JP2016218026A - Information processor, positioning method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the positioning accuracy for identifying the position of a walking body in an environment where GPS cannot be used.SOLUTION: A server computer 300 includes a walk information acquisition part, a travel distance calculation part and a stride width calculation part. The walk information acquisition part acquires the number of steps of a pedestrian 100 detected by a pedestrian terminal 110 when the terminal passes through a section covering from a first position (a gate device 1a, a reference station 200a) to a second position (a gate device 1b, a reference station 200b). The travel distance calculation part calculates a travel distance of the pedestrian on the basis of the number of steps of the pedestrian acquired by the information acquisition part and a preset stride width of the pedestrian. The stride width calculation part calculates an average stride width of the pedestrian in the section on the basis of the number of steps in the section and a preset sectional distance between the first position and the second position and sets the calculated average stride width as a stride width to be used for calculation of a travel distance by the travel distance calculation part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information processing apparatus, a positioning method, and a program.

  For example, in a building such as an office building, a hospital, or a factory, there is a need to centrally grasp the current positions and flow lines of a specific number of workers and use them for business management and work support.

  As a technique for obtaining the current position, for example, a positioning technique using GPS (Global Positioning System) is well known. This GPS positioning technique is a technique in which GPS signals from a plurality of GPS satellites are supplemented by a ground GPS signal receiving terminal to measure the absolute position of the current GPS signal receiving terminal.

  However, this positioning technique cannot be used in places where it is difficult to receive GPS signals from GPS satellites, such as indoor environments.

  On the other hand, as one of positioning technologies that do not use GPS, a PDR (Pedestrian Dead) that uses a walking sensor (acceleration sensor, gyro sensor) attached to a pedestrian to measure and analyze a person's walking motion and obtain a current position. Reckoning) technology.

  Since the calculation of the position by the PDR technique (acceleration sensor and gyro sensor) is to determine the relative movement distance and direction, the absolute position is generally obtained in combination with a means for obtaining the reference position.

  In position / orientation measurement by PDR, there are variations in walking motion due to individual differences among pedestrians. To correct this, for example, a calibration operation is performed in advance for each pedestrian to obtain individual difference parameters. There is a method of reflecting at the time of position calculation.

"GPS theory and application" B. Hoffman-Wellenhof / H. Lichteneger / J. Collins Translated by Shujiro Nishi Publisher: Maruzen Publishing Co., Ltd. ISBN: 978-4621063354

  In this way, in the case of the conventional technology, it is necessary to perform calibration operation and acquire pedestrian data in advance, so the procedure is complicated, and it is a problem when actually operating the system in an indoor environment. Become.

  The present invention has been made to solve such problems, and performs position measurement with little error without using positioning technology by GPS and without requiring complicated processing such as calibration operation in advance. Thus, an object of the present invention is to provide an information processing apparatus, a positioning method, and a program capable of obtaining position measurement accuracy in accordance with the indoor environment during actual operation.

  The information processing apparatus according to the embodiment includes a first position and a second position as a positioning reference position on a map through which a terminal that moves with a walking body and detects the number of steps that the walking body has walked together with the walking body. In an information processing apparatus connected via a communication network with a wireless base station that performs wireless communication with the terminal that passes through the section from the first position to the second position, an information acquisition unit, A distance calculation unit and a stride calculation unit are provided. The information acquisition unit acquires the number of steps of the walking body detected by the terminal when the terminal passes the section from the radio base station. The moving distance calculation unit calculates the moving distance of the walking body based on the number of steps of the walking body obtained by the information acquisition unit and the preset step length of the walking body. The stride calculation unit calculates the average stride of the walking body in the section based on the number of steps in the section and the preset section distance between the first position and the second position, and calculates the calculated average stride as the movement distance. This is set as the stride used by the calculation unit to calculate the movement distance.

It is a lineblock diagram showing one embodiment of a positioning system. It is a block diagram which shows 1st Embodiment of a function structure of a positioning system. It is a timing chart which shows the step detection operation and step count measurement time by a pedestrian terminal. It is a flowchart which shows operation | movement (process) of a server. It is a figure which shows 2nd Embodiment (specific example of a step calculation part) of the function structure of a positioning system. It is a figure which shows 3rd Embodiment (specific example of a step calculation part) of the function structure of a positioning system. It is a figure which shows 4th Embodiment (specific example of a step calculation part) of the function structure of a positioning system. It is a block diagram which shows 5th Embodiment of a function structure of a positioning system.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram showing a configuration of a positioning system, and FIG. 2 is a block diagram showing a functional configuration of the positioning system.

