JP2012189467A - Positioning device, pace per step data correction method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning device, and a pace per step data correction method and a program for the positioning device, that can obtain a pace per step of a user without using a GPS upon measuring a travel amount.SOLUTION: A positioning device includes: an imaging means to image a subject; an acceleration sensor for detecting acceleration; a direction sensor for measuring a direction; a pace per step data storing means to store pace per step data; a distance calculation means to calculate a distance between a plurality of points (X1, X2) on a linear travel path on the basis of information of imaging performed at the respective points (X1, X2); and a pace per step correction means to correct the pace per step data on the basis of paces counted during a travel of this distance.

Description

  The present invention relates to a positioning device for positioning a walking body, and a stride data correction method and program thereof.

  Previously, the acceleration sensor detected the vertical movement when walking, and the number of steps was counted, and the movement amount of the user was calculated by multiplying the number of steps by preset step length data. There are a quantity measuring device and a positioning device that performs positioning of a moving point by using such calculation of the moving amount.

  In such an apparatus, since the error of the stride data is integrated as the error of the calculation result of the movement amount, the error of the stride data needs to be reduced.

  Some conventional movement amount measuring devices, for example, allow a user to input height, estimate the stride from the height, and automatically set stride data.

  In addition, as a prior art related to the present invention, Patent Document 1 discloses that the start point and the end point are measured by GPS (Global Positioning System) and the number of steps is counted during the straight road. A technique is disclosed in which stride data is obtained by dividing the distance from the start point to the end point by the counted number of steps.

Japanese Patent Laid-Open No. 11-194033

  In order to obtain accurate stride data using GPS, there is a problem that stride data must be obtained by traveling straight a considerably long distance in order to reduce the influence of GPS positioning error (for example, 10 m or more).

  Also, GPS satellite signal reception requires relatively large power consumption, and there are many places where GPS satellite signal reception is not possible in the valleys of buildings. A technique for obtaining accurate stride data may be required.

  It is an object of the present invention to provide a positioning device capable of correcting a stride data by obtaining a relatively accurate step length of a user without using a GPS for measuring a movement amount, a stride data correction method, and a program thereof. .

In order to achieve the above object, the present invention
Photographing means for photographing a subject;
An acceleration sensor for detecting acceleration;
An orientation sensor for measuring the orientation,
Stride data storage means for storing preset stride data;
Positioning means for calculating a moving amount from the number of steps counted based on the detection of the acceleration sensor and the stride data and calculating a moving direction based on the measurement of the azimuth sensor and positioning the moving point;
Distance calculating means for calculating distances between the plurality of points based on shooting information representing shooting conditions of the shooting means respectively performed at a plurality of points on a linear movement path;
Stride correction means for correcting the stride data based on the distance between the plurality of points calculated by the distance calculation means and the number of steps counted by movement between the plurality of points;
A positioning device characterized by comprising:

  According to the present invention, based on the viewpoint that a relatively accurate distance from the shooting point to the subject can be calculated based on the shooting information indicating the shooting situation, the shooting information of the shooting performed at a plurality of points. Thus, the distance between the plurality of points can be calculated, and the step length data can be corrected by obtaining a relatively accurate step length of the user from the calculated distance and the number of steps. Therefore, it is possible to obtain an effect that the stride data can be corrected relatively accurately without using the GPS for measuring the movement amount.

It is a block diagram which shows the whole structure of the digital camera with a positioning function of embodiment of this invention. It is a flowchart which shows the control procedure of the main control process of the digital camera performed by CPU. It is a flowchart which shows the detailed control procedure of the stride adjustment process of step S14 of FIG. The flow of the stride adjustment process will be described, and (a) to (c) are explanatory diagrams showing the first to third stages. The flow of the stride adjustment process will be described, and (a) to (c) are explanatory diagrams showing the fourth to sixth stages. It is explanatory drawing which shows the outline | summary of the focus adjustment position at the time of 2 imaging | photography in a step adjustment process. The figure explaining the relative positional relationship of an imaging | photography point and a traffic light is shown. It is the top view which looked at the state of Drawing 7 from the upper part. It is the figure which looked at the state of FIG. 7 from the horizontal direction orthogonal to the advancing direction.

