JP2017072437A - Apparatus, method, and program for processing information for positioning - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a user to reliably learn which floor in the building the user is, even when performing positioning by using autonomous navigation inside a building.SOLUTION: A positioning information processing apparatus of an embodiment comprises: a first detection part that detects that a user has reached a positioning reference position in a predetermined building with a plurality of floors; a second detection part that detects the amount of motion vector in the direction of height of the building from the positioning reference position; and a control part that estimates a floor in the building where the user is on the basis of the amount of motion vector in the height direction from the positioning reference position and a preset threshold between the floors for determining a movement between the floors of the building.SELECTED DRAWING: Figure 5

Description

  Embodiments described herein relate generally to a positioning information processing apparatus, method, and program.

Conventionally, with the increase of positioning services, attention has been focused on indoor positioning technology.
In indoors where GPS positioning radio waves cannot be received from GPS satellites, it is necessary to install a large number of positioning infrastructures for positioning.
On the other hand, by using so-called autonomous navigation that calculates a relative position only from acquired information of a positioning terminal device alone, positioning is possible while suppressing the installation of positioning infrastructure.
As an example of such autonomous navigation, after acquiring an absolute position (reference position) on a map that is a starting point of positioning, the relative position is calculated from the acquired information of the positioning terminal device, and positioning is performed.

JP 2012-088253 A JP 2002-039751 A

However, in the prior art autonomous navigation, it is possible to determine whether the floor is moving or horizontally when the building moves from the second floor to the third floor of the building. The estimation accuracy is low, and there is a possibility that the position estimation in the horizontal direction may be reduced due to a change in the stride.
In order to solve this, as a method for estimating the position in the height direction, a method for estimating the height using the atmospheric pressure information and temperature information around the positioning terminal device has been proposed.
In such a method, it is impossible to accurately estimate the floor of the building where the user carrying the positioning terminal device exists only by estimating the altitude as an absolute altitude. In addition, since the estimation accuracy is reduced due to the fluctuation of the atmospheric pressure, it is necessary to periodically acquire the sea level atmospheric pressure information as the height reference information.

  The present invention has been made in view of the above, and even when positioning is performed using autonomous navigation indoors such as in a building, the floor on which the building is located can be reliably grasped. It is an object to provide a positioning information processing apparatus, method, and program.

The first detection unit of the positioning information processing apparatus according to the embodiment detects that the positioning reference position has been reached in a predetermined building having a plurality of floors.
The second detection unit detects a movement vector amount in the height direction of the building from the positioning reference position.
The control unit determines the floor located in the building based on the movement vector amount in the height direction from the positioning reference position and a preset floor threshold for determining the floor movement of the building. presume.

FIG. 1 is a schematic configuration block diagram of a positioning system according to an embodiment. FIG. 2 is a schematic block diagram of the mobile terminal device. FIG. 3 is a functional block diagram of the control unit of the mobile terminal device. FIG. 4 is an explanatory diagram of an example of data stored in the memory unit. FIG. 5 is a process flowchart of the embodiment. FIG. 6 is a flowchart of the movement amount detection process according to the first embodiment. FIG. 7 is a process flowchart of the stay floor estimation process according to the first embodiment. FIG. 8 is a functional block diagram of a control unit of the mobile terminal device according to the second embodiment. FIG. 9 is a movement amount detection process flowchart according to the second embodiment. FIG. 10 is a functional block diagram of the control unit of the mobile terminal device according to the third embodiment. FIG. 11 is a flowchart of a movement amount detection process according to the third embodiment. FIG. 12 is a schematic configuration block diagram of the positioning system of the fourth embodiment. FIG. 13 is a functional block diagram of a control unit of the mobile terminal device according to the fourth embodiment. FIG. 14 is a flowchart of the movement amount detection process according to the fourth embodiment. FIG. 15 is a functional block diagram of a control unit of the mobile terminal device according to the fifth embodiment. FIG. 16 is a flowchart of the movement amount detection process according to the fifth embodiment. FIG. 17 is a functional block diagram of a control unit of the mobile terminal device according to the sixth embodiment. FIG. 18 is a flowchart of the movement amount detection process according to the sixth embodiment. FIG. 19 is an explanatory diagram of the effect of the sixth embodiment. FIG. 20 is a flowchart of the movement amount detection process according to the seventh embodiment. FIG. 21 is a flowchart of the movement amount detection process according to the eighth embodiment. FIG. 22 is a flowchart of the movement amount detection process according to the ninth embodiment. FIG. 23 is a flowchart of the movement amount detection process according to the tenth embodiment. FIG. 24 is a functional block diagram of the control unit of the mobile terminal device according to the eleventh embodiment. FIG. 25 is a flowchart of the movement amount detection process according to the eleventh embodiment. FIG. 26 is an explanatory diagram for correcting the estimated position of the position estimation unit. FIG. 27 is a functional block diagram of the control unit of the mobile terminal device according to the twelfth embodiment. FIG. 28 is a movement amount detection process flowchart according to the twelfth embodiment. FIG. 29 is an explanatory diagram of a specific example of the twelfth embodiment. FIG. 30 is a functional block diagram of a control unit of the mobile terminal device according to the thirteenth embodiment. FIG. 31 is a flowchart of the movement amount detection process according to the thirteenth embodiment. FIG. 32 is a functional block diagram of the control unit of the mobile terminal device according to the fourteenth embodiment. FIG. 33 is a flowchart of the movement amount detection process according to the fourteenth embodiment.

