JP2016061621A - Navigation device, navigation method and navigation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation device, a navigation method, and a navigation program that allow a current location to be displayed on an image of a deformed map accurately and without a discomfort feeling.SOLUTION: A navigation device comprises: a pedestrian corridor information database 14 in which information specifying a pedestrian corridor, a coordinate on a deformed map DT of a plurality of specific locations set on the pedestrian corridor, and an actual latitude/longitude coordinate of the specific location are registered in association with each other; and a device main body location information acquisition unit 16 that acquires a latitude/longitude coordinate M of a current location of a device main body 10a. A processing unit 20 is configured to: recognize the individual pedestrian corridor in a way approximating the pedestrian corridor to a linear on the basis of a plurality of registered latitude/longitude coordinates of the specific locations; calculate a latitude/longitude coordinate Mn of a location most proximate to the latitude/longitude coordinate M of the current location of the device main body 10a from the latitude/longitude coordinates on the pedestrian corridor subjected to the linear approximation; and convert the latitude/longitude coordinate Mn thereof into X-Y coordinates mn on the deformed map DT. A display unit 22 is configured to display a mark 24 at a location of the X-Y coordinates mn of an image on the deformed map DT.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a portable navigation device that displays a current position on an image of a deformed map created with emphasis on visibility and design, a navigation method and a navigation program used therefor.

  Conventionally, a navigation system that recognizes the latitude and longitude coordinates of the current position using GPS (Global Positioning System) or the like and displays a map image and the current position on the display of the portable information terminal is often used. Maps used in this type of system generally had to be scaled accurately by coordinate transformation. However, in recent years, navigation systems (or related technologies) that can be used even with deformed maps with inaccurate scales such as handwritten tourist information maps are being put into practical use.

  For example, as disclosed in Patent Document 1, a map acquisition unit that acquires image data of a deformed map described on a guide board or the like, and coordinate data on the deformed map at a specific position for initial registration are acquired. Map position acquisition means, actual position acquisition means for acquiring actual coordinate data of this specific position, and conversion information generation for generating coordinate conversion data using each coordinate data acquired by the map position acquisition means and the actual position acquisition means There was an electronic map creation device with means. According to this electronic map creation device, the latitude and longitude coordinates of the current position acquired from the GPS or the like are converted into coordinates on the deformed map based on the coordinate conversion data created in advance, so that the image on the deformed map is displayed. A navigation system that displays the current position mark can be configured.

  Further, as disclosed in Patent Document 2, means for storing image data of a deformed map, and registered point data in which coordinates on the deformed map of a plurality of registered points and latitude and longitude coordinates on the earth are associated with each other are stored. Means for acquiring latitude and longitude coordinates indicating the current position of the mobile communication device, means for detecting a registered point closest to the current position of the mobile communication device with reference to the registered point data, There has been a display control device that displays an image and displays a range of the current position of the mobile communication device in a circle on the image. This display control device acquires latitude / longitude coordinates indicating the current position of the mobile communication device, and displays an area (range) including the current position without converting the latitude / longitude coordinates into coordinates on the deformed map.

JP 2005-106953 A JP 2008-281349 A

  However, the electronic map creation device of Patent Document 1 does not specifically describe the operation of the conversion information creation means and the content of the coordinate conversion data. Therefore, there remains a problem about the accuracy of the current position display on the deformed map, and it has been explained that it is desirable to increase the number of specific positions to be initially registered in order to improve accuracy, The basis for this is also unclear. For example, if the degree of deformation of the deformed map is strong, it is expected that certain accuracy will not be obtained even if the number of specific positions to be initially registered is 3, and the user changes the number of initial registrations through trial and error. Must. In addition, even if the user can tolerate a slight error (positional deviation) in the current position display, he / she is walking on the road, but the current position display crosses the wall of the building or is in the river. In other words, there is a sense of incongruity.

  Further, the display method (displaying the range) of the current position of the display control device of Patent Document 2 is suitable for navigation when the scale ratio of the deformed map is very large as in “Metropolitan area train route map”. However, it is not suitable for navigation when the scale ratio is small as in the “shopping map of sightseeing spots”.

  The present invention has been made in view of the above-described background art, and provides a navigation device, a navigation method, and a navigation program capable of accurately and comfortably displaying a current position on a deformed map image. Objective.

The present invention is a portable navigation device that displays an image of a deformed map whose road shape is different from the actual one, and displays the current position on the image, wherein the map data stores the image data of the deformed map Information for specifying a plurality of walking paths as navigation targets, coordinates on the deformed map of a plurality of specific positions set on the plurality of specified walking paths, and actual latitude and longitude of the specific positions A walking path information database in which coordinates are registered in association with each other, a device main body position information acquisition unit that acquires the latitude and longitude coordinates of the current position where the device main body of the navigation device is located, and a processing unit that performs predetermined calculation and information processing And receiving an instruction of the processing unit, displaying an image of the deformed map stored in the map data storage unit, and the image It said device comprising a display unit for displaying a mark indicating the current position of the body,
The processing unit recognizes each walking path by approximating a straight line based on the latitude and longitude coordinates of the plurality of specific positions registered in the walking path information database, and recognizes the latitude and longitude on the recognized plurality of walking paths. From the coordinates, the latitude / longitude coordinates of the position closest to the latitude / longitude coordinates of the apparatus main body acquired by the main body position information acquisition unit are calculated, and the calculated latitude / longitude coordinates are converted into coordinates on the deformed map, The navigation device issues a command to the display unit to display the mark at the coordinate position on the deformed map obtained as described above.