  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 digital camera 1 with a positioning function according to an embodiment of the present invention.

  The digital camera 1 of this embodiment functions as a positioning device that performs positioning by means of GPS (Global Positioning System) and autonomous navigation using a motion sensor, and as shown in FIG. A CPU (Central Processing Unit) 10 that performs control, a RAM (Random Access Memory) 11 that provides a working memory space to the CPU 10, and a ROM (Read Only Memory) that stores control programs and control data executed by the CPU 10 12, a GPS receiving antenna 13 that receives a GPS satellite signal, a GPS receiver 14 that performs a positioning calculation of the current position based on the received signal, a triaxial geomagnetic sensor 15 and a triaxial acceleration sensor 16 that are motion sensors, A movement distance calculation processing unit 17 for calculating a movement distance for autonomous navigation positioning, and a movement method for autonomous navigation positioning. The moving direction calculation processing unit 18 for performing the calculation processing, the stride data storage unit 19 for storing preset stride data representing the user stride, the display unit 20 for displaying an image such as a liquid crystal display, and the like from the user An operation unit 21 for inputting an operation command, a data memory 24 for storing image data and the like, a camera unit (imaging unit) 25 for performing imaging, and the like are provided.

  The triaxial geomagnetic sensor 15 is a sensor that detects the magnitude of geomagnetism in the triaxial direction orthogonal to each other, and the triaxial acceleration sensor 16 is a sensor that detects the magnitude of acceleration in the triaxial direction orthogonal to each other. These sensor outputs are sampled at a predetermined frequency, fetched into the CPU 10, and sent from the CPU 10 to the movement distance calculation processing unit 17 and the movement direction calculation processing unit 18.

  The camera unit 25 converts the projected captured video into an electrical signal and converts it into data to generate captured image data, and moves the focus lens to focus the captured video projected on the imaging unit 26. An autofocus unit 27 for automatic adjustment, a zoom unit 28 for enlarging / reducing a captured image by moving the zoom lens and changing the angle of view, and the like are provided.

  The movement distance calculation processing unit 17 and the movement direction calculation processing unit 18 are calculation devices that assist the CPU 10, and analyze measurement data of the triaxial acceleration sensor 16 and the triaxial geomagnetic sensor 15 input via the CPU 10. The amount of movement and the direction of movement by walking the user are calculated.

  Specifically, the movement distance calculation processing unit 17 detects the direction of gravity by averaging the measurement data of the triaxial acceleration sensor 16, and extracts a large acceleration change in the direction of gravity from the measurement data. The number of steps is counted by identifying the movement of. Then, the amount of movement is calculated by multiplying the stride data stored in the stride data storage unit 19 by the number of steps.

  The movement direction calculation processing unit 18 extracts a large forward acceleration change and small left and right acceleration changes that appear in the measurement data of the triaxial acceleration sensor 16 during walking, so that the movement direction is any of the triaxial acceleration sensors 16. Is calculated. Further, based on detection of the north direction by the triaxial geomagnetic sensor 15 and detection of the direction of gravity by the triaxial acceleration sensor 16, it is calculated which direction on the earth the triaxial directions of the sensors 15 and 16 are directed. These directions are combined to calculate the moving direction based on the direction.

  The CPU 10 causes the movement distance calculation processing unit 17 and the movement direction calculation processing unit 18 to continuously execute the calculation process, and obtains the absolute position data calculated by, for example, the GPS reception unit 14 by the calculation process. The position data of the current movement point is calculated by integrating the movement vector consisting of the movement distance and the movement direction. The arithmetic processing function of the CPU 10, the movement distance calculation processing unit 17 and the movement direction calculation processing unit 18 constitute positioning means based on autonomous navigation.

  The operation unit 21 includes a shutter button for causing the camera unit 25 to execute a shooting process, a zoom lever for enlarging and reducing the captured image, and operation buttons for changing the operation mode of the digital camera 1 and inputting various settings. Etc. are provided.