  As shown in FIGS. 1 and 2, this positioning system includes gate opening / closing devices 1 a and 1 b (hereinafter referred to as “gate devices 1 a and 1 b”) installed at the entrance of the building and inside the building (such as a security gate in the passage). Autonomous navigation carried by the pedestrian 100 as a walking body that moves into the building after passing through the entrance of the building and the reference stations 200a, 200b as radio base stations installed at the positions of these gate devices 1a, 1b A server as an information processing apparatus connected to the pedestrian terminal 110, which is a terminal for measuring the position of a pedestrian by the network, and the gate devices 1a and 1b and the reference stations 200a and 200b via the communication network 4 such as a LAN. A computer 300 (hereinafter referred to as “server 300”) is provided. The pedestrian terminal 110 is a walking information transmission device.

  That is, the positioning system includes a pedestrian terminal 110 attached to the pedestrian 100 and a positioning reference position (hereinafter referred to as “reference position”) on the map through which the pedestrian terminal 110 passes. Is set (stored), wirelessly communicated with the pedestrian terminal 110 passing through the section from the first position to the second position, and from the pedestrian terminal 110, walking information (walking motion measurement data such as the number of steps, The reference stations 200a and 200b that receive information including the movement direction) are connected to the reference stations 200a and 200b via the communication network 400, and the walking information received from the pedestrian terminal 110 to the reference stations 200a and 200b is the reference stations 200a and 200b. And a server 300 obtained from

  The gate devices 1a and 1b have an opening / closing mechanism such as a door. The operation of the opening / closing mechanism detects the passage of the pedestrian 100 or the pedestrian terminal 110 and notifies the reference stations 200a and 200b of the detected information through a communication line or the like. .

  In addition, when the pedestrian terminal 110 has a proximity wireless communication function such as NFC, the pedestrian terminal 110 is positioned by holding the antenna unit provided in the pedestrian terminal 110 over the NFC communication unit of the gate devices 1a and 1b. You may make it detect having passed.

  As a means for detecting the passage of the pedestrian 100 at the installation position of the gate devices 1a and 1b, in addition to detection of opening / closing detection of the opening / closing mechanism, for example, wireless communication means such as a sound wave sensor, an optical sensor, an image sensor, It may be a pressure-sensitive sensor embedded in the road surface (a sensor that operates by being stepped on a person's foot).

  The reference stations 200a and 200b have a reference position ID notification function for transmitting preset reference position identification information (hereinafter referred to as “reference position ID”) and a function as a wireless access point. In the reference position ID notification function, the reference stations 200a and 200b enter a storage unit that stores a reference position (position coordinates of the installation positions of the gate devices 1a and 1b) and a local wireless communication area of the reference station 200a and 200b. A communication unit that communicates with the pedestrian terminal 110 and a control unit. The communication unit communicates with the gate devices 1a and 1b through a communication line or the like.

  The reference position is an absolute position (latitude, longitude, etc.) on the map that serves as a positioning reference (positioning origin) of this system. If a wireless communication device for a wireless access point can be installed separately from the reference stations 200a and 200b, a wireless communication device may be provided separately from the reference stations 200a and 200b.

  The communication units of the reference stations 200a and 200b have, for example, a first wireless communication function such as Bluetooth Low Energy (BLE) or a wireless LAN, and a narrow second wireless communication function such as RFID. The first wireless communication function is a communication function as a wireless access point that performs wireless communication with the pedestrian terminal 110 in a wireless communication area of about several meters to several hundred meters, for example.

  BLE is one of the extended specifications of Bluetooth (registered trademark), which is one of short-range wireless communication technologies, and enables communication with extremely low power. In the case of a wireless LAN, a range of approximately several tens of meters is a wireless communication area.

  The reference stations 200a and 200b have a clock function, and detect the passing time when the pedestrian terminal 110 has passed the position of the gate devices 1a and 1b by communicating with the gate devices 1a and 1b and the pedestrian terminal 110. The reference stations 200a and 200b transmit information including the identification information (terminal ID) of the pedestrian terminal 110 carried by the pedestrian 100 who has passed the positions of the gate devices 1a and 1b and the passage time to the server 300. In addition, the reference stations 200a and 200b wirelessly transmit their own reference position or reference station identification information (reference station ID) to the pedestrian terminal 110.

  The pedestrian terminal 110 includes a pedestrian motion measurement unit 111. The pedestrian motion measuring unit 111 measures (detects) walking information related to the walking motion of the pedestrian 100.

  The walking information is, for example, vibration data measured by an acceleration sensor (walking motion measurement data 501 shown in FIG. 3), a moving direction (walking direction) measured by a gyro sensor, and the like.

  When the walking information is transmitted to the server 300, the terminal ID that is identification information of each terminal, the passage time, and the like are also transmitted.