  In addition to the above units, there is provided an apparatus main body direction information acquisition unit that acquires current direction information on which the apparatus main body is located, and in the walking path information database, information for specifying a plurality of walking paths targeted for navigation In addition to the coordinates on the deformed map of a plurality of specific positions set on the specified walking path, and the actual latitude and longitude coordinates of the specific positions, the direction and the actual direction on the deformed map of the plurality of specific positions Deviation information with respect to the direction is registered in association with each other, and the processing unit includes two adjacent ones on both sides of the latitude and longitude coordinates obtained by calculation from the specific positions registered in the walking path information database. The specific position is extracted, and the direction information acquired by the apparatus main body direction information acquiring unit is displayed on the deformed map based on the deviation information of the two extracted specific positions. Corrects the direction information, to a configuration issue an instruction to the display unit to display the direction information on the deformed map obtained by correcting preferred.

  Further, the present invention is a navigation method used in a portable navigation device that displays an image of a deformed map whose road shape is different from the actual one and displays the current position on the image, and the navigation device includes: A map data storing step for storing image data of the deformed map; information for identifying a plurality of walking paths to be navigated in the navigation device; and the deformed positions at a plurality of specific positions set on the identified walking paths. The device body of the navigation device uses a walking path information registration step of registering the coordinates on the map and the actual latitude and longitude coordinates of the specific position in association with each other, and the device body position information acquisition unit of the navigation device. Device body position information acquisition step that acquires the latitude and longitude coordinates of the current position. And recognizing each walking path by approximating a straight line based on the latitude and longitude coordinates of the plurality of specific positions registered in the walking path information registration step, and the latitude and longitude coordinates on the recognized walking paths A latitude / longitude coordinate calculating step for calculating a latitude / longitude coordinate of a position closest to the latitude / longitude coordinates of the device main body acquired in the device main body position information acquiring step, and a latitude / longitude coordinate calculated in the latitude / longitude coordinate calculating step Is converted into coordinates on the deformed map, and an image of the deformed map is displayed, and the current position of the apparatus main body is indicated at the position of the coordinates on the deformed map obtained in the coordinate converting step. And a display step for displaying a mark.

  The latitude-longitude coordinate calculating step includes a first step of dividing an area in the deformed map into a plurality of polygonal areas by the plurality of walking paths approximated by a straight line, and a latitude corresponding to the plurality of polygonal areas. A second step of extracting a specific polygon area that includes the latitude and longitude coordinates of the apparatus main body, which is recognized by the longitude coordinates and acquired in the apparatus main body position information acquisition step, and the specification corresponding to the apex of the specific polygon area A third step of extracting a specific point having a latitude / longitude coordinate closest to the latitude / longitude coordinate of the apparatus main body acquired in the apparatus main body position information acquisition step from the positions, and a vertex position of the specific polygon area In the specific triangular area formed by connecting the specific point and two adjacent specific positions located on both sides of the specific point in the three specific positions A fourth step for determining whether or not latitude and longitude coordinates of the body are included, and the walking that connects the specific point and the two adjacent specific positions when it is determined to be “included” in the fourth step Recognizes two specific walking paths that are roads by approximating them as straight lines, and is closest to the latitude / longitude coordinates of the device main body acquired in the device main body position information acquisition step among the latitude / longitude coordinates on the recognized specific walking road The specific position corresponding to the vertex of the specific polygon area extracted in the second step when it is determined as “not included” in the fifth step of calculating the latitude / longitude coordinates of the position and the fourth step And a sixth step of extracting the specific position having a latitude / longitude coordinate close to the latitude / longitude coordinate of the apparatus main body next to the specific point extracted in the third step. When Tsu, the said specific position extracted in the sixth step is regarded as the specific points extracted by the third step is preferably configured to proceed to the fourth step.

  Further, as a result of repeating the operation of proceeding from the sixth step to the fourth step and proceeding again to the sixth step, when the specific position for proceeding to the next fourth step in the sixth step cannot be extracted, A seventh step of recognizing an auxiliary polygon area surrounded by the plurality of specific triangular areas previously determined in the fourth step, wherein the seventh step is performed on each side of the auxiliary polygon area; The latitude / longitude coordinates of the position closest to the latitude / longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step are calculated from the latitude / longitude coordinates of the apparatus, and the calculated latitude / longitude coordinates are used as the apparatus main body position information. It is preferable that the configuration proceeds to the fifth step by regarding the latitude and longitude coordinates of the apparatus main body acquired in the acquisition step.

  Further, in the walking path information registration step, the navigation device is configured to specify information for identifying a plurality of walking paths as navigation targets, coordinates on the deformed map of a plurality of specific positions set on the identified walking path, In addition to the actual latitude and longitude coordinates of the specific position, the deviation information between the directions on the deformed map of the specific positions and the actual direction is registered in association with each other. Using the apparatus main body direction information acquisition unit, the apparatus main body direction information acquisition step for acquiring the current direction information in which the apparatus main body is arranged, and the specific position registered in the walking path information registration step, Two specific positions on both sides of the latitude / longitude coordinates calculated in the latitude / longitude coordinate calculation step are extracted, and the extracted two specific positions Based on the deviation information, there is provided a direction correction step for correcting the direction information acquired in the apparatus main body direction information acquisition step to direction information on the deformed map, and in the display step, obtained in the direction correction step. It is preferable that the direction information on the deformed map is displayed.

