portion is determined to be changed by a predetermined amount or more in the moving direction as the bent portion.

The invention according to claim 3 is the positioning device according to claim 2,
The bend portion discriminating means is
Based on one position data acquired by the measurement of the positioning means and a plurality of position data acquired before and after the one position data, the change of the moving direction at the position where the one position data is acquired While determining the presence or absence,
It is characterized in that for each position data along a series of position data sequentially acquired by measurement of the positioning means, it is determined whether or not there is a change in the moving direction at the position data acquisition point.

The invention according to claim 4 is the positioning device according to claim 3,
The bend portion discriminating means is
Based on the position data of the reference point in which the nearest point determined to be a turn point or a point following the point is fixedly set along the movement trajectory indicated by the series of position data, and the reference point Position data of a first movement point that is a target for determination as to whether or not it is a turning point at a later point, and position data of a second movement point that is separated from the first movement point by a predetermined distance after the first movement point And determining whether there is a difference of a predetermined angle or more between the direction of the first movement point from the reference point and the direction of the second movement point from the first movement point,
When there is a difference greater than or equal to the predetermined angle, the first moving point is determined as a bent portion.

The invention according to claim 5 is the positioning device according to claim 2,
The bending point determination unit and the recording control unit perform determination of presence / absence of a change in the moving direction and recording control of the position data in real time as position data is acquired by measurement of the positioning unit. It is characterized by.

The invention described in claim 6 is the positioning device according to claim 1,
The positioning means is
Absolute positioning means for measuring absolute position;
It is characterized by comprising relative positioning means for measuring relative positional fluctuations.

The invention described in claim 7
A method of recording a series of position data sequentially obtained by measurement of positioning means,
A bending point determination step for determining a bending point of the movement locus indicated by the series of position data;
A recording step of recording position data of a portion determined to be a bent portion without recording position data of a portion not determined to be the bent portion by the bent portion determination step;
It is characterized by containing.

The invention described in claim 8
A program for causing a computer to which data is supplied from positioning means to perform recording control of a series of position data sequentially acquired by measurement of the positioning means,
In the computer,
A bend location determination function for determining a bend location of the movement trajectory indicated by the series of position data;
A recording function for recording the position data of the portion determined to be the bent portion without recording the position data of the portion not determined to be the bent portion by the bent portion determination function;
It is characterized by realizing.

  According to the present invention, among the series of position data acquired by positioning, the position data of the portion whose position changes in a substantially linear shape is thinned out, and the position data of the bent portion of the movement locus is recorded. become. Therefore, the amount of position data stored is not so large, and the movement trajectory can be expressed in detail by the recorded position data.

It is a block diagram which shows the whole navigation apparatus structure of embodiment of this invention. It is explanatory drawing which shows an example of a series of position data acquired during apparatus movement. It is explanatory drawing which shows an example of a series of position data recorded during apparatus movement. It is a flowchart which shows the procedure of the positioning control process performed by CPU of FIG. It is a flowchart which shows another example of the positioning control process performed by CPU of FIG.

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

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

  The navigation device 1 according to this embodiment performs positioning processing continuously while the device is moving, displays the current position, and records necessary position data among a series of position data acquired by the positioning processing as a history. It is a device that records. 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 (Random Access Memory) 11 that provides a working memory space to the CPU 10, A ROM (Read Only Memory) 12 storing a control program executed by the CPU 10 and control data, a GPS receiving antenna 13 and a GPS receiving unit 14 for receiving transmission data from a GPS (Global Positioning System) satellite, and autonomous Three-axis geomagnetic sensor 15 and three-axis acceleration sensor 16 that are navigation sensors, a display unit 18 that displays various information and images, a power source 19 that supplies an operating voltage to each unit, and an autonomous navigation sensor (15, 16) The autonomous navigation control processing unit 20 that performs positioning calculation of autonomous navigation based on the measurement data of 16), and the position acquired by the autonomous navigation control processing unit 20 An autonomous navigation data correction processing unit 21 that performs data correction calculation, a movement history data storage unit 22 that stores necessary position data among a series of position data acquired by the positioning process, and map data are stored. A map database 23 and the like are provided.

