JP2016095296A - Position detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the positioning accuracy of a mobile body travelling on a prescribed route even if a low-priced GPS receiver with low positioning accuracy is used.SOLUTION: A position detection device 1 comprises: a GPS receiver 11 that receives radio waves from GPS satellites and obtains first positional information indicating the positioning position of a mobile body; a positional information modification unit 13 that modifies the first positional information to second positional information indicating a predetermined particular position; and a communication unit 14 that transmits the second positional information to a positional information acquisition device.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position detection device that detects the position of a moving object using a GPS (Global Positioning System) receiver.

  GPS is a system in which a GPS receiver receives radio waves transmitted from a plurality of GPS satellites in the sky and obtains position information indicating the current position. GPS was originally a positioning system used for military use, but now it is also widely used for consumer use, and is also used for mobile phones and car navigation systems.

  However, the GPS has a positioning error due to accuracy, and the positioning position and the actual position may deviate. For this reason, a wide range of studies have been conducted to improve positioning accuracy. In general, a GPS receiver performs map matching processing using information obtained from other sensors such as an acceleration sensor in addition to position information obtained from GPS. This improves the accuracy (see, for example, Patent Documents 1 and 2).

JP 2000-346663 A JP 2003-058046 A

  However, a GPS receiver with high positioning accuracy as described above is expensive, and using a GPS receiver that is not equipped with other sensors increases the positioning error and makes it difficult to detect an accurate position. It was.

  On the other hand, when positioning a moving body that travels on a predetermined route (track or road) such as a train or a bus, it suffices if it has sufficient accuracy to detect which section it is traveling.

  An object of the present invention made in view of such circumstances is positioning of a moving body that travels on a predetermined route such as a train or a bus even when an inexpensive GPS receiver not equipped with other sensors is used. An object of the present invention is to provide a position detection device capable of improving accuracy.

  In order to solve the above-described problem, a position detection device according to the present invention is a position detection device that is mounted on a moving body traveling on a predetermined route and transmits position information of the moving body to a position information acquisition device, and includes a GPS satellite. A GPS receiver that receives radio waves from the vehicle and obtains first position information indicating the positioning position of the mobile body, and corrects the first position information to second position information indicating a predetermined specific position. A position information correction unit; and a communication unit that transmits the second position information to the position information acquisition device.

  Furthermore, in the position detection device according to the present invention, when the position information correction unit determines that the positioning position is within a closed region including a part of the route, the first position information is The second position information indicating the position of the center point of the closed region is corrected.

  Furthermore, in the position detection device according to the present invention, a center point of the closed region is set so as to be positioned on the route.

  Furthermore, the position detection device according to the present invention further includes a traveling direction detection unit that detects a traveling direction of the moving body from the past first position information or the past second position information, and the position information correction. When it is determined that the positioning position is in the closed region associated with the traveling direction of the moving body, the unit corrects the second position information.

  Furthermore, in the position detection device according to the present invention, a plurality of position information notification devices are arranged along the route, and the communication unit transmits the first position information and transmits the first position information. The second position information is received from the received position information notification device, and the position information correction unit receives the second position information from the communication unit when the communication unit receives the second position information. Is transmitted to the position information acquisition apparatus.

  Furthermore, in the position detection apparatus according to the present invention, the communication unit transmits the first position information and receives the first position information from the position information notification apparatus that has received the first position information. The intermediate position information indicating the position between the notification apparatus and the position information notification apparatus arranged in the traveling direction next to the notification apparatus is received, and the position information correction unit compares the first position information with the intermediate position information. When the position indicated by the first position information is within a predetermined range including the position indicated by the intermediate position information, the intermediate position information is transmitted to the position information acquisition device to the communication unit. It is characterized by instructing as follows.

  According to the present invention, even when an inexpensive GPS receiver not equipped with other sensors is used, it is possible to improve the positioning accuracy of a moving body that travels on a predetermined route such as a tram or a bus. become able to.