Furthermore, the present invention sets a map data storage unit storing image data of a deformed map whose road shape is different from the actual one, information for specifying a plurality of walking paths to be navigated, and the specified walking path. The walking path information database in which the coordinates on the deformed map of a plurality of specific positions and the actual latitude and longitude coordinates of the specific positions are registered in association with each other, and the latitude and longitude coordinates of the current position where the device body of the navigation device is located An apparatus main body position information acquisition unit for acquiring the image, a processing unit for performing predetermined calculation and information processing, and receiving an instruction from the processing unit, and displaying an image of the deformed map stored in the map data storage unit And an operation of a portable navigation device having a display unit that displays a mark indicating the current position of the device main body on the image A navigation program,
For the navigation device, using the device main body position information acquisition unit, the device main body position information acquisition step for acquiring the latitude / longitude coordinates of the current position where the device main body is located; Based on the latitude and longitude coordinates of a plurality of specific positions, each walking path is recognized by approximating it to a straight line, and is acquired from the recognized latitude and longitude coordinates on the plurality of walking paths in the device body position information acquisition step. A latitude / longitude coordinate calculating step for calculating a latitude / longitude coordinate at a position closest to a latitude / longitude coordinate of the apparatus main body, a coordinate conversion step for converting the latitude / longitude coordinate calculated in the coordinate calculation step into a coordinate on the deformed map, and An image of the deformed map is displayed, and the device book is placed at the position of the coordinate on the deformed map obtained in the coordinate converting step. Of a navigation program for executing a display step of displaying a mark indicating the current position.

  The latitude / longitude coordinate calculating step includes a first step of dividing an area in the deformed map into a plurality of polygonal areas by the plurality of walking paths approximated by a straight line, and the plurality of polygonal areas, The second step of extracting a specific polygon area including the latitude and longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step, and the specific position corresponding to the vertex of the specific polygon area, A third step of extracting a specific point having a latitude / longitude coordinate closest to the latitude / longitude coordinate of the apparatus main body acquired in the apparatus main body position information acquisition step; and the three specific positions at the vertices of the specific polygon area The latitude and longitude coordinates of the device body are included in a specific triangular area connecting the specific point and two adjacent specific positions located on both sides of the specific point. Two specific walks that are the walking path connecting the specific point and the two adjacent specific positions when it is determined to be “included” in the fourth step and the fourth step. Recognize the road by approximating it as a straight line, and calculate the latitude and longitude coordinates of the position closest to the latitude and longitude coordinates of the device main body acquired in the device main body position information acquisition step from the recognized latitude and longitude coordinates on the specific walking path And when the third step is determined not to be included in the fourth step, the third position is selected from the specific positions corresponding to the vertices of the specific polygon area extracted in the second step. And a sixth step of extracting the specific position having a latitude / longitude coordinate close to the latitude / longitude coordinate of the device main body next to the specific point extracted in step, and when the sixth step is performed, It is regarded as the specific point of the specific position extracted in six steps extracted by the third step is preferably configured to proceed to the fourth step.

  Further, in the latitude / longitude coordinate calculating step, as a result of repeating the operation of proceeding from the sixth step to the fourth step and proceeding again to the sixth step, the process proceeds to the next fourth step in the sixth step. When the specific position is not extracted, a seventh step of recognizing an auxiliary polygon area surrounded by the plurality of specific triangle areas to be determined in the repeated fourth step is performed. In the step, the latitude / longitude coordinates of the position closest to the latitude / longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step are calculated from the latitude / longitude coordinates on each side of the auxiliary polygon area, The calculated latitude / longitude coordinates are regarded as the latitude / longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step, and the process proceeds to the fifth step. It is preferable that the formation.

  Further, the walking path information database includes information for identifying a plurality of walking paths as navigation targets, coordinates on the deformed map of a plurality of specific positions set on the specified walking paths, and the specific positions. In addition to the actual latitude and longitude coordinates, deviation information between the direction on the deformed map at the plurality of specific positions and the actual direction is registered in association with the navigation device, in addition to the above steps, A device main body direction information acquisition step for acquiring current direction information of the navigation device using the device main body direction information acquisition unit, and the navigation device among the specific positions registered in the walking path information database. To extract the two specific positions on both sides of the latitude and longitude coordinates calculated in the latitude and longitude coordinate calculation step A direction correcting step of correcting the direction information acquired in the apparatus main body direction information acquiring step to direction information on the deformed map based on the deviation information of the two specific positions; It is preferable that the navigation device displays the direction information on the deformed map obtained in the direction correction step.

  According to the navigation device according to claim 1, the navigation method according to claims 3, 4, and 5, and the navigation program according to claims 7, 8, and 9, the current position of the device body is displayed on the image of the deformed map. It can be displayed with high accuracy. Even if a slight error (positional deviation) occurs, the current position is always displayed on the walking path, so that the user can use it without feeling uncomfortable.

  Furthermore, according to the navigation device according to claim 2, the navigation method according to claim 6, and the navigation program according to claim 10, information on the direction in which the device main body is arranged is also displayed on the image of the deformed map. It can be displayed with high accuracy.