Next, embodiments will be described in detail with reference to the drawings.
[1] First Embodiment FIG. 1 is a schematic configuration block diagram of a positioning system according to an embodiment.
The positioning system 10 includes gate devices 11A and 11B arranged at predetermined reference positions (horizontal positions) on the reference floors in the building BLD (in the example of FIG. 1, the first floor and the fourth floor), the gate devices 11A, It is configured as a positioning information processing device such as a mobile phone, a smartphone, and a tablet that can perform data communication for positioning with the server device 12 that performs control of 11B and the server device 12 via the gate devices 11A and 11B. Mobile terminal device (pedestrian terminal device) 13. The mobile terminal device 13 can be configured not only as a general-purpose information processing device but also as a positioning-specific information processing device.

FIG. 2 is a schematic block diagram of the mobile terminal device.
The mobile terminal device 13 includes a gyro sensor, an acceleration sensor, and the like, detects walking information related to the walking state (number of steps, moving direction, etc.) of the user who is a pedestrian, and outputs it as walking information data. 21, an environmental sensor unit 22 having a temperature sensor, an atmospheric pressure sensor, etc., detecting environmental information such as temperature and atmospheric pressure, and outputting the environmental information as data, and a memory for storing control programs, control data, various detection data, etc. Unit 23, a GPS positioning unit 24 that receives a GPS positioning radio wave from a GPS positioning satellite and identifies its own position, an operation unit 25 for a user to perform various operations, and various types of navigation information such as map information Display unit 26 for displaying information, wide area network communication such as a public telephone network, and communication for performing short-range communication in accordance with, for example, the Bluetooth (registered trademark) standard And 27, a MPU (not shown), ROM, is configured as a microcomputer having a RAM, etc. and controller 28 that controls the entire mobile terminal device 13, the.

  In the above configuration, the communication unit 27 includes a wide-area communication unit 27A that performs wide-area network communication and a short-range communication unit 27B that performs short-range communication.

FIG. 3 is a functional block diagram of the control unit of the mobile terminal device.
The mobile terminal device 13 estimates the position in the horizontal direction based on the walking information data output from the walking sensor unit 21, and outputs the walking information data and position data corresponding to the estimated position to the memory unit 23. Based on the output of the estimation unit 31 and the environment sensor unit 22, the moving distance (vector amount) in the height direction is estimated, the estimated moving distance in the height direction is estimated, the environment information data and the estimated height direction Based on the height movement distance estimated by the height movement distance estimation unit 32 and the height movement distance estimation unit 32 that outputs height direction movement distance data corresponding to the movement distance, the mobile terminal device 13 is carried. A hierarchy estimation unit 33 that estimates a floor (hierarchy) where a user (pedestrian) who is moving is staying and outputs the estimated level to the memory unit 23.