  The GPS receiver 14 demodulates a signal received via the GPS receiving antenna 13 based on an operation command from the CPU 10, and sends various transmission data of GPS satellites and positioning codes 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 the GPS satellite and the positioning code.

  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 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 moving point is obtained by adding the vector data including the calculated moving direction and moving amount to the position data of the reference point supplied from the CPU 10 and supplied to the CPU 10.

  The autonomous navigation data correction processing unit 21 assists the arithmetic processing of the CPU 10, and is calculated by the autonomous navigation control processing unit 20 and stored in the movement history data storage unit 22 or temporarily stored in the RAM 11. A predetermined correction process is performed on the stored position data based on the accurate position data obtained by GPS positioning to improve the accuracy of the position data.

  The movement history data storage unit 22 is constituted by, for example, a RAM or a nonvolatile memory, and records position data selected by the CPU 10 among a series of position data acquired by the positioning process during movement of the apparatus. The position data is recorded in time series with the positioning time, for example, and the movement trajectory of the apparatus is represented from these position data.

  The ROM 12 selects the position data that can represent the movement trajectory of the apparatus in detail while measuring the current position using the GPS or measuring the current position by the autonomous navigation function, and the movement history data storage unit. The program of the positioning control process memorize | stored in 22 is stored. In addition to being stored in the ROM 12, this program can be stored in a non-volatile memory such as a portable storage medium such as an optical disk or a flash memory, for example, which can be read by the CPU 10 via a data reader. is there. 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.

  Next, the positioning control process executed in the navigation device 1 having the above configuration will be described.

  FIG. 2 is an explanatory diagram showing an example of a series of position data acquired during the movement of the apparatus. FIG. 3 is an explanatory diagram showing an example of a series of position data recorded during the movement of the apparatus. Are shown respectively. FIG. 2 shows the acquired position data on the map with black and white circles, and FIG. 3 shows the position data to be recorded on the map with black circles.

  In the positioning control process of this embodiment, for example, when the user carries the navigation device 1 and moves along the road, the positioning process is performed at predetermined intervals, and the position data of each point in the movement route is sequentially acquired. .

  Here, the interval at which the positioning process is performed is not particularly limited, for example, every elapse of a certain time, every movement of a certain distance, every time required for one positioning process, or every arbitrary short time. As for the positioning processing method, a method in which positioning by GPS is continuously performed, a method in which positioning based on autonomous navigation by the autonomous navigation control processing unit 20 is continuously performed, and positioning by GPS are intermittently performed. There is no particular limitation such as a method in which positioning based on autonomous navigation is continuously performed during GPS positioning.

  When the position data of each point is acquired, the CPU 10 thins out the position data (for example, the position data of the white circles in FIG. 2) of the portion of the acquired series of position data whose position changes substantially linearly, Only the position data (for example, the position data of the black circles in FIG. 2) of the beginning and end of the movement path and the bent portion are selected and recorded in the movement history data storage unit 22.

  The detection of the bent portion is performed by changing a predetermined amount or more in the movement direction before and after the first movement point X1 with respect to the position data of the first movement point (for example, the point X1) sequentially selected along the series of position data. This is done by determining whether or not there is. If it is determined that there has been a change of a predetermined amount or more, it is determined that there is a curved portion of the movement trajectory at the first movement point X1, and if there is no change, the position of the first movement point X1 changes substantially linearly. It is determined that it is a spot.