It is a block diagram which shows the structure of one Embodiment of the navigation apparatus of this invention. It is a flowchart explaining one Embodiment of the navigation method and navigation program of this invention. It is a deformed map depicting the target area for navigation. This is an accurate scale map depicting the navigation area. It is a list | wrist which shows the information stored in a walking path information database. It is the figure which connected the walking path in the map of FIG. 3 by linear approximation. It is the figure which connected the walking path in the map of FIG. 4 by linear approximation. It is a figure (case 1) explaining the method of calculating the latitude longitude coordinate of the position nearest to the latitude longitude coordinate which the main body position information acquisition part acquired from the latitude longitude coordinates on the walking path shown in FIG. It is a figure (case 2) explaining the method of calculating the latitude longitude coordinate of the position nearest to the latitude longitude coordinate which the main body position information acquisition part acquired from the latitude longitude coordinates on the walking path shown in FIG. It is a figure (case 3) explaining the method of calculating the latitude longitude coordinate of the position nearest to the latitude longitude coordinate which the main body position information acquisition part acquired from the latitude longitude coordinates on the walking path shown in FIG. It is a figure (case 4) explaining the method of calculating the latitude longitude coordinate of the position nearest to the latitude longitude coordinate which the main body position information acquisition part acquired from the latitude longitude coordinates on the walking path shown in FIG. It is a figure which shows an example of the display content of the navigation apparatus of this embodiment. The figure which shows the walk map of the shopping street which is an example of a deformed map (a), and the map (b) which drew the area drawn on the walk map at an accurate scale.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a navigation device, a navigation method, and a navigation program according to the present invention will be described with reference to the drawings. The navigation device 10 according to this embodiment displays an image of a deformed map DT created on a road shape or the like different from an actual map with emphasis on visibility and design, and displays the current position on the image. It is. The navigation method of this embodiment is a method implemented in the navigation device 10 (steps S11 to S18 described below). Further, the navigation program of this embodiment is a control program for causing the navigation device 10 to execute steps S13 to S18 described later.

  The navigation device 10 is a portable information terminal represented by a smart phone or a tablet terminal, and includes a plurality of functional blocks as shown in FIG. The map data storage unit 12 stores image data of the deformed map DT selected by the user. The deformed map DT is, for example, a shopping street strolling map of a sightseeing spot described in a magazine or a pamphlet as shown in FIG. The area drawn on the deformed map DT becomes a map ST shown in FIG. 13B when drawn at an accurate scale. In order to improve the visibility as a map, the deformed map DT, for example, approximates a gently curving road to a substantially straight line or parallels two non-parallel roads so that they can be understood by comparing these. It is drawn in. Therefore, the scale of the deformed map DT is different at each point, and the direction at each point is slightly inaccurate. When using a deformed map DT described in a magazine or a pamphlet, image data is captured using a dedicated scanner or the like and stored in the map data storage unit 12. This work is performed in a preparatory stage before actually walking around the shopping street and performing navigation.

  The walking path information database 14 includes information for identifying a plurality of walking paths as navigation targets, intersections and corners where the identified walking paths intersect, and other coordinates on a deformed map at a specific position that is an arbitrarily set position. This is a database in which the actual latitude and longitude coordinates of the plurality of specific positions and the deviation information between the directions on the deformed map of the plurality of specific positions and the actual directions are registered in association with each other. The operation of registering these is also performed at a preparation stage before navigation is actually performed based on the map data of the shopping street.

  The apparatus main body position information acquisition unit 16 is a part that acquires the latitude and longitude coordinates of the current position where the apparatus main body 10a is arranged. For example, a GPS receiver that receives radio waves from GPS satellites and calculates the latitude and longitude coordinates. Etc. The apparatus main body direction information acquisition unit 18 is a part for acquiring current direction information in which the apparatus main body 10a is arranged, and is, for example, an electronic compass using a geomagnetic sensor.

  The processing unit 20 is a part that performs predetermined calculations and information processing. Then, the display unit 22 operates in response to a command from the processing unit 20 and displays an image of the deformed map DT as shown in FIG. 12, and a mark 24 indicating the current position of the apparatus main body 10a is displayed on the image. This is the part to be displayed. Detailed functions and functions of the respective parts constituting the navigation device 10 will be described in the subsequent operation description.

  Next, the navigation method and navigation program of this embodiment will be described based on the flowchart of FIG. The first two steps S11 and S12 are preparatory steps before actual navigation, and are operations performed by the service provider or user operating the navigation device 10.

  In the map data storage step S11 which is a preparation stage, the deformed map DT shown in FIG. 13A is captured by a scanner or the like, and the image data is stored in the map data storage unit 12. In the next walker information registration step S12 in the preparation stage, necessary information is acquired and registered in the walker information database 14. First, as shown in FIG. 3, a deformed map DT is arranged in an XY coordinate system that is orthogonal to each other, and a walking path to be navigated is specified. As a walking path, a road through which a person passes is selected. For example, when sidewalks are provided on both sides of the road like a main road, the sidewalks on both sides may be separate walking paths. Further, if there is a pedestrian crossing that crosses the roadway, it is preferable that this also be a walking path. Then, the XY coordinates (X1, X2), (X2, Y2),... Of the specific positions p1, p2,. The coordinate system of the deformed map DT is not limited to the XY coordinate system, and other coordinate systems such as a polar coordinate system may be applied.

  Next, actual latitude and longitude coordinates are acquired for specific positions p1, p2,... On the deformed map DT. As shown in FIG. 4, the specific positions p1, p2,... On the deformed map DT correspond to the specific positions P1, P2,. , ... latitude and longitude coordinates (I1, K2), (I2, K2), ... are investigated. The method of investigation is arbitrary.