  The ROM 12 stores a program for main control processing that performs shooting, reproduction of captured images, and various setting processes according to a user's operation while positioning, and a stride adjustment that corrects stride data by measuring a user's actual stride. A processing program and the like are stored. In addition to being stored in the ROM 12, these programs can be stored in a non-volatile memory such as a portable storage medium such as an optical disk or a flash memory that can be read by the CPU 10 via a data reader, for example. It is. In addition, a form in which such a program is downloaded to the digital camera 1 via a communication line using a carrier wave as a medium can be applied.

  Next, the operation of the digital camera 1 having the above configuration will be described.

[Main control processing]
FIG. 2 shows a flowchart of the main control process executed by the CPU 10.

  In the main control process, the CPU 10 executes the process of the operation mode selected by the user while measuring the current position. When the main control process is started, first, the CPU 10 causes the GPS reception unit 14 to perform signal reception and positioning calculation to acquire absolute position data of the current location (step S1). Thereafter, the CPU 10 repeats the positioning process by autonomous navigation (steps S2 to S5) and the process of the selected operation mode (steps S6 to S14) until it is determined that the power is turned off by the determination process (step S5). Execute.

  When shifting to the autonomous navigation positioning process (steps S2 to S5), first, the CPU 10 inputs measurement data of the triaxial acceleration sensor 16 and the triaxial geomagnetic sensor 15 to input the movement distance calculation processing unit 17 and the movement direction calculation process. The movement distance calculation processing unit 17 calculates the movement distance (step S3), and the movement direction calculation processing unit 18 calculates the movement direction (step S4). Then, a movement vector is generated from these calculation results and added to absolute position data representing the immediately preceding movement point to obtain absolute position data representing the current movement point (step S5). By repeatedly executing these processes, the position data of each point along the movement route is obtained.

  Subsequently, the CPU 10 performs a branch process (step S6) according to the selected operation mode. Here, if the reproduction mode is selected, a captured image display process (step S7) for displaying the captured image data stored in the data memory 24 on the display unit 20 in accordance with a user operation is executed. In this captured image display processing, one-step processing such as input processing of an operation signal from the operation unit 21 and reproduction processing is performed, and the process proceeds to the next step. The captured image display process is repeatedly executed by the processing loop of steps S2 to S7 and S15, thereby realizing a series of processes in the reproduction mode.

  On the other hand, if the shooting mode is selected, the process proceeds to step S8 in the branching process of step S6, and first, the pre-shooting through display process of outputting the video captured at this time to the imaging unit 26 to the display unit 20 is performed. Is executed (step S8). In this through display process, when the user operates the zoom lever, the zoom unit 28 is driven to change the angle of view, or the autofocus unit 27 is driven by half-pressing the shutter button to adjust the focus. Processing is also executed.

  Next, it is determined whether or not the shutter button of the operation unit 21 has been pressed (fully pressed) (step S9). If there is no press, the process proceeds to step S15. On the other hand, if pressed, the captured image data is captured from the imaging unit 26 (step S10), and the position data and the imaging direction data of the moving point at this time are added to the captured image data (steps S11 and S12). Is stored in the data memory 24 (step S13). Then, the process proceeds to step S15. Such shooting mode processing is repeatedly executed in the processing loop of steps S2 to S6 and S8 to S13, so that the user can adjust the composition and range of the shot image while viewing the through display. it can.

  On the other hand, if the step adjustment mode is selected in the branch process of step S6, a step adjustment process for correcting the step data is executed (step S14). The stride adjustment process will be described next. When the stride adjustment process is completed, the selection of the stride adjustment mode is canceled and the process proceeds to step S15.

  If a power-off operation is performed during the processing loop of the positioning process (steps S2 to S5) based on the above-described autonomous navigation and the process corresponding to the selection mode (after step S6), the determination process in step S15 is “ The process proceeds to “YES” and the main control process is terminated.