FIG. 4 is an explanatory diagram of an example of data stored in the memory unit.
The memory unit 23 stores reference horizontal position coordinate data D41 that stores reference horizontal position coordinates that are horizontal reference coordinates at the time of positioning, and current horizontal position coordinate data D42 that stores a current horizontal position (or estimated position). And reference height position data (reference floor data) D43 that stores a reference height position (reference floor) serving as a reference position in the height direction at the time of positioning, and a vector amount (signed) for the movement amount in the height direction The height movement amount data D44 stored as, the floor threshold data D45 storing the floor threshold for determining whether or not the building has moved from one floor to another, and the mobile terminal device 13 are currently Walking information database (DB) D that stores the current floor data D46 for specifying the floor estimated to be staying and the walking information data output by the walking sensor unit 21 7, includes an environmental information database (DB) D48 for storing environmental information data environment sensor unit 22 outputs, to.

Next, the operation of the embodiment will be described.
FIG. 5 is a process flowchart of the embodiment.
First, the control unit 28 determines whether or not the mobile terminal device 13 has reached a predetermined reference position (step S11).

Specifically, in the state shown in FIG. 1, when communication with the gate device 11 </ b> A is established via the short-range communication unit 27 </ b> B of the communication unit 27, the control unit 28 determines that the predetermined reference position has been reached. Will be.
If it is determined in step S11 that the mobile terminal device 13 has not reached the predetermined reference position (step S11; No), the control unit 28 enters a standby state.

  If it is determined in step S11 that the mobile terminal device 13 has reached a predetermined reference position (step S11; Yes), the control unit 28 acquires reference position data from the server device 12 via the gate device 11A. (Step S12).

  Here, as the reference position data, reference horizontal position coordinate data D41 corresponding to the horizontal position coordinate of the reference position (in the case of FIG. 1, in the case of the latitude and longitude corresponding to the installation position of the gate device 11A) and the current stay. Current floor data D46 (= first floor in the case of FIG. 1) for specifying the floor of a building is included.

  The control unit 28 that has acquired the reference position data proceeds to a movement amount detection process in the horizontal direction (latitude and longitude direction) and the height direction (floor movement direction) (step S13).

[1] First Embodiment FIG. 6 is a flowchart of a movement amount detection process according to the first embodiment.
First, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Subsequently, the control unit 28 functions as a current position estimation unit 31 and a height movement distance estimation unit 32, and stores the walking information data output by the walking sensor unit 21 and the environment information data output by the environment sensor unit 22. And stored in the walking information database D47 and the environment information database D48 (step S22).

  Next, the control unit 28 determines the horizontal position based on the input walking information data, that is, the moving position on the floor where the pedestrian who is the building user stays (for example, on the orthogonal coordinate system relative to the latitude / longitude coordinates or the reference position). (Distance etc.) is estimated (step S23).

  Subsequently, the control unit 28 updates the current horizontal position coordinate data D42 in the memory unit 23 using the estimated horizontal position coordinate as a new current horizontal position coordinate (horizontal position information) (step S24).

  Furthermore, the control part 28 estimates the moving distance of the height direction in a stay floor as a vector amount (step S25). For example, in the example of FIG. 1, the amount of movement increases on the increase side (+ side) when going up the stairs, and the amount of movement increases on the decrease side (− side) when going down the stairs.

  Next, the control unit 28 estimates the current stay floor of the mobile terminal device 13 based on the estimated moving distance in the height direction (step S14).

FIG. 7 is a process flowchart of the stay floor estimation process according to the first embodiment.
First, the control unit 28 determines whether or not the current estimated moving distance in the height direction is equal to or greater than the threshold stored as the floor threshold data D45 (step S31).

  In this case, as the floor threshold data D45, for example, the distance from the floor to the ceiling of the floor corresponding to the reference position is set. That is, it is considered that moving in the height direction exceeding this value is likely to have moved to the next floor (upper floor or lower floor). The floor threshold data D45 may be set for each floor or for a plurality of floors in addition to the case where one value is set. Furthermore, when a plurality of floors having different floor heights are assigned to the value of one floor threshold data D45, the smallest value among the plurality of floor heights is set.