  Further, with respect to the specific positions p1, p2,... On the deformed map DT, deviation information between the direction at each specific position and the actual direction is acquired. In the case of an accurate scale map ST, the north direction at the specific positions P1, P2,... Is uniform, but the deformed map DT has an inaccurate scale, so the north at every specific position p1, p2,. The direction is different. Therefore, for example, as the deviation information of the specific positions p1, p2,... On the deformed map DT, the deviation angles θ1, θ2,. The method of investigation is arbitrary.

  Then, the acquired information is organized and registered in the walking path information database 14 in a format as shown in FIG. The “specific position of the other party connected by the walking path” in this list corresponds to information for specifying a plurality of walking paths to be navigated. For example, looking at the specific position p1, it can be seen that the specific positions p1-p2 and the specific positions p1-p5 are connected by a walking path, and the specific positions p1-p3 are not connected by a walking path.

  Next, a description will be given of the step of performing navigation when actually walking around the shopping street. First, in the apparatus main body position information acquisition step S13, the processing unit 20 controls the apparatus main body position information acquisition unit 16 to acquire the latitude / longitude coordinates M of the current position where the apparatus main body 10a is located. Furthermore, in the apparatus main body direction information acquisition step S14, the processing unit 20 controls the apparatus main body direction information acquisition unit 18, and acquires the current direction information where the apparatus main body 10a is located. The direction information is, for example, azimuth (north, east, south, and west are 0 °, 90 °, 180 °, and 270 °, respectively).

  In the next latitude / longitude coordinate calculation step S15, the processing unit 20 performs the processes of the first to seventh steps S151 to S157. In the first step S151, as shown in FIGS. 3 and 6, the region in the deformed map DT is divided into a plurality of polygonal areas a1, a2,... By a plurality of linearly approximated walking paths.

  Next, in a second step S152, a plurality of polygonal areas a1, a2,. That is, as shown in FIGS. 4 and 7, a plurality of polygonal areas A1, A2,... Are recognized on a map ST with an accurate scale. Then, a specific polygon area including the latitude / longitude coordinates M of the apparatus main body 10a acquired in the apparatus main body position information acquisition step S13 is extracted. Here, as can be seen from FIG. 7, since the latitude / longitude coordinates M of the apparatus main body 10a are located inside the polygon area A3, the polygon area A3 is extracted as the specific polygon area.

  When the specific polygon area A3 is extracted, in the third step S153, the latitude / longitude coordinates closest to the latitude / longitude coordinates M of the apparatus main body 10a are selected from the specific positions P1 to P5 corresponding to the vertices of the specific polygon area A3. Extract specific points. Here, as can be seen from FIGS. 7 and 8, the specific position P2 is extracted as the specific point.

  When the specific point P2 is extracted, in the fourth step S154, there are three specific positions at the apex of the specific polygon area A3, the specific point P2 and two adjacent specific positions P1 and P3 located on both sides thereof. It is determined whether or not the latitude / longitude coordinates M of the apparatus main body 10a are included inside a specific triangular area P1-P2-P3 formed by connecting. Here, as can be seen from FIG. 8, it is determined to be “included”, and the process proceeds to the fifth step S155.

  Proceeding to the fifth step S155, the two specific walking paths P1-P2, P2-P3, which are the walking paths connecting the specific point P2 and the two adjacent specific positions P1, P3, are recognized by approximating a straight line, and the specific walking From the latitude and longitude coordinates on the paths P1-P2 and P2-P3, the latitude / longitude coordinates of the position closest to the latitude / longitude coordinates M of the apparatus body 10a are calculated. Here, as shown in FIG. 8, the distance between the latitude and longitude coordinate M is shorter in the latter of the specific walking path P1-P2 and the specific walking path P2-P3. The latitude / longitude coordinate Mn of the position of the foot of the perpendicular line drawn to -P3 is calculated.

  On the other hand, as a case where “not included” is determined in the fourth step S154, as shown in FIG. 9, a specific point P5 having a latitude / longitude coordinate closest to the latitude / longitude coordinate M of the apparatus body 10a is specified as the apex. There is a case where the latitude / longitude coordinates M are not located inside the triangular area P1-P4-P5. In addition, as shown in FIG. 10, the specific polygon area A3 is a polygon having a concave portion, and a specific triangular area P1-P4-P5 whose apex is a specific point P5 having a latitude / longitude coordinate closest to the latitude / longitude coordinate M There are cases where the latitude and longitude coordinates M are not located inside.

  In these cases, the process proceeds to the sixth step S156. In the sixth step S156, the latitude / longitude coordinate closest to the latitude / longitude coordinate M next to the specific point P5 extracted in the third step S153 is selected from the specific positions P1 to P5 at the position of the vertex of the specific polygon area A3. Extract a specific position. In the cases of FIGS. 9 and 10, the specific position P1 is extracted, the extracted specific position P1 is regarded as a specific point, and the process proceeds to the fourth step S154. Then, as a result of the fourth step S154 for the second time, the latitude / longitude coordinates Mn of the position closest to the latitude / longitude coordinates M of the apparatus main body 10a, which are positions on the specific walking path P1-P5, are calculated.

  In addition, there is a case as shown in FIG. 11 as a case where “not included” is determined in the fourth step S154. In this case, even if the fourth step S154 and the sixth step S156 are repeated a plurality of times, the determination that “included” is not obtained in the fourth step S154, and the next specific position cannot be extracted even in the sixth step S156. In this case, the process proceeds to the seventh step S157.