  The pedestrian motion measuring unit 111 includes a walking motion measuring unit 112 such as a walking sensor (acceleration sensor and gyro sensor), a walking information transmitting unit 113, a reference position detecting unit 114, a reference position passing transmitting unit 115, and the like.

  The walking motion measuring unit 112 measures the walking motion of a pedestrian using, for example, an acceleration sensor, and transmits walking information including the measured data from the walking information transmitting unit 113 to the server 300 via the communication network 400.

  The walking motion measuring unit 112 has a clock function, and stores the walking information in a memory or the like in association with the measured data and time. The walking information transmission unit 113 stores the walking information (measurement data, time) stored in the memory at a predetermined timing (for example, when communicating with a regular 1 minute interval or another terminal or the reference stations 200a and 200b). It is linked to its own terminal ID and transmitted.

  The transmitted walking information includes an identification number (terminal ID) assigned to the pedestrian terminal 110 in advance, and the server 300 uses the terminal ID to identify the pedestrian terminal 110 when there are a plurality of pedestrian terminals 110. Is identified (specific). If there is only one pedestrian terminal 110 targeted by the system, the terminal ID may be omitted.

  The walking information transmission unit 113 and the reference position passage transmission unit 115 have a function of performing wireless communication with the reference stations 200a and 200b such as a wireless LAN.

  The reference position detection unit 114 receives IDs (identification information) individually assigned to the reference stations 200a and 200b received from the reference position ID notification unit 201 of the reference stations 200a and 200b.

  The reference position detection unit 114 receives identification information when a pedestrian wearing the pedestrian terminal 110 passes through the vicinity of the reference stations 200a and 200b. The vicinity of each reference station 200a, 200b is when the pedestrian terminal 110 enters the wireless communication area of each reference station 200a, 200b, and is, for example, a range of about several meters.

  The communication means of the reference position ID between the reference position detection unit 114 and the reference position ID notification unit 201, that is, the second wireless communication function is, for example, wireless communication means such as RFID, beacon signal, sound wave / ultrasonic wave, visible light, etc. It is. In addition, for example, a two-dimensional barcode such as a QR code (registered trademark) may be read with a camera or the like, and the read information may be transferred to the server 300 through the communication network 400.

  The reference position passing transmission unit 115 transmits the IDs of the reference stations 200 a and 200 b detected by the reference position detection unit 114 to the server 300 via the communication network 400. In this example, the reference position passing transmission unit 115 and the walking information transmission unit 113 are provided separately, but may be one communication unit. That is, the reference position passage transmission unit 115 and the walking information transmission unit 113 may be the same communication unit, and the walking information and the reference position passage information may be sent together in one communication frame.

  As shown in FIG. 2, the server 300 includes a walking information receiving unit 301, a step count detecting unit 302, a moving distance calculating unit 303, a passing information receiving unit 310, a section measurement start / end determining unit 311, a correction step count counting unit 312, It has a step count calculation unit 313, a step length storage unit 314, a section distance information storage unit 315, a section distance reading unit 316, and the like.

  The walking information receiving unit 301 receives walking information (information including walking motion measurement data) from the pedestrian terminal 110 via the communication network 400. The number-of-steps detection unit 302 detects (extracts) the number of steps from walking information (information including walking movement measurement data). That is, the walking information receiving unit 301 calculates the number of steps of the pedestrian 100 in the section detected by the pedestrian terminal 110 when the pedestrian terminal 110 passes through the section from the first position to the second position. It functions as an information acquisition unit that acquires more.

  A stride value is set (held or stored) in advance in the stride storage unit 314. The movement distance calculation unit 303 calculates the movement distance by taking the product of the number of steps detected (extracted) and the step value set in the step storage unit 314.

  The passage information receiving unit 310 receives reference position passage information from the pedestrian terminal 110 via the communication network 400. By receiving the reference position passing information by the server 300, when the pedestrian 100 passes the reference position, the passed reference position (location) can be specified (identified).

  If the reference position passage information is received, the section measurement start / end determination unit 311 sets the correction step count counting unit 312 to the measurement start state if it is not already in the measurement start state. When the section measurement start / end determination unit 311 is already in the measurement start state, the correction step count counting unit 312 is set to the measurement end state, and the reference position transmitting device identification numbers of the start point and the end point are stored in the section distance reading unit 316. hand over.

  The timing at which the identification number is passed to the section distance reading unit 316 may be different depending on when the starting reference position transmitting device identification number is acquired and when the ending reference position transmitting device identification number is acquired.

  The correction step count counting unit 312 acquires the number of steps from the measurement start to the end received from the section measurement start / end determination unit 311 from the step count detection unit 302 and passes it to the step length calculation unit 313.