  In detail, the presence / absence of a change in the moving direction is determined as follows. That is, as shown in FIG. 2, the position data of the first movement point (for example, the point X1) to be discriminated, the position data of the reference point D4 set at a point before the first movement point X1 along the movement locus, Based on the position data of the three points of the position data of the second movement point X2, which is the next point of the first movement point X1, the direction from the reference point D4 to the first movement point X1, and the first movement point X1 to the first movement point X1. 2) It is compared whether there is a change of a predetermined angle or more in the direction toward the moving point X2. Then, if there is a change of a predetermined angle or more, it is determined that the moving direction has changed.

  The reference point is set in front of the first movement point X1 to be discriminated along the movement trajectory and the closest point D4 that has been discriminated as a curved part. When a section in which a curved portion has not been detected yet once from the start of measurement is to be determined, a measurement start point D1 is set as a reference point. In addition, the setting content of the reference point is not limited to the above, and for example, each point (for example, points W1, W2) between the point to be discriminated (for example, point X2) and the nearest bent point (for example, point D4). Can also be set as a reference point.

  In addition, the predetermined angle that is a criterion for determining a change in the moving direction is an angle larger than a measurement error in the moving direction and a minimum angle that is not regarded as a linear change (for example, 5 ° to 15 °). Is preset. The predetermined angle may be adjustable by the user within a predetermined range (for example, 5 ° to 45 °) according to the difference in the degree of detail of the movement history data requested by the user.

  According to the discrimination method as described above, as shown in FIG. 2, for example, when a point X1 whose position changes linearly is a discrimination target, the direction from the reference point D4 to the first movement point X1, Since the amount of change in the direction from the first movement point X1 to the second movement point X2 is smaller than a predetermined angle, it is determined that the first movement point X1 is not a curved part. On the other hand, when the point D5, which is a turning point, is a discrimination target, the amount of change in the direction from the reference point D4 to the point (first movement point) D5 and the direction from the point D5 to the second movement point X6 is more than a predetermined angle. Since it becomes larger, it is determined that the point D5 is a curved part.

  Then, the points D2, D3, D4, D5 determined to be bent by the above-described determination method, and the point D1 where the positioning control process is started and the point D6 where it is ended are recorded in the movement history data storage unit 22. As shown in FIG. 3, since these points D1 to D6 are recorded, it is possible to show an accurate movement trajectory by connecting these points with a straight line in chronological order.

  Next, a control procedure of the positioning control process in which the positioning process and the position data are recorded will be described with reference to a flowchart.

  FIG. 4 shows a flowchart of the positioning control process executed by the CPU 10.

  This positioning control process is started by the CPU 10 based on the input of a control command for continuously executing the GPS positioning process, for example. When the positioning control process is started, first, the CPU 10 operates the GPS receiving unit 14 to perform a signal receiving process from the GPS satellite (step S1), and performs a positioning calculation based on the positioning code of the GPS satellite. The position data of the current position is determined (step S2).

  If the position data is determined, it is next checked whether or not the reference point position data is registered in the predetermined area of the RAM 11 (step S3). If not, the position data determined immediately before is used as the reference point position data in the predetermined area of the RAM 11. (Step S4). And it returns to step S1 and performs the positioning process (step S1, S2) by GPS again. On the other hand, if the position data of the reference point has already been registered, it is checked whether the position data of the movement point is registered in a predetermined area of the RAM 11 (step S5), and if not, the position data determined immediately before is determined as the first movement point. The position data is registered in a predetermined area of the RAM 11 (step S6). And it returns to step S1 and performs the positioning process (step S1, S2) by GPS again.

  These processes in steps S3 to S6 are processes for setting the starting point of the movement route as a reference point and starting the next movement data as the first movement point at the start of the positioning control process. .

  When the position data of the reference point and the first movement point have been registered, and then positioning by GPS (steps S1 and S2) is performed and the position data is determined, the process proceeds to step S7, and this position data Is registered in the predetermined area of the RAM 11 as position data of the second movement point (step S7).