  In the seventh step, the five specific triangular areas P1-P2-P5, P2-P3-P1, P3-P4-P2, P4-P5-P3, P5-P1- The auxiliary polygon area Pa-Pb-Pc-Pd-Pe surrounded by P4 is recognized. Then, a latitude / longitude coordinate Mk at a position closest to the latitude / longitude coordinate M of the apparatus main body 10a is calculated from the latitude / longitude coordinates on each side of the recognized auxiliary polygon area Pa-Pb-Pc-Pd-Pe. The calculated latitude / longitude coordinates Mk are regarded as the latitude / longitude coordinates of the apparatus main body 10a acquired in the apparatus main body position information acquisition step, and the process proceeds to the fifth step S155. In the fifth step S155, the specific walking area P1-P2 and the specific walking path P1-P5 in the specific triangular area P1-P2-P5 where the latitude / longitude coordinates Mk are located are compared, and the former is compared with the latitude / longitude coordinates Mk. Since the distance is short, the latitude / longitude coordinate Mn of the position of the foot of the perpendicular line drawn from the latitude / longitude coordinate Mk to the specific walking path P1-P2 is calculated.

  As described above, in the latitude / longitude coordinate calculating step S15 (first to seventh steps S151 to S157), walking based on the latitude / longitude coordinates of the specific positions P1, P2,... Registered in the walking path information database 14. Recognize the roads P1-P2, P2-P3,... By approximating them as straight lines, and from the latitude and longitude coordinates on the walking paths P1-P2, P2-P3,. The latitude / longitude coordinates Mn of the position closest to the latitude / longitude coordinates M of the apparatus main body 10a obtained in (1) are calculated.

  Next, proceeding to the coordinate conversion step S16, the processing unit 20 converts the latitude / longitude coordinates Mn calculated in the latitude / longitude coordinate calculation step S15 into XY coordinates on the deformed map DT. For example, in the case of FIG. 8, the latitude / longitude coordinates Mn determine the ratio of dividing the line segment of the walking path P2-P3 that is linearly approximated, and based on the ratio, the walking path on the deformed map DT shown in FIG. The line segment of p2-p3 is divided at the same ratio, and the position is set as the XY coordinate mn.

  Further, in the direction correction step S17, the processing unit 20 sandwiches the latitude / longitude coordinates Mn calculated in the latitude / longitude coordinate calculation step S15 from the specific positions P1, P2,... Registered in the walking path information database. Two specific positions on both sides are extracted, and the direction information (azimuth angle) acquired in the apparatus main body direction information acquisition step S14 based on the deviation information of the two extracted specific positions is converted into the direction information on the deformed map DT ( Azimuth) For example, in the case of FIG. 8, two specific positions P2 and P3 adjacent to both sides of the latitude / longitude coordinate Mn are extracted, and the deviation information θ2 and θ3 of the specific positions P2 and P3 are weighted and averaged. The azimuth angle acquired by the unit 18 is corrected to the azimuth angle in the XY coordinates mn.

  Then, the process proceeds to the display step S18, and as shown in FIG. 12, the image of the deformed map DT is displayed on the display unit 22 of the navigation device 10 according to the command of the processing unit 20, and the XY coordinates mn obtained in the coordinate conversion step S16 are displayed. A mark 24 indicating the current position of the apparatus main body 10 is displayed at the position. Further, the direction information on the deformed map DT obtained in the direction correction step S17 is displayed. The format for displaying the direction information is arbitrary, but as a format with good visibility, for example, as shown in FIG. 12, a triangular direction indicator provided inside the mark 24 rotates in accordance with the direction information, There is a format in which the entire image of the deformed map DT is rotated according to the direction information.

  As described above, according to the navigation device 10, the navigation method, and the navigation program of this embodiment, the current position of the device body 10 can be accurately displayed on the image of the deformed map DT. Even if a slight error (positional deviation) occurs, the current position is always displayed on the walking path, so that the user does not feel uncomfortable. Furthermore, the direction in which the apparatus main body 10a is arranged can be accurately displayed on the image of the deformed map DT.

  The navigation device, the navigation method, and the navigation program of the present invention are not limited to the above embodiment. For example, in the above-described embodiment, an intersection where a plurality of walking paths intersect in a T shape or a cross shape is selected as a specific position on the deformed map DT. The walking path may be divided into two walking paths, and an L-shaped apex may be set as a specific position, or a curved corner or a middle point of the curve may be set as the specific position. Further, the walking path of the deformed map may be a curve, and the configuration for displaying the direction information of the apparatus main body and the steps related thereto may be omitted as necessary.

DESCRIPTION OF SYMBOLS 10 Navigation apparatus 10a Apparatus main body 12 Map data storage part 14 Walking path information database 16 Apparatus main body position information acquisition part 18 Apparatus main body direction information acquisition part 20 Processing part 22 Display part DT Deformation map ST Accurate scale map
S11 Map data storage step
S12 Walking path information registration step
S13 Device body position information acquisition step
S14 Device body direction information acquisition step
S15 Latitude / Longitude Coordinate Calculation Step
S151 First step
S152 Second step
S153 3rd step
S154 Fourth step
S155 5th step
S156 6th step
S157 7th step
S16 coordinate conversion step
S17 Direction correction step
S18 Display step

Claims (10)