It is a block diagram which shows the structural example of the position detection apparatus which concerns on the 1st Embodiment of this invention. It is a figure explaining operation | movement of the position detection apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structural example of the position detection apparatus which concerns on the 2nd Embodiment of this invention. It is a 1st figure explaining operation | movement of the position detection apparatus which concerns on the 2nd Embodiment of this invention. It is a 2nd figure explaining operation | movement of the position detection apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the structural example of the position detection apparatus which concerns on the 3rd Embodiment of this invention. It is a figure explaining operation | movement of the position detection apparatus which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the structural example of the position detection apparatus which concerns on the 4th Embodiment of this invention. It is a figure explaining operation | movement of the position detection apparatus which concerns on the 4th Embodiment of this invention.

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

(First embodiment)
FIG. 1 is a block diagram showing a configuration example of a position detection apparatus according to the first embodiment of the present invention. In the example illustrated in FIG. 1, the position detection device 1 includes a GPS receiver 11, a storage unit 12, a position information correction unit 13, and a communication unit 14. The position detection device 1 is mounted on a moving body that travels on a predetermined route such as a tram or a bus, and transmits position information of the moving body to a position information acquisition device (not shown). The position information acquisition device is a device that acquires and analyzes the position information of the moving body from the position detection device 1.

  The GPS receiver 11 receives a radio wave from a GPS satellite, measures the current position of the moving body, obtains first position information (position information before correction) indicating the positioning position, and outputs the first position information to the position information correction unit 13. To do. The position information is represented by longitude and latitude information, for example.

  FIG. 2 is a diagram for explaining the operation of the position detection apparatus 1 according to the first embodiment. The predetermined closed area A is a closed area including a part of the route R on which the moving body M travels, and the center point of the closed area A is a virtual point B. Preferably, the virtual point B is set to be located on the route R. A plurality of closed areas A and virtual points B are set, but here, two closed areas A1 and A2 and two virtual points B1 and B2 are shown as representatives. The interval between the virtual points B is not less than the positioning accuracy (diameter) of the GPS receiver 11. As an example, when the positioning accuracy of the GPS receiver 11 is 5.3 m 2DRMS, for example, the interval between the virtual points B is 50 m, and the closed area A is a square of 50 m × 50 m.

  C in FIG. 2 is a position (positioning position) indicated by the first position information obtained by the GPS receiver 11 and includes an error. Since the moving body M is traveling on the route R, the exact position of the moving body M is a point on the route R. Therefore, in the present invention, the position indicated by the position information is corrected from the positioning position C to the position of the virtual point B.

  The storage unit 12 stores the position information of the closed region A and the position information of the virtual point B in association with each other. Since the position of the virtual point B can be calculated from the position information of the closed area A, only the position information of the closed area A may be stored.

  The position information correction unit 13 determines whether or not the positioning position C obtained by the GPS receiver 11 is in any one of the closed areas A. If it is determined that the positioning position C is in any one of the closed areas A, the position information of the virtual point B linked to the closed area A is acquired from the storage unit 12, and the second position information This is output to the communication unit 14 as (corrected position information). Thereby, the positioning position C detected by the GPS receiver 11 is corrected to the position of the virtual point B.

  On the other hand, when the position information correction unit 13 determines that the positioning position C obtained by the GPS receiver 11 is not located in any of the closed areas A, error information indicating that the positioning is not accurately performed is displayed. Output to the communication unit 14.

  Alternatively, when the positioning position C is not located in any of the closed areas A, the position information correction unit 13 sends the second position information indicating the position of the virtual point B closest to the positioning position C to the communication unit 14. The position information may be output without being updated. As a result, it is possible to cope with a specification in which the position information acquisition device does not permit error information.

  The communication unit 14 transmits the second position information input from the position information correction unit 13 to the position information acquisition device.