  Once the position data of the second movement point is registered, whether or not there is a change in the movement direction before and after the first reference point using the position data of the reference point, the first movement point, and the second movement point. Is determined (step S8). Specifically, the direction from the reference point to the first movement point and the direction from the first movement point to the second movement point are calculated from the position data, and the difference between these directions is a predetermined angle (for example, 5 ° to 15 °). ) Determine whether or not there is more.

  As a result, if it is determined that there is no change beyond the predetermined angle, the process branches to “No”, and the position data registered as the second movement point is moved to the storage area of the first movement point in the RAM 11. The position data of the first movement point is registered again (step S9). And it returns to step S1 again. By the process of shifting the position data, the latest position data acquired by measurement becomes the position data of the second movement point, and the position data acquired immediately before is registered as the position data of the first movement point. It will be.

  On the other hand, if it is determined in the determination process in step S8 that there is a change of a predetermined angle or more, the flow branches to “Yes”, and the position data registered in the storage area of the reference point in the RAM 11 is first stored in the history. (Log) is recorded in the movement history data storage unit 22 (step S10). Each time the moving direction changes, the processing of step S10 is executed, so that the position data of the starting point of the moving path and the bent portion set as the reference point are recorded in the movement history data storage unit 22. .

  Subsequently, since it is possible to determine that the first movement point is a bent portion based on the above determination result, the position data of the first movement point is moved to the storage area of the reference point in the RAM 11 to be the position data of the next reference point. (Step S11). Further, the position data registered as the second movement point at this time is moved to the storage area of the first movement point in the RAM 11 and registered as the position data of the first movement point (step S12). And it returns to step S1 again and performs the positioning process by GPS.

  According to the positioning control process as described above, a series of position data is sequentially acquired by repeatedly executing the positioning process by GPS in steps S1 and S2. Further, while the measurement start point and the most recently detected bent point are set as the reference points (step S11), the latest position data is set to the position data of the second movement point every time the position data is acquired. Whether the position data acquired immediately before is registered in the position data of the first movement point (steps S7, S9, S12), and whether the movement direction has changed more than a predetermined amount before and after the first movement point. It is discriminated (step S8).

  If there is a change of a predetermined amount or more in the movement direction (“YES” in step S8), it is determined that the first movement point is a curved portion, and this first movement point is set as a new reference point ( After that, it is recorded in the movement history data storage unit 22 (step S10).

  FIG. 5 shows another flowchart of the positioning control process executed by the CPU 10.

  The positioning control process of FIG. 5 is started by the CPU 10 based on the input of a control command for continuously executing the positioning process of autonomous navigation, for example. The contents of the process are only different in the positioning control process and the positioning process method of FIG. That is, in the positioning control process of FIG. 4, the position data is acquired by GPS positioning in steps S1 and S2, whereas in the positioning control process of FIG. 5, the triaxial acceleration sensor is acquired by steps S21, S22, and S23. The autonomous navigation control processing unit 20 executes the positioning process of the autonomous navigation based on the sensor outputs of the 16-axis and the 3-axis geomagnetic sensor 15 to acquire the position data. Since other processes are the same as the positioning control process of FIG.

  According to the positioning control process of FIG. 5, even when positioning by autonomous navigation is continuously performed, detection of a curved part is sequentially performed along the movement route, and position data of the curved part is converted to movement history data. It is recorded in the storage unit 22.

  In the case of autonomous navigation positioning, if GPS positioning has been performed previously and the absolute coordinate position data is already known, the position data acquired by the autonomous navigation positioning is the absolute coordinate position data. Become. However, when the absolute coordinate position data is not known, the position data acquired by the autonomous navigation positioning is the relative coordinate position data. However, since the determination of the bent portion is performed based on the relative relationship among the position data of the reference point, the first moving point, and the second moving point, the bent portion can be used without any problem even if the relative coordinate position data is used. Thus, it is possible to record the position data of the bent portion.