In a portable navigation device that displays an image of a deformed map whose road shape is different from the actual one and displays the current position on the image,
A map data storage unit storing image data of the deformed map;
Information for specifying a plurality of walking paths to be navigation targets, coordinates on the deformed map of a plurality of specific positions set on the specified plurality of walking paths, and actual latitude and longitude coordinates of the plurality of specific positions A walking path information database registered in association with each other;
A device main body position information acquisition unit for acquiring the latitude and longitude coordinates of the current position where the device main body of the navigation device is located;
A processing unit for performing predetermined calculation and information processing;
In response to an instruction from the processing unit, the image of the deformed map stored in the map data storage unit is displayed, and a display unit that displays a mark indicating the current position of the apparatus main body on the image,
The processor is
Recognize each walking path by approximating a straight line based on the latitude and longitude coordinates of the plurality of specific positions registered in the walking path information database;
Among the recognized latitude and longitude coordinates on the plurality of walking paths, calculate the latitude and longitude coordinates of the position closest to the latitude and longitude coordinates of the apparatus body acquired by the body position information acquisition unit,
Convert the calculated latitude and longitude coordinates into coordinates on the deformed map,
A navigation device characterized by issuing a command to the display unit to display the mark at a coordinate position on the deformed map obtained by conversion. The device body is provided with a device body direction information acquisition unit that acquires current direction information of the device itself,
The walking path information database includes information for specifying a plurality of walking paths to be navigation targets, coordinates on the deformed map of a plurality of specific positions set on the specified walking paths, and a plurality of the specific positions. In addition to the actual latitude and longitude coordinates, deviation information between the direction on the deformed map at the plurality of specific positions and the actual direction is registered in association with each other,
The processor is
From the specific positions registered in the walking path information database, extract the two specific positions on both sides across the latitude and longitude coordinates obtained by calculation,
Based on the deviation information of the two extracted specific positions, the direction information acquired by the apparatus body direction information acquisition unit is corrected to direction information on the deformed map,
The navigation device according to claim 1, wherein a command is issued to the display unit to display direction information on the deformed map obtained by correction. In a navigation method used in a portable navigation device that displays an image of a deformed map whose road shape is different from the actual shape and displays the current position on the image,
A map data storing step for storing image data of the deformed map in the navigation device;
Information for identifying a plurality of walking paths to be navigated to the navigation device, coordinates on the deformed map of a plurality of specific positions set on the identified walking paths, and actual latitude and longitude coordinates of the specific positions Walking path information registration step for registering in association with each other,
A device main body position information acquisition step for acquiring the latitude and longitude coordinates of the current position where the device main body of the navigation device is located using the device main body position information acquisition unit of the navigation device;
Based on the latitude and longitude coordinates of the plurality of specific positions registered in the walking path information registration step, each of the walking paths is recognized by approximating a straight line, and from among the recognized latitude and longitude coordinates on the plurality of walking paths A latitude / longitude coordinate calculating step for calculating a latitude / longitude coordinate of a position closest to the latitude / longitude coordinates of the device main body acquired in the device main body position information acquiring step;
A coordinate conversion step for converting the latitude / longitude coordinates calculated in the latitude / longitude coordinate calculation step into coordinates on the deformed map;
A navigation step of displaying an image of the deformed map and displaying a mark indicating a current position of the apparatus main body at a coordinate position on the deformed map obtained in the coordinate conversion step. Method. The latitude / longitude coordinate calculating step includes:
Dividing the region in the deformed map into a plurality of polygonal areas by the plurality of walking paths approximated by the straight line;
A second step of recognizing the plurality of polygonal areas with corresponding latitude / longitude coordinates, and extracting a specific polygonal area including the latitude / longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step;
A third step of extracting a specific point having a latitude / longitude coordinate closest to the latitude / longitude coordinate of the apparatus main body acquired in the apparatus main body position information acquisition step from the specific position corresponding to the apex of the specific polygon area. When,
The latitude and longitude of the device main body is defined by three specific positions at the apexes of the specific polygon area, the specific triangular area formed by connecting the specific point and two adjacent specific positions positioned on both sides of the specific point. A fourth step of determining whether coordinates are included;
When it is determined to be “included” in the fourth step, the two specific walking paths that are the walking paths connecting the specific point and the two adjacent specific positions are recognized by approximating a straight line and recognized. From the latitude and longitude coordinates on the specific walking path, a fifth step of calculating the latitude and longitude coordinates of the position closest to the latitude and longitude coordinates of the device body acquired in the device body position information acquisition step;
When it is determined that it is not included in the fourth step, the specific extracted in the third step from the specific position corresponding to the vertex of the specific polygon area extracted in the second step A sixth step of extracting the specific position having a latitude / longitude coordinate close to a latitude / longitude coordinate of the apparatus main body next to a point; and
The navigation method according to claim 3, wherein when the sixth step is performed, the specific position extracted in the sixth step is regarded as the specific point extracted in the third step, and the process proceeds to the fourth step. When the specific position for proceeding to the next fourth step in the sixth step cannot be extracted as a result of repeating the operation of proceeding from the sixth step to the fourth step and proceeding to the sixth step again A seventh step of recognizing an auxiliary polygonal area surrounded by the plurality of specific triangular areas previously determined in the fourth step,
The seventh step calculates a latitude / longitude coordinate of a position closest to the latitude / longitude coordinate of the apparatus main body acquired in the apparatus main body position information acquisition step from among the latitude / longitude coordinates on each side of the auxiliary polygon area. 5. The navigation method according to claim 4, wherein the calculated latitude / longitude coordinates are regarded as the latitude / longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step, and the process proceeds to the fifth step. In the walking path information registration step, in the navigation device, information for specifying a plurality of walking paths as navigation targets, coordinates on the deformed map of a plurality of specific positions set on the specified walking path, and the In addition to the actual latitude and longitude coordinates of the specific position, register the deviation information between the direction on the deformed map of the plurality of specific positions and the actual direction in association with each other,