[Step adjustment processing]
FIG. 3 shows a flowchart of the stride adjustment process executed in step S14 of FIG. 4 and 5 are explanatory diagrams showing the flow of the stride adjustment process. 4A to 4C show the first to third stages, and FIGS. 5A to 5C show the fourth to sixth stages.

  The stride adjustment process allows the user to photograph the same traffic light at two points while moving straight ahead. First, the distance from each shooting point to the traffic light is calculated, and the movement between the two shooting points is calculated from the calculation result. The distance is calculated, thereby obtaining the user's stride and correcting the stride data.

  The distance from the shooting point to the traffic light is calculated using two methods. The first method uses a point where the diameter (the length of the predetermined part) of the blue, yellow and red color panels of the traffic light is constant at 25 cm in the Tokyo area and 30 cm in the other areas. The distance from the shooting point to the traffic light is obtained from the size of the color panel of the traffic light and the angle of view of the shooting. The angle of view can be determined from the lens position of the zoom lens.

  The second method for calculating the distance to the traffic light is based on the fact that the distance from the focus adjustment state to the in-focus subject can be specified. The position of the focus lens is extracted and the distance from the shooting point to the traffic light is obtained from this data.

  When the process proceeds to the stride adjustment process, the CPU 10 first discriminates the user's present district at this time from the positioning result of the current position (step S21: area discriminating means). Is set (step S22), and if the area is other than that, 30 cm is set in the panel length data of the traffic light (step S23).

  Next, as shown in FIG. 4A, the CPU 10 displays on the display unit 20 a notification that the stride adjustment process is in progress and a message display for prompting the user to shoot the traffic light (step S24). Then, it waits for a shooting operation to be performed (step S25), and when a shooting operation is performed, a shooting process is performed (step S26). In the shooting process, as shown in FIG. 4B, the user performs shooting in a state in which a nearby traffic signal is set to the center of the screen and the traffic signal is focused by the autofocus unit 27.

  When the photographing process is performed, the CPU 10 stores the photographed image data in the RAM 11 in order to calculate the distance later (step S27), and further acquires the first photographing condition data and stores it in the RAM 11 (step S28). . The shooting condition data acquired here includes shooting direction azimuth and elevation angle data calculated by the CPU 10 from the measurement data of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16, and a focus representing the position of the focus lens of the autofocus unit 27. A lens address and a zoom lens address representing the position of the zoom lens of the zoom unit 28 are included.

  As shown in FIG. 4C, in the captured image data, the angle of view θ from the left end to the right end of the captured image is determined by the zoom lens address, and the actual diameter of the color panel P of the traffic light is 25 cm or 30 cm. It is a known length. If the angle of view is constant, the length L1 on the captured image of the color panel P changes according to the distance to the traffic light. Therefore, the CPU 10 obtains the angle of view θ from the zoom lens address, and measures the length L1 of the color panel P on the captured image by image recognition processing, whereby the angle of view θ and the length L1 of the color panel P are obtained. Can be substituted into a predetermined arithmetic expression to calculate the distance from the shooting point to the traffic light.

  FIG. 6 is an explanatory diagram showing the outline of the focus adjustment position at the time of shooting of the first time (a) and the second time (b) of the stride adjustment process. In this figure, M is an image sensor of the imaging unit 26, Z1 is a zoom lens of the zoom unit 28, and Z2 is a focus lens of the autofocus unit 27.

  As shown in FIG. 6, the distance to the in-focus subject is determined by the position of the focus lens Z2 with respect to the image sensor M. For example, as shown in FIG. 6, there is a one-to-one relationship between the lens address indicating the position of the focus lens Z2 and the distance to the in-focus subject. From the shooting point to the traffic light based on the lens address of the focus lens Z2. Can be calculated. When the depth of field is very long, such as in a pan focus state, it is difficult to calculate the distance from the position of the focus lens Z2.

  After the first traffic light is shot and the data is saved in steps S26 to S28 in FIG. 3, the CPU 10 then approaches the user to the traffic light as shown in FIG. A message is displayed on the display unit 20 to prompt the user to perform the operation (step S29).