  As described above, the position detection device 1 according to the first embodiment obtains the first position information (position information before correction) indicating the positioning position C by receiving radio waves from GPS satellites by the GPS receiver 11. When the position information correction unit 13 determines that the positioning position C is within the closed region A including a part of the predetermined route R of the moving body M, the first position information is stored in the closed region A. Is corrected to second position information (position information after correction) indicating the position of the center point (virtual point) B, and the communication unit 14 transmits the second position information to the position information acquisition device.

  With this configuration, according to the position detection device 1 according to the first embodiment, even when an inexpensive GPS receiver with low positioning accuracy that is not equipped with other sensors is used, the vehicle travels on a predetermined route. The positioning accuracy of the body M can be improved. Further, according to the present invention, since map matching processing is not necessary, the processing can be simplified and the capacity of the storage unit 12 can be reduced because map data need not be stored.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. FIG. 3 is a block diagram illustrating a configuration example of the position detection apparatus according to the second embodiment. In the example illustrated in FIG. 3, the position detection device 2 includes a GPS receiver 11, a storage unit 12, a position information correction unit 13 a, a communication unit 14, and a traveling direction detection unit 15.

  As in the first embodiment, the GPS receiver 11 receives radio waves from GPS satellites, measures the current position of the moving body, and outputs the first position information to the position information correction unit 13a.

  The traveling direction detection unit 15 detects the traveling direction of the moving body M from the past first position information or the past second position information, and outputs the traveling direction information to the position information correction unit 13a. There are two types of routes for the moving body M, that is, for uplink and for downlink, and the traveling direction is detected in order to distinguish both. Therefore, the traveling direction information may be information indicating either the up direction or the down direction.

  In the example illustrated in FIG. 3, the traveling direction detection unit 15 acquires the second positional information from the positional information correction unit 13 a and detects the traveling direction of the moving body M from the time change of the position indicated by the second positional information. As another method, the traveling direction detection unit 15 may acquire the first position information from the GPS receiver 11 and detect the traveling direction of the moving body M from the time change of the positioning position C.

  The storage unit 12 stores the traveling direction, the position information of the closed region A, and the position information of the virtual point B in association with each other. Since the position of the virtual point B can be calculated from the closed area A, only the position information of the closed area A may be stored.

  When the position information correction unit 13a determines that the positioning position C obtained by the GPS receiver 11 is within any one of the closed areas A associated with the traveling direction of the moving body M, the closed area A The second position information indicating the position of the virtual point B is output to the communication unit 14. On the other hand, when the positioning position C is not located in any of the closed regions A, error information indicating that the positioning position C obtained by the GPS receiver 11 is not accurate, or a virtual point B closest to the positioning position C The second position information indicating the position may be output to the communication unit 14, or the position information may be held without being updated.

  FIG. 4 is a diagram for explaining the operation of the position detection apparatus 2 according to the second embodiment. Here, it is assumed that the moving body M is a tram. The tram runs on different routes (tracks) on the up and down sides, and an up stop T1 and a down stop T2 are installed on the different routes, respectively. The upstream stop T1 and the downstream stop T2 are often installed close to each other across the route.

  Since tram stops have a certain length (for example, about 20m), virtual points are provided on the route near the entrance or exit of the stop to distinguish the virtual points in the upward direction from the virtual points in the downward direction. can do. In the example shown in FIG. 4, a virtual point B1 is provided on the route R1 in the vicinity of the entrance of the upstream stop T1, and a virtual point B2 is provided on the route R2 in the vicinity of the entrance of the downward stop T2.

  The operation of the position detection device 2 will be described with reference to the example shown in FIG. First, the traveling direction detection unit 15 detects that the traveling direction of the tram M is the upward direction. In this case, the closed region associated with the traveling direction is A1, and the virtual point associated with the traveling direction is B1.

  If the position information correction unit 13a determines that the positioning position C is within the closed region A1, the second point information indicating the position of the virtual point B1 because the virtual point B1 is a virtual point associated with the traveling direction. Is output. Thereafter, when the position information correction unit 13a determines that the positioning position C is within the closed region A2, the second position information is output because the virtual point B2 is not a virtual point associated with the traveling direction. Do not. For this reason, even when the bus stop is installed close to the route, it is possible to accurately determine which bus stop has arrived.