  The section distance reading unit 316 receives the distance information for each section of the adjacent reference stations 200a and 200b acquired or set in advance from the section distance information storage unit 315 that holds the distance information in association with the IDs of the reference stations 200a and 200b. The base stations 200a and 200b are designated, the distance information of the corresponding section is read out, and passed to the stride calculation unit 313.

  The movement distance calculation unit 303 calculates the movement distance of the pedestrian 100 based on the number of steps of the pedestrian 100 obtained by the walking information reception unit 301 and the step length of the pedestrian 100 set in advance in the stride storage unit 314.

  The stride calculation unit 313 calculates the stride value by dividing the distance value of the corresponding section passed from the section distance reading unit 316 by the step value passed from the correction step count counting unit, and stores it in the stride storage unit 314.

  That is, the stride calculation unit 313 is based on the number of steps of the pedestrian 100 in the section from the first position to the second position and the section distance between the preset first position and the second position. The average stride of the pedestrian 100 is calculated, and the calculated average stride is set in the stride storage unit 314 as the stride used by the movement distance calculation unit 303 to calculate the movement distance.

The operation (processing) of this positioning system will be described below. First, the operation (processing) of each device such as the reference stations 200a and 200b and the pedestrian terminal 110 will be described.
In the reference stations 200a and 200b, when it is detected that the pedestrian 110 has passed the position of the gate device 1a, the reference position ID notification unit 201 transmits the reference position ID to the pedestrian terminal 110.

  When the pedestrian terminal 110 enters the wireless area of the reference stations 200a and 200b and can communicate with the reference stations 200a and 200b, the pedestrian terminal 110 receives the reference position ID from the reference stations 200a and 200b, and stores it in the memory together with the time as the position information of the own terminal. Memorize temporarily.

  The walking information transmitting unit 113 and the reference position passing transmitting unit 115 store information (such as walking information for each terminal, terminal ID of the terminal, reference station ID, and passage time) stored in the memory at a predetermined timing by wireless LAN communication. The data is transmitted to the reference stations 200a and 200b that are wireless access points.

  The reference stations 200 a and 200 b that have received information through wireless communication with the pedestrian terminal 110 send the received information to the server 300 together with the terminal ID of the pedestrian terminal 110.

  Next, a series of operations (processes) from the measurement of the number of steps of the pedestrian to the correction of the stride will be described with reference to the timing chart of FIG.

  For example, when the walking motion measurement data 501 obtained from the amplitude for each time in the direction of gravitational acceleration from the acceleration sensor built in the pedestrian terminal 110 exceeds a preset threshold value 502, it is determined as one step and the number of steps detection 503 is performed. .

  In the measurement start / end determination 504, the pedestrian terminal 110 receives the reference station ID 505 from the reference station 200a, and starts section measurement with the reference position as a base point.

  Thereafter, a reference station ID different from the reference station ID obtained at the start point is received 506, and the section measurement with the position of the reference station 200a as the start point and the position of the reference station 200b as the end point ends.

  That is, the operation state 507 is a period from the start of measurement to the end of measurement, with the correction step count measurement period 508, and a period following this period as the measurement period 509 based on the corrected stride.

  In the example of FIG. 3, the pedestrian motion measurement unit 111 is always in a single motion state, and the motion state 507 has transitioned to the correction step count measurement period 508 and the corrected step length measurement period 509. In addition, the measurement period 509 based on the corrected stride may simultaneously operate as a correction step count measurement period in which the reception of the reference station ID 506 is a new section measurement start point.

Next, the operation of the server 300 will be described with reference to the flowchart of FIG.
As shown in FIG. 4, in the server 300, when the walking information receiving unit 301 receives (acquires) the walking information of the pedestrian terminal 110 through the reference stations 200a and 200b, the walking information receiving unit 301 receives the acquired walking information as the number of steps detecting unit. Pass to 302. The step count detection unit 302 passes the number of steps included in the passed walk information to the correction step count counting unit 312.

  In addition, when the passage information receiving unit 310 receives (acquires) the reference position passage information of the pedestrian terminal 110 through the reference stations 200a and 200b, the passage information reception unit 310 determines whether the reference position passage information received (acquired) starts or ends the section measurement. To part 311.

  The section measurement start / end determination unit 311 receives the reference position passage information from the passage information reception unit 310, thereby determining that the pedestrian terminal 110 has passed the installation positions of the reference stations 200a and 200b, that is, the reference position (step S201). Yes), the section through which the pedestrian 100 (terminal 110) has passed is determined based on the received reference position passing information, the correction step counting unit 312 is controlled, and the determined section is notified to the section distance reading unit 316. To do.

  If the section measurement start / end determination unit 311 is not already in the measurement start state, it controls the correction step counting unit 312 to the measurement start state.