  Here, since the user starts walking, as shown in FIG. 5B, the acceleration change in the gravity direction is extracted from the measurement data of the triaxial acceleration sensor 16 and the number of steps is counted (step S30). The measurement data of the axial acceleration sensor 16 and the triaxial geomagnetic sensor 15 are sent to the movement direction calculation processing unit 18 to calculate the movement direction (step S31).

  Subsequently, the CPU 10 confirms whether the user is going straight from the calculation result of the moving direction (step S32), and if straight running is confirmed, it determines whether the user has stopped from the acceleration change (step S33). Here, if it is determined that the user is not going straight, the stride data correction is unsuccessful, and the stride adjustment process is terminated. If it is determined that the vehicle is traveling straight and not stopped, the process returns to step S30 to repeatedly calculate the number of steps and the moving direction.

  Then, when the user stops after a few straight steps, it is determined in step S33, and the process proceeds to the “YES” side. Then, the CPU 10 waits for the second shooting operation (step S34), and performs the shooting process when the shooting operation is performed (step S35). In the photographing process, as shown in FIG. 5C, the user performs photographing in a state where the same traffic light is aligned with the center of the screen and the traffic light is focused by the autofocus unit 27.

  When the photographing process is performed, the CPU 10 saves the photographed image data in the RAM 11 in order to calculate the distance later (step S36), and obtains the second photographing condition data and stores it in the RAM 11 (step S37). ). The shooting condition data includes shooting direction azimuth and elevation angle data calculated by the CPU 10 from the measurement data of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16, and the focus of the autofocus unit 27, as in the first shooting. A focus lens address representing the position of the lens and a zoom lens address representing the position of the zoom lens of the zoom unit 28 are included. Further, data on the moving direction is also stored in the RAM 11.

  In the second shooting, as in the first shooting, the angle of view θ and the length L2 of the color panel on the shot image are obtained based on the shot image data and the zoom lens address, and these parameters are obtained. The distance from the traffic light to the traffic light can be calculated. As shown in FIG. 4 (c) → FIG. 5 (c), the length L2 on the captured image of the color panel is larger at the time of the second photographing because of approaching the traffic light.

  In the second shooting, the distance from the focus lens address to the in-focus traffic signal can be calculated as in the first shooting. As shown in FIGS. 6A to 6B, the position of the focus lens Z2 is also moved according to the distance from the traffic light.

  Next, the CPU 10 calculates the moving distance from the first shooting point to the second shooting point based on the first and second shot image data and shooting condition data stored in the RAM 11 as described above ( Step S38: Distance calculation means). Next, a method for calculating the movement distance will be described.

  In FIG. 7, the figure explaining the relative positional relationship of an imaging | photography point and a traffic light is shown. FIG. 8 is a plan view of the state of FIG. 7 viewed from above, and FIG. 9 is a view of the state of FIG. 7 viewed from the lateral direction perpendicular to the traveling direction.

  As shown in FIG. 7, in the first shooting, the elevation angle and direction in the shooting direction and the distance from the shooting point to the traffic light are known parameters. Similar parameters are known in the second shooting. Here, in the first and second imaging, the distance to the traffic light is R1, R2, the elevation angle in the imaging direction is φ1, φ2 (see FIG. 9), and the angle to the azimuth in the imaging direction based on the traveling direction is ψ1. , Ψ2 (see FIG. 8). As described above, the distances R1 and R2 to the traffic lights are obtained by the two methods, respectively, so that the one with the smaller error is adopted, or the average value is adopted if the errors are approximately the same.

Here, as shown in FIGS. 7 to 9, line segments “X1-N” and “X2-N” are obtained by mapping the line segments “X1-K” and “X2-K” from the photographing point to the traffic light on the XY plane. The lengths R1a and R2a (see FIG. 8) are obtained as in the following equations (1) and (2).
R1a = R1 × cos φ1 (1)
R2a = R2 × cos φ2 (2)

Then, as shown in FIG. 8, the distance W between the first and second imaging points X1 and X2 is obtained by the following equation (3).
W = R1a × cos ψ1−R2a × cos ψ2 (3)

  In step S38, such a calculation is performed to calculate the movement distance from the first shooting point to the second shooting point. After calculating the travel distance, the CPU 10 then calculates the stride by dividing the travel distance by the number of steps counted in step S30 (step S39), and corrects the stride data in the stride data storage unit 19 to this value ( Step S40: stride correction means).