  FIG. 5 is also a diagram for explaining the operation of the position detection device 2 according to the second embodiment. Here, it is assumed that the moving body M is a bus. The bus travels on different routes (roads) on the upstream and downstream, and an upstream stop T1 and a downstream stop T2 are installed on the different routes. The upstream stop T1 and the downstream stop T2 are often installed close to each other across the route.

  In the example shown in FIG. 5, a virtual point B1 is provided on the route R1 near the entrance of the up stop T1, and a virtual point B2 is provided on the route R2 near the entrance of the down stop T2. The bus stop is shorter than the tram stop, and even if a virtual point is provided on the route near the entrance or exit of the stop, the closed region A1 and the closed region A2 may overlap as shown in the figure. Then, when the positioning position C obtained by the GPS receiver 11 is within the area where the closed areas A1 and A2 overlap, it is necessary to determine which position of the virtual position B1 or B2 the position C is to be corrected. Arise. Therefore, the position information correction unit 13a determines only whether the positioning position C is in the closed region associated with the traveling direction, and does not determine whether it is within the closed region not associated with the traveling direction. To do.

  The operation of the position detection device 2 will be described with reference to the example shown in FIG. First, the traveling direction detection unit 15 detects that the traveling direction of the bus M is the upward direction. In this case, the closed region associated with the traveling direction is A1.

  If the position information correction unit 13a determines that the positioning position C is within the closed region A1 associated with the traveling direction, the position information correction unit 13a outputs second position information indicating the position of the virtual point B1. Since the closed region A2 is not associated with the traveling direction, the position information correction unit 13a does not determine whether the positioning position C is within the closed region A2, and as a result, indicates the position of the virtual point B2. The second position information is not output. Similarly, the operation of the position detection device 2 in the example shown in FIG. 4 may be determined only if the positioning position C is within the closed region associated with the traveling direction.

  As described above, the position detection device 2 according to the second embodiment detects the traveling direction of the moving object M from the past first position information or the past second position information by the traveling direction detection unit 15, When the position information correction unit 13a determines that the positioning position C is within the closed region associated with the traveling direction of the moving body M, the second position indicating the position of the center point (virtual point) of the closed region is displayed. The position information of is output.

  Trams and bus stops are often installed close to each other across the route, but with this configuration, the position detection device 2 according to the second embodiment provides positioning accuracy without mounting other sensors. Even when a low-priced GPS receiver is used, it is possible to accurately determine which of the nearby stops has arrived.

(Third embodiment)
Next, a third embodiment of the present invention will be described. FIG. 6 is a block diagram illustrating a configuration example of the position detection apparatus according to the third embodiment. In the example illustrated in FIG. 6, the position detection device 3 includes a GPS receiver 11, a position information correction unit 13b, and a communication unit 14a.

  FIG. 7 is a diagram for explaining the operation of the position detection device 3 according to the third embodiment. In the present embodiment, a plurality of position information notification devices 20 are arranged along the route on which the moving body M travels. In the example shown in FIG. 7, the location information notification device 20 is installed at a stop. For example, the position information notification device 20 can be incorporated in an LED display at a stop.

  The position information notification device 20 has information on the installation position of the stop T or information on the position on the route facing the stop T as the second position information, and receives the first position information from the position detection device 3. And a function of transmitting the second position information to the position detection device 3.

  As in the other embodiments, the GPS receiver 11 receives radio waves from GPS satellites, obtains first position information, and outputs the first position information to the position information correction unit 13b.

  The position information correction unit 13b outputs the first position information acquired from the GPS receiver 11 to the communication unit 14a, and receives the second position information from the position information notification device 20 that has received the first position information. Wait until.