  When the correction step count counting unit 312 is already in the measurement start state, the section measurement start / end determination unit 311 puts the correction step count counting unit 312 in the measurement end state and identifies the reference position transmitting device for each of the start point and the end point. The number is passed to the section distance reading unit 316.

  The timing at which the identification number is passed to the section distance reading unit 316 may be different when the starting reference position transmitter identification number is acquired and when the end reference position transmitter identification number is acquired.

  The correction step count counting unit 312 acquires the number of steps from the measurement start to the end received from the section measurement start / end determination unit 311 from the step count detection unit 302 and passes it to the step length calculation unit 313 (step S202). Thereby, the stride calculation unit 313 acquires the number of steps of the pedestrian terminal 110 that has passed each reference position (first position, second position).

  The section distance reading unit 316 stores the distance information for each section of the adjacent reference position transmission device acquired in advance from the section distance information storage unit 315 that holds the distance information in association with the identification information of the reference position transmission device. The reference position transmitting device identification information is designated, the distance information of the corresponding section is read, and passed to the stride calculation unit 313.

  The stride calculation unit 313 calculates an average stride from the number of steps obtained from the correction step count counting unit 312 and the section distance obtained from the section distance reading unit 316 (step S203), and stores the calculated average stride in the stride storage unit 314. To do. In this way, the new stride value calculated by the stride calculation unit 313 is held (set) as a stride for calculating the moving distance in the stride storage unit 314 (step S204).

  The movement distance calculation unit 303 calculates the reference station 200a (first position) to the reference station 200b (from the step number of the pedestrian terminal 110 passed from the step number detection unit 302 and the step length stored (stored) in the step length storage unit 314. The movement distance of the pedestrian terminal 110 that has moved to the second position is calculated (step S205).

  As described above, according to the first embodiment, the stride of the pedestrian 100 for calculating the moving distance is managed on the server 300, and the number of steps is acquired from the pedestrian terminal 110 for each section where the reference stations 200a and 200b are installed. By updating the stride of the pedestrian 100, the calculation accuracy of the moving distance can be improved.

  That is, since the stride is calculated for each section between the base stations 200a and 200b and the stride value for calculating the movement distance is corrected, a complicated pre-calibration operation for adjusting the stride is unnecessary, and the actual walking route data is obtained. By performing the stride adjustment based on this, the accuracy of distance calculation can be improved.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIG. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  This 2nd Embodiment materializes the structure of the step calculation part 313 of the server 300 of 1st Embodiment, and as shown in FIG. 5, the step calculation part 313 is divided into the section step calculation part 313a, and classified by section. A calculated stride history recording unit 313b and an average stride calculation unit 313c are included.

  The section stride calculation unit 313a adds the calculated stride value to the stride value obtained before and records it in the section-specific calculated stride history recording unit 313b.

  The step-by-section calculated step length history recording unit 313b records the step value calculated by the section step calculation unit 313a for each section between the reference station 200a and the reference station 200b and for each pedestrian ID. That is, the section-specific calculated stride history recording unit 313b functions as a history storage unit that stores the average stride for each past section distance calculated by the section stride calculation unit 313a.

  The average stride calculation unit 313c acquires a stride value including the latest calculated stride value in the corresponding section from the section-specific calculated stride history recording unit 313b, calculates an average value, and outputs the average value to the stride storage unit 314 as a new stride value. .

  The average stride calculation unit 313c adds the newly calculated latest average stride in addition to the past average stride read from the section-specific calculation stride history recording unit 313b, and the travel distance calculation unit 303 calculates the travel distance. Set as stride to use.

  As described above, according to the second embodiment, the step calculation unit 313 is provided with the section step calculation unit 313a, the section-specific calculation step history recording unit 313b, and the average step calculation unit 313c, so that each step in the same section is passed. Can be reduced.

(Third embodiment)
Next, a third embodiment will be described with reference to FIG. In the third embodiment, the same components as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The third embodiment is a modification of the step calculation unit 313 of the second embodiment. As shown in FIG. 6, the step calculation unit 313 replaces the average step calculation unit 313c with a maximum likelihood step detection unit 313e. Have

  The maximum likelihood stride detection unit 313e acquires a recorded stride value including the latest calculated stride value in the corresponding section from the section-specific calculated stride history recording unit 313b, and detects the most frequently used stride. The stride is stored (set) in the stride storage unit 314.

  The maximum likelihood stride detection unit 313e adds the newly calculated average stride to the section-specific calculation stride history recording unit 313b, and then records the most average past stride stored in the section-specific calculation stride history recording unit 313b. The average stride with high frequency is set as the stride used by the travel distance calculation unit 303 to calculate the travel distance.

  As described above, according to the third embodiment, the maximum likelihood step detection unit 313e is provided in the step calculation unit 313, thereby improving the accuracy of the step used for the movement distance calculation.