  As described above, according to the digital camera 1 with a positioning function of this embodiment, a user is allowed to shoot at a plurality of points, and a plurality of images are obtained based on the shooting information (captured image data and shooting condition data) representing the shooting conditions. Since the user's stride is calculated by calculating the movement distance between the points, the stride data can be corrected even in an environment where GPS is not available. In addition, an accurate stride can be obtained only by moving straight a short distance compared to the case of using GPS.

  Further, in the digital camera 1 with a positioning function of this embodiment, since the same subject is photographed at a plurality of photographing points, the movement distance between them is calculated from the photographing information, so that it is relatively based only on the photographing information. It is possible to calculate an accurate movement distance.

  Instead of photographing the same subject, two subjects whose distances are known (for example, the first signal and the second signal) are photographed, and the distance between the two subjects is input to the user. Thus, it is possible to correct the stride data by calculating the movement distance of the user by combining these pieces of information.

  Further, in the digital camera 1 with a positioning function of this embodiment, the focus lens address, the elevation angle and the direction information of the shooting direction are stored as shooting condition data, and the information of the moving direction is also stored. Therefore, the moving distance of the user can be accurately calculated even when shooting a subject obliquely above.

  In the digital camera 1 with a positioning function of this embodiment, a traffic light having a known color panel size is photographed, and the size of the traffic light on the photographed image and the zoom lens address representing the angle of view at the time of photographing are stored. In addition, a process for calculating the distance from the shooting point to the traffic light from these pieces of information is also performed. Therefore, even when it is difficult to obtain the distance from the position of the focus lens, such as a pan focus state, the distance to the subject can be calculated. Further, since the color panel of the traffic light has a strong color contrast and is easy to recognize an image, the distance to the subject can be definitely calculated.

  The digital camera 1 with a positioning function of this embodiment discriminates between the Tokyo district and other districts, switches the color data of the color panel of the traffic light according to the discrimination result, and determines the distance to the traffic signal. Since it is used for calculation, the distance to the subject can be calculated correctly in consideration of the difference in the length of the color panel for each district.

  The present invention is not limited to the above-described embodiment, and various modifications can be made. For example, in the above embodiment, an example in which a traffic light is photographed as a subject in order to calculate the movement distance has been shown. However, for example, a noticeable signboard or the like may be applied as a subject, or a stopped person may be applied as a subject. it can. In addition, when an object that is in a horizontal position with the digital camera in the direction of travel of the user is applied as a subject, the information on the azimuth and elevation angle of the photographing direction and the moving direction can be omitted as information for calculating the moving distance. .

  In the above embodiment, shooting is performed at two points and the distance between the two points is calculated, but shooting is performed at three or more points and the distance between the points is calculated. At the same time, processing for removing errors such as averaging processing may be performed to calculate the user's stride with higher accuracy.

  Further, in the above embodiment, the discrimination between the Tokyo district and the other districts is automatically discriminated from the result of the position measurement. For example, the user can set and input the district data, and the setting data The district may be determined based on the above. Moreover, although the triaxial geomagnetic sensor was illustrated as an azimuth | direction sensor, the structure which measures an azimuth | direction by measuring the azimuth | direction of a moving direction with GPS and measuring the variation | change_quantity of a moving direction with a gyroscope is also applicable. In addition, the details shown in the embodiments can be appropriately changed without departing from the spirit of the invention.

  In the above embodiment, the distance to the traffic light is simply calculated from the angle of view θ and the length of the color panel P on the captured image. However, in reality, the color panel P captures the color panel P of the traffic light. It becomes distorted and elliptical depending on the direction. Therefore, the user's stride may be calculated with higher accuracy by using the distorted elliptical major axis as the length on the captured image of the color panel P.