  The communication unit 14a continues to transmit the first position information to the outside. When the position information notification device 20 receives the first position information from the position detection device 3, the position information notification device 20 transmits the second position information to the position detection device 3. As the position detection device 3 approaches the position information notification device 20, the reception power of the radio wave indicating the first position information increases. For example, when the reception radio wave exceeds a predetermined threshold, the position detection device 3 is stopped. As a result, the second position information is transmitted to the position detection device 3.

  When the communication unit 14a receives the second position information from the position information notification device 20 that has received the first position information, the communication unit 14a notifies the position information correction unit 13b of the reception of the second position information.

  When the reception of the second position information is notified from the communication unit 14a, the position information correction unit 13b determines that the mobile object M is approaching or arrives at the stop T, and uses the second position information as the position information. The communication unit 14a is instructed to transmit to the acquisition device. Based on the instruction, the communication unit 14a transmits the second position information to the position information acquisition device.

  As described above, the position detection device 3 according to the third embodiment transmits the first position information through the communication unit 14a and receives the first position information from the position information notification device 20 that has received the first position information. Receive location information. Then, when the communication unit 14a receives the second position information, the position information correction unit 13b instructs the communication unit 14a to transmit the second position information to the position information acquisition device.

  With this configuration, the positioning position detected by the GPS receiver 11 is corrected to the position indicated by the second position information. Therefore, according to the position detection device 3 according to the third embodiment, the positioning of the moving body M traveling on the predetermined route without providing a means for storing the closed region that is necessary in the position detection devices 1 and 2. The accuracy can be improved.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described. FIG. 8 is a block diagram illustrating a configuration example of the position detection device according to the fourth embodiment. In the example illustrated in FIG. 8, the position detection device 4 includes a GPS receiver 11, a position information correction unit 13c, and a communication unit 14b.

  FIG. 9 is a diagram illustrating the operation of the position detection device 4 according to the fourth embodiment. In the present embodiment, as in the third embodiment, a plurality of position information notification devices 20 are arranged along the route of the moving body M. In the example illustrated in FIG. 9, the position information notification devices 20 are installed at a stop. The

  The position information notification device 20 has the information on the installation position of the stop T or the information on the position on the route facing the stop T as the second position information, and receives the first position information from the position detection device 4. And a function of transmitting the second position information and the intermediate position information to the position detection device 4. Here, the intermediate position information refers to the position information notification device 20-1 that has received the first position information, and the position information notification device 20-2 that is arranged in the traveling direction next to the position information notification device 20-1. Is position information indicating an arbitrary position (intermediate position) P on the route. The intermediate position P is, for example, an intersection position or a crossing position. A plurality of intermediate positions P may be provided between the position information notification device 20-1 and the position information notification device 20-2.

  Similar to the other embodiments, the GPS receiver 11 receives radio waves from GPS satellites, obtains first position information, and outputs the first position information to the position information correction unit 13c.

  The position information correction unit 13c outputs the first position information acquired from the GPS receiver 11 to the communication unit 14b and receives the second position information and the intermediate position from the position information notification device 20 that has received the first position information. Wait until information is received.

  The communication unit 14b continues to transmit the first position information to the outside. When the position information notification device 20 receives the first position information from the position detection device 4, the position information notification device 20 transmits the second position information and the intermediate position information to the position detection device 4. As the position detection device 4 approaches the position information notification device 20, the reception power of the radio wave indicating the first position information increases. For example, when the reception radio wave exceeds a predetermined threshold, the position detection device 4 is stopped. As a result, the second position information and the intermediate position information are transmitted to the position detection device 4.

  When the communication unit 14b receives the second position information and the intermediate position information from the position information notification device 20 that has received the first position information, the communication unit 14b notifies the position information correction unit 13c of the reception of the second position information, The position information is output to the position information correction unit 13c.

  When the reception of the second position information is notified from the communication unit 14b, the position information correction unit 13c determines that the moving body M is approaching or arrives at the stop T, and uses the second position information as the position information. The communication unit 14b is instructed to transmit to the acquisition device.