(Fourth embodiment)
Next, a fourth embodiment will be described with reference to FIG. In the fourth embodiment, the same components as those in the first to third embodiments are denoted by the same reference numerals, and the description thereof is omitted.

  The fourth embodiment is a modification of the step calculation unit 313 of the second and third embodiments. As shown in FIG. 7, the step calculation unit 313 includes an abnormal value determination unit 313f and a write control unit 313g. Have.

  The abnormal value determination unit 313f obtains the section step value passed from the section step calculation unit 313a from the previous section step value (section calculation step history) stored in advance in the section calculation step history recording unit 313b. It is stored (set) in the stride storage unit 314 as an effective stride only when it falls within a predetermined range in the frequency distribution, and is allowed to be output to the write control unit 313g, and is calculated by the section stride calculation unit 313a. The section stride value is added to the section-specific calculated stride history recording unit 313b.

  In addition, when the section stride value calculated by the section stride calculation unit 313a does not fall within a predetermined range in the frequency distribution, instead of outputting a new stride value to the stride storage unit 314, The same stride value may be output.

  If the section stride value calculated by the section stride calculation section 313a does not fall within a predetermined range in the frequency distribution, the abnormal value determination section 313f does not output a new stride value to the stride storage section 314. The writing control unit 313g is controlled to prohibit the output value of the section stride calculation unit 313a from being added to the section-specific calculation stride history recording unit 313b.

  In addition, the abnormal value determination unit 313f obtains a difference between the average stride newly calculated by the section stride calculation unit 313a and the past average stride stored in the section-specific calculation stride history recording unit 313b, and the difference between the obtained average stride Is not exceeded the preset threshold value, the newly calculated average stride is added to the section-specific calculated stride history recording unit 313b and set as the stride used by the travel distance calculation unit 303 to calculate the travel distance. If the difference in the average stride exceeds the threshold, the previous average stride stored in the section-specific calculated stride history recording unit 313b is set as the stride used by the movement distance calculation unit 303 to calculate the movement distance. Note that the newly calculated average stride when the obtained difference in average stride exceeds the threshold value may not be set as the stride used by the travel distance calculation unit 303 to calculate the travel distance.

  As described above, according to the fourth embodiment, the step calculation unit 313 is provided with the abnormal value determination unit 313f and the writing control unit 313g, thereby calculating the movement distance using the abnormal value of the step due to the erroneous detection of the walking motion. By avoiding this, it is possible to calculate the movement distance with high accuracy.

(Fifth embodiment)
Next, a fifth embodiment will be described with reference to FIG. In the fifth embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The fifth embodiment is a modification in which the transmission and reception of identification information between the pedestrian terminal 120 and the reference stations 220a and 220b is reversed from the first embodiment. As shown in FIG. The pedestrian motion measurement unit 121 includes a pedestrian ID notification unit 122, and the reference stations 220 a and 220 b include a pedestrian passage detection unit 221.

  The pedestrian ID notification unit 122 notifies identification information (hereinafter referred to as “pedestrian ID”) for identifying a pedestrian assigned to each pedestrian. If the pedestrian 100 and the pedestrian terminal 120 are one to one, the pedestrian ID may be a terminal ID. That is, the pedestrian ID notifying unit 122 notifies an ID capable of identifying the pedestrian 100 or the pedestrian terminal 120 to a certain area by the server 320.

  The pedestrian passage detection unit 221 of the reference stations 220a and 220b waits for a pedestrian ID notification from the pedestrian ID notification unit 122. When the pedestrian passage detection unit 221 receives the pedestrian ID, the pedestrian ID is determined to have passed the reference position, and the pedestrian ID obtained from the pedestrian terminal 120 is transmitted via the communication network 400 to the server. To 320.

  The exchange of identification information between the pedestrian ID notification unit 122 and the pedestrian passage detection unit 221 is performed using a narrow area (wireless communication area) such as an RFID, a BLE (Bluetooth Low Energy) beacon signal, or a sound wave / ultrasound wave or visible light. For example, about several meters).

  In addition, for example, a QR code (registered trademark), a barcode, or the like may be read with a camera or the like and sent to the server 320, and the pedestrian 100 or the pedestrian terminal 120 may be identified on the server 320 side.

  The server 320 includes information indicating that the pedestrian terminal 120 has passed the first position and the second position, and a base station 220a in which a wireless base station such as a wireless access point or the first position and the second position are installed. , 220b.

  The operation of the server 320 is as follows. Information input to the section measurement start / end determination unit 311 is a pedestrian passage information reception unit 325 that receives a pedestrian passage notification from the reference stations 220a and 220b, identifies the pedestrian 100, and passes through time. And the passage point is the same as in the first embodiment, and the description thereof is omitted.