  Further, in the above-described embodiment, the image is simply taken at two points. However, the subject may be specified by displaying through the semi-transparent image of the first image at the time of the second image.

  In the above embodiment, one subject is photographed at two points and the distance between the two points is calculated. However, a plurality of subjects are photographed at two points, While calculating the distance between points, the process of removing errors, such as an averaging process, may be performed to calculate the user's stride with higher accuracy.

  Although several embodiments of the present invention have been described, the scope of the present invention is not limited to the above-described embodiments, but includes the scope of the invention described in the claims and equivalents thereof. The invention described in the scope of claims attached to the application of this application will be added below. The item numbers of the claims described in the appendix are as set forth in the claims attached to the application of this application.

[Appendix]
<Claim 1>
Photographing means for photographing a subject;
An acceleration sensor for detecting acceleration;
An orientation sensor for measuring the orientation,
Stride data storage means for storing preset stride data;
Positioning means for calculating a moving amount from the number of steps counted based on the detection of the acceleration sensor and the stride data and calculating a moving direction based on the measurement of the azimuth sensor and positioning the moving point;
Distance calculating means for calculating distances between the plurality of points based on shooting information representing shooting conditions of the shooting means respectively performed at a plurality of points on a linear movement path;
Stride correction means for correcting the stride data based on the distance between the plurality of points calculated by the distance calculation means and the number of steps counted by movement between the plurality of points;
A positioning device comprising:
<Claim 2>
The distance calculating means includes
The positioning device according to claim 1, wherein the distance between the plurality of points is calculated from the shooting information representing a situation of shooting performed on the same subject at the plurality of points by the shooting unit. .
<Claim 3>
The shooting information includes
2. The information on the distance to the subject calculated based on the focus adjustment position of the photographing unit, information on the azimuth and elevation representing the photographing direction, and information on the direction of the moving path are included. Or the positioning apparatus of 2.
<Claim 4>
The same subject is a traffic light,
The positioning apparatus according to claim 2, wherein the photographing information includes information on a length of a predetermined portion of the traffic light on a photographed image and information on a field angle at the time of photographing.
<Claim 5>
5. The positioning device according to claim 4, wherein the information on the length of the predetermined portion of the traffic light on the captured image is a long diameter on the photographing screen of the color panel of the traffic light.
<Claim 6>
An area discriminating means for discriminating between a first area where the length of the predetermined part of the traffic light is defined as a first length and a second area where the length is defined as a second length;
The distance calculating means includes
The distance between the plurality of points is calculated by switching the length information of the predetermined part of the traffic light between the first length and the second length according to the area determined by the area determining means. The positioning device according to claim 4.
<Claim 7>
Comprising display means for displaying an image acquired by the photographing means;
3. The first captured image is displayed on the display unit during the second and subsequent shootings when the same subject is shot at the plurality of points by the shooting unit. The positioning apparatus as described in any one of -6.
<Claim 8>
An acceleration sensor that detects acceleration and an orientation sensor that measures an azimuth, and calculates the amount of movement from the number of steps counted based on the detection of the acceleration sensor and preset stride data, and is used for the measurement of the azimuth sensor A step data correction method for correcting the stride data with a positioning device having a photographing means for photographing a subject while calculating a moving direction based on the moving direction,
A distance calculating step for calculating a distance between the plurality of points based on shooting information representing a shooting situation of the shooting unit performed at each of a plurality of points on a linear movement path;
A step correction step of correcting the step data based on the distance between the plurality of points calculated by the distance calculation step;
A method for correcting stride length data, comprising:
<Claim 9>
An amount of movement is calculated from an acceleration sensor that detects acceleration, an orientation sensor that measures an orientation, and the number of steps counted based on the detection of the acceleration sensor and preset stride data, and moves based on the measurement of the orientation sensor A computer that controls the positioning means for calculating the direction and positioning the moving point and the photographing means for photographing the subject,
A distance calculation function for calculating a distance between the plurality of points based on shooting information representing a shooting situation of the shooting unit performed at each of a plurality of points on a linear movement path;
A stride correction function for correcting the stride data based on the distance between the plurality of points calculated by the distance calculation function;
A program that realizes