  Further, after acquisition of relative coordinate position data by positioning by autonomous navigation continues, if positioning by GPS is performed and position data of absolute coordinates becomes known, the autonomous navigation data correction processing unit 21 performs relative The deviation between the coordinates and the absolute coordinates is calculated, and this deviation is reflected in all the past position data acquired in the relative coordinates, so that the relative coordinates recorded in the RAM 11 and the movement history data storage unit 22 are reflected. The position data may be corrected to absolute coordinate position data.

  The autonomous navigation data correction processing unit 21 also includes the RAM 11 and the movement history data storage unit 22 when correcting errors in a plurality of position data acquired by past autonomous navigation positioning based on the GPS positioning result. An error of these position data may be corrected by performing a predetermined correction operation on the past position data recorded in the above.

  As described above, according to the navigation device 1, the position data recording method, and the positioning control processing program of this embodiment, the portion whose position changes linearly in a series of position data acquired by positioning. This position data is omitted, and only the position data of the bent portion of the movement locus is recorded in the movement history data storage unit 22. Therefore, the movement trajectory can be expressed in detail by the position data of the movement history, and the data amount of the movement history can be reduced.

  In this embodiment, since the position data of the portion of the curved portion recorded in the movement history data storage unit 22 is only one location data indicating the curved portion, the data amount of the movement history can be further reduced. .

  Further, in this embodiment, since the bending location is determined based on the result of the positioning process, the absolute position is not known and the relative coordinates are not known as compared with the method of determining the bending location with reference to the map data or the like. Even in a state where position data is acquired, it is possible to perform recording control of position data by determining a bent portion.

  Further, in this embodiment, the position data of the determination target point, such as the position data of the reference point, the first movement point, and the second movement point, and a plurality of position data before and after are used to determine the curved portion in the movement route. Therefore, it is possible to reduce the number of position data that must be temporarily stored in order to determine a bent portion.

  In this embodiment, since the point previously determined as the bending point is fixedly set as the reference point set to determine the bending point, for example, a gentle curve continues for a long time. Even if it is a simple movement route, it is possible to determine that it is a bent portion at an appropriate interval and to record position data at an appropriate interval. For example, when a point acquired immediately before the first movement point (denoted as the zeroth movement point) is set as the reference point, the movement from the zeroth movement point to the first movement is performed on a movement path that continues to be a gentle curve. The direction of the point and the direction from the first movement point to the second movement point remain at a much smaller angle, and one point is no longer recorded as a bent part. On the other hand, even in a movement route that continues to be a gentle curve, by setting a fixed point as a reference point, the first movement point moves away from the reference point, so that the direction from the reference point to the first movement point And the direction from the first movement point to the second movement point exceeds a predetermined angle when an appropriate interval is advanced. Therefore, by setting the reference point as a fixed point that does not change with the movement of the first movement point, the position data is recorded at an appropriate interval even in the movement path where the gentle curve continues all the time.

  In this embodiment, each time position data is acquired, the acquired position data is registered in the position data of the second movement point in real time, and the change in the movement direction before and after the first movement point is determined. As a result, if it is determined that the first moving point is a bent portion, the position data of the reference point is recorded, so it is necessary to temporarily store a large number of acquired position data in the buffer. Absent.

  The present invention is not limited to the above-described embodiment, and various modifications can be made. For example, in the above embodiment, every time the position data is acquired, the acquired position data is used to immediately determine the bent portion and the recording control of the position data. Data may be accumulated in a buffer to some extent, and bending position determination and recording control may be performed on position data stored in the buffer.

  Moreover, in the said embodiment, it is set as the structure which discriminate | determines the presence or absence of the change of a moving direction, and detects a curved part using the several position data acquired by the measurement of the present position, For example, the triaxial geomagnetic sensor 15 And a three-axis acceleration sensor 16 are used to detect a bending portion by directly determining a change in the movement direction or comparing a measurement amount in the movement direction at a predetermined interval. Anyway.