  As described above, according to the fifth embodiment, the pedestrian ID notification unit 122 is provided in the pedestrian terminal 120 and the pedestrian ID is notified to the reference stations 220a and 220b, so that the pedestrian 100 Since it can detect and notify the server 320 that it has passed the reference position, even if the transmission / reception of the identification information between the pedestrian terminal 120 and the reference stations 220a and 220b is reversed, as in the first embodiment, for step adjustment The above-described complicated pre-calibration operation is not necessary, and the stride adjustment is performed based on the actual walking route data, so that the distance calculation accuracy can be improved.

  By configuring the positioning system in this way, it is possible to improve the distance calculation accuracy by eliminating the need for complicated pre-calibration operations for adjusting the stride and performing stride adjustment based on the actual walking route data. it can. In this example, since the function on the pedestrian terminal 120 side can be reduced, there is an advantage that power consumption can be reduced and parts cost can be reduced.

  Although the embodiment of the present invention has been described, this embodiment is shown as an example, and can be implemented in various other forms. Can be omitted, replaced, or changed.

  In the above-described embodiment, an example in which the pedestrian terminal 110 is carried by a pedestrian 100 (person) has been described. However, if the pedestrian terminal 110 moves together with the walking body, the walking body is, for example, a multi-legged animal (dog or Cat), a robot, and the like, and the pedestrian terminal 110 may be a terminal attached or attached thereto.

  Further, each component shown in the above embodiment may be realized by a program installed in a storage such as a hard disk device of a computer, and the above program is stored in a computer-readable electronic medium: electronic media. Alternatively, the function of the present invention may be realized by the computer by causing the computer to read the program from the electronic medium. Examples of the electronic medium include a recording medium such as a CD-ROM, flash memory, and removable media. Further, the configuration may be realized by distributing and storing components in different computers connected via a network, and communicating between computers in which the components are functioning.

  DESCRIPTION OF SYMBOLS 1a, 1b ... Gate opening / closing apparatus (gate apparatus), 100 ... Pedestrian, 110 ... Pedestrian terminal, 111 ... Pedestrian movement measurement part, 112 ... Walking movement measurement part, 113 ... Walk information transmission part, 114 ... Reference position Detection unit, 115 ... Reference position passage transmission unit, 120 ... Pedestrian terminal, 121 ... Pedestrian motion measurement unit, 122 ... Pedestrian ID notification unit, 200a, 200b ... Reference station, 221 ... Pedestrian passage detection unit, 300, 320 DESCRIPTION OF SYMBOLS ... Server (server computer) 301 ... Walk information receiving part 302 ... Step count detection part 303 ... Movement distance calculation part 310 ... Passing information reception part 311 ... Section measurement start / end determination part, 312 ... Correction step count 313 ... Stride calculation unit, 313a ... Sectional step calculation unit, 313b ... Sectional calculation step history recording unit, 313c ... Average step calculation unit, 313e ... Maximum likelihood step detection unit, 13f ... abnormal value determination unit, 313 g ... write control unit, 315 ... interval distance information storage unit, 316 ... section distance reading unit, 325 ... pedestrian passage information receiving unit, 400 ... communication network.

Claims (15)