  Further, the position information correction unit 13c compares the first position information obtained by the GPS receiver 11 with the intermediate position information input from the communication unit 14b. Then, when the position indicated by the first position information is within a predetermined range including the intermediate position P indicated by the intermediate position information, it is considered that the moving body M has reached the intermediate position P, and the intermediate position information is The communication unit 14b is instructed to transmit to the position information acquisition device.

  As described above, in the position detection device 4 according to the fourth embodiment, the plurality of position information notification devices 20 are arranged along the route of the moving body M, and the communication unit 14b receives the first position information. When the second position information and the intermediate position information are received from the position information notification device 20 that has transmitted and received the first position information, the position information correction unit 13c receives the second position information from the communication unit 14b. The communication unit 14b is instructed to transmit the second position information to the position information acquisition device, further compares the first position information with the intermediate position information, and the position indicated by the first position information is When it is within a predetermined range including the position indicated by the position information, the communication unit 14b is instructed to transmit the intermediate position information to the position information acquisition apparatus.

  With this configuration, the positioning position detected by the GPS receiver 11 is corrected to the position indicated by the second position information or the intermediate position P indicated by the intermediate position information. Therefore, according to the position detection device 4 according to the fourth embodiment, it is possible to improve the positioning accuracy of the moving body M traveling on a predetermined route without providing a storage unit.

  Further, the intermediate position P between the position information notification devices 20 can be detected without additionally arranging the position information notification device 20. That is, a point where the position information notification device 20 cannot be installed can be set as a detection point, and a detection point can be set on a road, a track, a building, or the like. Furthermore, in the position detection device 4, since the intermediate position P is given only by the position information notification device 20 in the front of the traveling direction, the intermediate position P can be obtained without tracking the position information of the moving body M. The traveling direction can be determined.

  Although the above embodiment has been described as a representative example, it will be apparent to those skilled in the art that many changes and substitutions can be made within the spirit and scope of the invention. Therefore, the present invention should not be construed as being limited by the above-described embodiments, and various modifications and changes can be made without departing from the scope of the claims. For example, a plurality of constituent blocks described in the embodiments can be combined into one, or one constituent block can be divided.

1, 2, 3, 4 Position detection device 11 GPS receiver 12 Storage unit 13, 13a, 13b, 13c Position information correction unit 14, 14a, 14b Communication unit 15 Traveling direction detection unit 20 Position information notification device

Claims (6)

A position detection device that is mounted on a moving body that travels on a predetermined route and transmits position information of the moving body to a position information acquisition device,
A GPS receiver that receives radio waves from a GPS satellite and obtains first position information indicating a positioning position of the moving body;
A position information correction unit that corrects the first position information to second position information indicating a predetermined specific position;
A communication unit that transmits the second position information to the position information acquisition device;
A position detection device comprising:   When the position information correction unit determines that the positioning position is in a closed region including a part of the route, the position information correction unit uses the first position information to indicate a position of the center point of the closed region. The position detection apparatus according to claim 1, wherein the position detection apparatus corrects the position information.   The position detection device according to claim 2, wherein a center point of the closed region is set to be located on the route. A traveling direction detector that detects the traveling direction of the moving body from the past first position information or the past second position information;
When the position information correction unit determines that the positioning position is within the closed region associated with the traveling direction of the moving body, the position information correction unit corrects the position information to the second position information. The position detection device according to claim 2 or 3. A plurality of position information notification devices are arranged along the route,
The communication unit transmits the first position information, receives the second position information from the position information notification device that has received the first position information,
When the communication unit receives the second position information, the position information correction unit instructs the communication unit to transmit the second position information to the position information acquisition device. The position detection device according to claim 1. The communication unit is arranged in a traveling direction next to the position information notification device and the position information notification device from the position information notification device that transmits the first position information and receives the first position information. Receive intermediate position information indicating the position between the position information notification device,
The position information correction unit compares the first position information with the intermediate position information, and the position indicated by the first position information is within a predetermined range including the position indicated by the intermediate position information. The position detection device according to claim 5, further instructing the communication unit to transmit the intermediate position information to the position information acquisition device.

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