1 Digital camera 10 CPU (computer that executes a program)
11 RAM
12 ROM
13 GPS receiving antenna 14 GPS receiving unit 15 3-axis geomagnetic sensor (orientation sensor)
16 3-axis acceleration sensor (acceleration sensor)
17 Movement distance calculation processing unit 18 Movement direction calculation processing unit 19 Step data storage unit (step data storage unit)
DESCRIPTION OF SYMBOLS 20 Display part 21 Operation part 25 Camera part 26 Imaging part 27 Autofocus part 28 Zoom part P Color panel of traffic light M Imaging element Z1 Zoom lens Z2 Focus lens

Claims (9)

Photographing means for photographing a subject;
An acceleration sensor for detecting acceleration;
An orientation sensor for measuring the orientation,
Stride data storage means for storing preset stride data;
Positioning means for calculating a moving amount from the number of steps counted based on the detection of the acceleration sensor and the stride data and calculating a moving direction based on the measurement of the azimuth sensor and positioning the moving point;
Distance calculating means for calculating distances between the plurality of points based on shooting information representing shooting conditions of the shooting means respectively performed at a plurality of points on a linear movement path;
Stride correction means for correcting the stride data based on the distance between the plurality of points calculated by the distance calculation means and the number of steps counted by movement between the plurality of points;
A positioning device comprising: The distance calculating means includes
The positioning device according to claim 1, wherein the distance between the plurality of points is calculated from the shooting information representing a situation of shooting performed on the same subject at the plurality of points by the shooting unit. . The shooting information includes
2. The information on the distance to the subject calculated based on the focus adjustment position of the photographing unit, information on the azimuth and elevation representing the photographing direction, and information on the direction of the moving path are included. Or the positioning apparatus of 2. The same subject is a traffic light,
The positioning apparatus according to claim 2, wherein the photographing information includes information on a length of a predetermined portion of the traffic light on a photographed image and information on a field angle at the time of photographing.   5. The positioning device according to claim 4, wherein the information on the length of the predetermined portion of the traffic light on the captured image is a long diameter on the photographing screen of the color panel of the traffic light. An area discriminating means for discriminating between a first area where the length of the predetermined part of the traffic light is defined as a first length and a second area where the length is defined as a second length;
The distance calculating means includes
The distance between the plurality of points is calculated by switching the length information of the predetermined part of the traffic light between the first length and the second length according to the area determined by the area determining means. The positioning device according to claim 4. Comprising display means for displaying an image acquired by the photographing means;
3. The first captured image is displayed on the display unit during the second and subsequent shootings when the same subject is shot at the plurality of points by the shooting unit. The positioning apparatus as described in any one of -6. An acceleration sensor that detects acceleration and an orientation sensor that measures an azimuth, and calculates the amount of movement from the number of steps counted based on the detection of the acceleration sensor and preset stride data, and is used for the measurement of the azimuth sensor A step data correction method for correcting the stride data with a positioning device having a photographing means for photographing a subject while calculating a moving direction based on the moving direction,
A distance calculating step for calculating a distance between the plurality of points based on shooting information representing a shooting situation of the shooting unit performed at each of a plurality of points on a linear movement path;
A step correction step of correcting the step data based on the distance between the plurality of points calculated by the distance calculation step;
A method for correcting stride length data, comprising: An amount of movement is calculated from an acceleration sensor that detects acceleration, an orientation sensor that measures an orientation, and the number of steps counted based on the detection of the acceleration sensor and preset stride data, and moves based on the measurement of the orientation sensor A computer that controls the positioning means for calculating the direction and positioning the moving point and the photographing means for photographing the subject,
A distance calculation function for calculating a distance between the plurality of points based on shooting information representing a shooting situation of the shooting unit performed at each of a plurality of points on a linear movement path;
A stride correction function for correcting the stride data based on the distance between the plurality of points calculated by the distance calculation function;
A program that realizes

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