A terminal that moves with the walking body and detects the number of steps that the walking body has walked stores the first position and the second position as positioning reference positions on the map that pass along with the walking body, and the first position In an information processing apparatus connected via a communication network with a wireless base station that performs wireless communication with the terminal that passes through a section from a position to the second position,
An information acquisition unit for acquiring, from the radio base station, the number of steps of the walking body detected by the terminal when the terminal passes the section;
A moving distance calculating unit that calculates a moving distance of the walking body based on the number of steps of the walking body obtained by the information acquisition unit and a preset step length of the walking body;
Based on the number of steps in the section and the section distance between the first position and the second position set in advance, the average stride of the walking body in the section is calculated, and the calculated average stride is An information processing apparatus comprising: a stride calculation unit that is set as a stride used by a travel distance calculation unit to calculate a travel distance.   Information indicating that the terminal has passed through the first position and the second position is acquired from the wireless base station or a reference position transmission device installed at each of the first position and the second position. The information processing apparatus according to claim 1, comprising a function. A history storage unit that stores an average stride for each past section distance calculated by the stride calculation unit,
The stride calculation unit
2. The average stride calculated by adding the newly calculated latest average stride to the past average stride read from the history storage unit is set as a stride used by the travel distance calculation unit to calculate a travel distance. Information processing device.   The difference between the newly calculated average stride and the past average stride stored in the history storage unit is obtained. If the difference in the calculated average stride does not exceed a preset threshold, the newly calculated average stride Is added to the history storage unit, and is set as the stride used by the movement distance calculation unit to calculate the movement distance. If the difference in the calculated average stride exceeds a threshold value, it is stored in the history storage unit. The information processing apparatus according to claim 1, further comprising an abnormal value determination unit that sets a previous average stride as a stride used by the travel distance calculation unit to calculate a travel distance.   The difference between the newly calculated average stride and the past average stride stored in the history storage unit is obtained. If the difference in the calculated average stride does not exceed a preset threshold, the newly calculated average stride Is added to the history storage unit, and is set as a stride used by the travel distance calculation unit to calculate the travel distance, and when the calculated average stride difference exceeds a threshold, the travel distance calculation unit The information processing apparatus according to claim 1, further comprising an abnormal value determination unit that does not set a stride used for calculation. A terminal that moves with the walking body and detects the number of steps that the walking body has walked stores the first position and the second position as positioning reference positions on the map that pass along with the walking body, and the first position In a program for causing an information processing apparatus connected via a communication network to a radio base station that performs radio communication with the terminal passing through a section from a position to the second position,
The information processing apparatus;
An information acquisition unit for acquiring, from the radio base station, the number of steps of the walking body detected by the terminal when the terminal passes the section;
A moving distance calculating unit that calculates a moving distance of the walking body based on the number of steps of the walking body obtained by the information acquisition unit and a preset step length of the walking body;
Based on the number of steps in the section and the section distance between the first position and the second position set in advance, the average stride of the walking body in the section is calculated, and the calculated average stride is A program that causes a movement distance calculation unit to function as a stride calculation unit that is set as a stride used to calculate a movement distance.   Information indicating that the terminal has passed through the first position and the second position is acquired from the wireless base station or a reference position transmission device installed at each of the first position and the second position. The program of Claim 6 provided with a function. A history storage unit that stores an average stride for each past section distance calculated by the stride calculation unit,
The stride calculation unit
7. The average stride calculated by adding the newly calculated latest average stride to the past average stride read from the history storage unit is set as a stride used by the travel distance calculation unit to calculate the travel distance. Program.   The difference between the newly calculated average stride and the past average stride stored in the history storage unit is obtained. If the difference in the calculated average stride does not exceed a preset threshold, the newly calculated average stride Is added to the history storage unit, and is set as the stride used by the movement distance calculation unit to calculate the movement distance. If the difference in the calculated average stride exceeds a threshold value, it is stored in the history storage unit. The program according to claim 6, further comprising an abnormal value determination unit that sets the previous average stride as a stride used by the movement distance calculation unit to calculate the movement distance.   The difference between the newly calculated average stride and the past average stride stored in the history storage unit is obtained. If the difference in the calculated average stride does not exceed a preset threshold, the newly calculated average stride Is added to the history storage unit, and is set as a stride used by the travel distance calculation unit to calculate the travel distance, and when the calculated average stride difference exceeds a threshold, the travel distance calculation unit The program according to claim 6, further comprising an abnormal value determination unit that does not set a stride used for calculation. A terminal that moves with the walking body and detects the number of steps that the walking body has walked stores the first position and the second position as positioning reference positions on the map that pass along with the walking body, and the first position In a positioning method by an information processing apparatus connected via a communication network with a radio base station that performs radio communication with the terminal passing through a section from a position to the second position,
The information processing apparatus acquires the number of steps of the walking body detected by the terminal when the terminal passes the section from the wireless base station,
The information processing device calculates the moving distance of the walking body based on the obtained number of steps of the walking body and a preset step length of the walking body,
The information processing device calculates an average stride of the walking body in the section based on the number of steps in the section and a section distance between the first position and the second position set in advance,
A positioning method in which the calculated average stride is set as a stride used by the information processing apparatus to calculate the movement distance.   Information indicating that the terminal has passed through the first position and the second position is acquired from the wireless base station or a reference position transmission device installed at each of the first position and the second position. The positioning method according to claim 11. Memorize the average stride for each past section distance calculated,
The positioning method according to claim 11, wherein an average stride calculated by adding the newly calculated latest average stride to the past average stride is set as a stride used for calculation of the movement distance. Find the difference between the newly calculated average stride and the past average stride,
If the difference in the calculated average stride does not exceed a preset threshold, the newly calculated average stride is set as the stride used for the calculation of the movement distance,
12. The positioning method according to claim 11, wherein when the difference in the obtained average stride exceeds a threshold value, the previous average stride is set as a stride used for calculating the movement distance. Find the difference between the newly calculated average stride and the past average stride,
If the difference in the calculated average stride does not exceed the preset threshold, the newly calculated average stride is set as the stride used for calculating the movement distance,
The positioning method according to claim 11, wherein the step used for calculating the movement distance is not set when the difference in the obtained average step exceeds a threshold value.

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