A device body direction information acquisition step for acquiring current direction information in which the device body is located, using a device body direction information acquisition unit that acquires current direction information of the navigation device;
From the specific positions registered in the walking path information registration step, the two specific positions on both sides of the latitude / longitude coordinates calculated in the latitude / longitude coordinate calculation step are extracted, and the two extracted specific positions A direction correction step for correcting the direction information acquired in the apparatus main body direction information acquisition step to the direction information on the deformed map based on the deviation information.
4. The navigation method according to claim 3, wherein in the display step, direction information on the deformed map obtained in the direction correction step is displayed. A map data storage unit storing image data of a deformed map whose road shape is different from the actual shape;
Information for specifying a plurality of walking paths to be navigation targets, coordinates on the deformed map of a plurality of specific positions set on the specified walking paths, and actual latitude and longitude coordinates of the specific positions are registered in association with each other. Walking pedestrian information database,
A device main body position information acquisition unit for acquiring the latitude and longitude coordinates of the current position where the device main body of the navigation device is located;
A processing unit that performs predetermined calculation and information processing, and receives an instruction from the processing unit, displays an image of the deformed map stored in the map data storage unit, and displays a current position of the apparatus main body on the image. In a navigation program for executing an operation of a portable navigation device having a display unit for displaying a mark indicating
For the navigation device,
Using the apparatus main body position information acquisition unit, an apparatus main body position information acquisition step for acquiring the latitude and longitude coordinates of the current position where the apparatus main body is located;
Based on the latitude and longitude coordinates of the plurality of specific positions registered in the walking path information database, the individual walking paths are recognized by approximating a straight line, and among the recognized latitude and longitude coordinates on the plurality of walking paths, A latitude / longitude coordinate calculating step for calculating a latitude / longitude coordinate of a position closest to the latitude / longitude coordinates of the device main body acquired in the device main body position information acquiring step;
A coordinate conversion step for converting the latitude and longitude coordinates calculated in the coordinate calculation step into coordinates on the deformed map;
A display step of displaying an image of the deformed map and displaying a mark indicating a current position of the apparatus main body at a coordinate position on the deformed map obtained in the coordinate conversion step. Navigation program. The latitude / longitude coordinate calculating step includes:
Dividing the region in the deformed map into a plurality of polygonal areas by the plurality of walking paths approximated by the straight line;
A second step of extracting a specific polygon area including the latitude and longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step from the plurality of polygonal areas;
A third step of extracting a specific point having a latitude / longitude coordinate closest to the latitude / longitude coordinate of the apparatus main body acquired in the apparatus main body position information acquisition step from the specific position corresponding to the apex of the specific polygon area. When,
The latitude and longitude of the device main body is defined by three specific positions at the apexes of the specific polygon area, the specific triangular area formed by connecting the specific point and two adjacent specific positions positioned on both sides of the specific point. A fourth step of determining whether coordinates are included;
When it is determined to be “included” in the fourth step, the two specific walking paths that are the walking paths connecting the specific point and the two adjacent specific positions are recognized by approximating a straight line and recognized. From the latitude and longitude coordinates on the specific walking path, a fifth step of calculating the latitude and longitude coordinates of the position closest to the latitude and longitude coordinates of the device body acquired in the device body position information acquisition step;
When it is determined that it is not included in the fourth step, the specific extracted in the third step from the specific position corresponding to the vertex of the specific polygon area extracted in the second step And a sixth step of extracting the specific position having a latitude / longitude coordinate close to the latitude / longitude coordinate of the apparatus main body next to the point,
The navigation program according to claim 7, wherein when the sixth step is performed, the specific position extracted in the sixth step is regarded as the specific point extracted in the third step, and the process proceeds to the fourth step. In the latitude / longitude coordinate calculating step,
When the specific position for proceeding to the next fourth step is not extracted in the sixth step as a result of repeating the operation of proceeding from the sixth step to the fourth step and proceeding to the sixth step again Performing a seventh step of recognizing an auxiliary polygonal area surrounded by a plurality of the specific triangular areas to be determined in the repeated fourth step,
In the seventh step, from the latitude and longitude coordinates on each side of the auxiliary polygon area, the latitude and longitude coordinates of the position closest to the latitude and longitude coordinates of the device body acquired in the device body position information acquisition step are calculated. 9. The navigation program according to claim 8, wherein the calculated latitude / longitude coordinates are regarded as the latitude / longitude coordinates of the apparatus main body acquired in the apparatus main body position information acquisition step, and the process proceeds to the fifth step. In the walking path information database, information for specifying a plurality of walking paths to be navigated, coordinates on the deformed map of a plurality of specific positions set on the specified walking paths, and actual positions of the specific positions In addition to the latitude and longitude coordinates, deviation information between the direction on the deformed map at the plurality of specific positions and the actual direction is registered in association with each other,
A device main body direction information acquisition step for acquiring current direction information of the navigation device;
From the specific positions registered in the walking path information database, the navigation device extracts two specific positions that are adjacent to each other across the latitude / longitude coordinates calculated in the latitude / longitude coordinate calculation step. A direction correction step of correcting the direction information acquired in the apparatus main body direction information acquisition step to direction information on the deformed map based on the deviation information of the two specific positions;
The navigation program according to claim 7, wherein in the display step, the navigation device displays the direction information on the deformed map obtained in the direction correction step.

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