  Further, in the above-described embodiment, the position data of one point is recorded in the movement history data storage unit 22 for one bending portion. However, the position data of a plurality of points such as three points is recorded for one bending portion. Anyway.

  Further, in the above embodiment, all the position data acquired by measuring the current position is determined as to whether or not to bend or record, but when position data is acquired at very fine intervals Instead of performing the determination process for all position data, the determination process may be performed only for position data that are sequentially acquired at predetermined intervals.

  Further, the configuration of the positioning means for measuring the current position is not limited to the configurations of the GPS receiver 14 and the autonomous navigation sensors (the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16), and other details shown in the embodiments. The configuration and detailed method can be changed as appropriate without departing from the spirit of the invention.

1 navigation device 10 CPU (recording control means, bent part discrimination means)
11 RAM
12 ROM
13 GPS receiving antenna 14 GPS receiving unit (absolute positioning means)
15 3-axis geomagnetic sensor (relative positioning means)
16 3-axis acceleration sensor (relative positioning means)
20 Autonomous Navigation Control Processing Unit (Positioning means)
22 Movement history data storage unit D1 to D5 Reference point X1 First movement point X2 Second movement point

Claims (8)

Positioning means for measuring the current position;
A recording control means for controlling the recording of a series of position data sequentially obtained by the measurement of the positioning means;
With
The recording control means includes
Of the series of position data, the recording of the position data of the portion of the moving locus indicated by the series of position data is recorded by omitting the recording of the position data of the part whose position changes substantially linearly. A positioning device characterized by. A bending point determining means for determining the presence or absence of a change in the moving direction based on the measurement of the positioning means;
The recording control means includes
2. The positioning apparatus according to claim 1, wherein the position data of the portion of the bent portion is recorded with the point where the bent portion is determined to be a predetermined amount or more in the moving direction as the bent portion. The bend portion discriminating means is
Based on one position data acquired by the measurement of the positioning means and a plurality of position data acquired before and after the one position data, the change of the moving direction at the position where the one position data is acquired While determining the presence or absence,
3. The presence / absence of a change in movement direction at each position data acquisition point is determined for each piece of position data along a series of position data sequentially acquired by measurement by the positioning means. The described positioning device. The bend portion discriminating means is
Based on the position data of the reference point in which the nearest point determined to be a turn point or a point following the point is fixedly set along the movement trajectory indicated by the series of position data, and the reference point Position data of a first movement point that is a target for determination as to whether or not it is a turning point at a later point, and position data of a second movement point that is separated from the first movement point by a predetermined distance after the first movement point And determining whether there is a difference of a predetermined angle or more between the direction of the first movement point from the reference point and the direction of the second movement point from the first movement point,
4. The positioning device according to claim 3, wherein when there is a difference equal to or greater than the predetermined angle, the first moving point is determined as a bent portion.   The bending point determination unit and the recording control unit perform determination of presence / absence of a change in the moving direction and recording control of the position data in real time as position data is acquired by measurement of the positioning unit. The positioning device according to claim 2. The positioning means is
Absolute positioning means for measuring absolute position;
2. The positioning device according to claim 1, comprising relative positioning means for measuring relative positional fluctuations. A method of recording a series of position data sequentially obtained by measurement of positioning means,
A bending point determination step for determining a bending point of the movement locus indicated by the series of position data;
A recording step of recording position data of a portion determined to be a bent portion without recording position data of a portion not determined to be the bent portion by the bent portion determination step;
A method of recording position data, comprising: A program for causing a computer to which data is supplied from positioning means to perform recording control of a series of position data sequentially acquired by measurement of the positioning means,
In the computer,
A bend location determination function for determining a bend location of the movement trajectory indicated by the series of position data;
A recording function for recording the position data of the portion determined to be the bent portion without recording the position data of the portion not determined to be the bent portion by the bent portion determination function;
A program that realizes

Images