  If it is determined in step S31 that the current estimated moving distance in the height direction is less than the threshold stored as the floor threshold data D45 (step S31; No), the control unit 28 performs the process in step S15. Migrate to

  Further, in the determination of step S31, when the currently estimated moving distance in the height direction is equal to or greater than the threshold value stored as the floor threshold data D45 (step S31; Yes), the control unit 28 determines the moving direction. The current floor data D46 as stay floor information is updated accordingly (step S32).

  For example, in the case of the example in FIG. 1, when the height from the first floor to the fifth floor is 3 m and the current stay floor is the second floor, the control unit 28 estimates the current If the moving distance in the height direction is +3 m or more, the current stay floor is updated to the third floor. If the moving distance in the height direction is -3 m or more, the current stay floor is updated. Will be updated to the first floor.

  Subsequently, the control unit 28 displays a map of the stay floor (stay floor) corresponding to the current floor data D46 on the display unit 26 and indicates the current position at a position corresponding to the current horizontal position coordinate data D42 on the map display. An icon (mark) is displayed (step S15).

Next, the control part 28 discriminate | determines whether the process end instruction | indication was made through the operation part 25 from the pedestrian who is a user (step S16).
In the determination of step S16, when a process end instruction is given from the pedestrian who is the user via the operation unit 25 (step S16; Yes), the control unit 28 ends the process.

  If it is determined in step S16 that a processing end instruction has not yet been issued from the pedestrian who is the user via the operation unit 25 (step S16; No), the control unit 28 determines whether or not the new reference position has been reached. Is discriminated (step S17).

  More specifically, in the case of the example in FIG. 1, when communication is established with the gate device 11B that has not yet communicated via the short-range communication unit 27B of the communication unit 27, the control unit 28 sets the new reference It is determined that the position has been reached.

  If it is determined in step S17 that the new reference position has been reached (step S17; Yes), the control unit 28 acquires reference position data from the server device 12 via the corresponding gate device, for example, the gate device 11B. (Step S12), the same process is repeated until a pedestrian who is a user gives an end instruction.

  On the other hand, if it is determined in step S17 that the new reference position has not yet been reached (step S17; No), the control unit 28 shifts the process to step S13. Repeat until the end instruction is given.

As described above, according to the first embodiment, by estimating the floor (hierarchy) that is staying from the relative height movement distance from the height reference position, without the elevation information of the building. The stay floor (hierarchy) of the mobile terminal device 13 can be estimated with high accuracy, and the position estimation accuracy can be improved.
Therefore, the convenience of the pedestrian who is the user can be ensured.

  In the above description of the first embodiment, the reference position data is obtained from the server device 12 via the gate devices 11A and 11B. However, one or a plurality of reference position data is stored in advance, and the server device is stored. It is also possible to read (acquire) data (identification data, ID data) for specifying any of the reference position data notified from 12 and use the corresponding reference position data. The same applies to the following embodiments.

  It is also possible to receive the data for specifying the gate device (gate specifying data) from the gate device and use the reference position data corresponding to the gate specifying data.

Further, it is possible to directly notify the reference position data stored in advance by the gate device.
In addition, when a gate device is provided only at one location of a specific building, or when the user has instructed that a specific reference position has been reached by operating the operation unit 25, the gate device is stored in advance. It is also possible to configure to use reference position data.
Furthermore, the gate device notifies the mobile terminal device 13 of information for specifying the gate device, and the mobile terminal device 13 is directly or indirectly sent to the server side via another mobile terminal device. By notifying the information for specifying the gate device, the server side specifies the position data of the mobile terminal device 13 (positioning), the server side grasps the position of the mobile terminal device 13, and the server side A configuration in which the administrator manages the current position of each mobile terminal device 13 is also possible. In this case, it is also possible to notify the mobile terminal device 13 of the location data and use the mobile terminal device 13 side.

[2] Second Embodiment FIG. 8 is a functional block diagram of a control unit of a mobile terminal device according to a second embodiment.
8 is different from the functional block diagram of FIG. 3 in that the mobile terminal device 13 determines whether or not the mobile terminal device 13 is moving in the height direction based on the walking information data output from the walking sensor unit 21. This is a point provided with a state determination unit 41.

FIG. 9 is a movement amount detection process flowchart according to the second embodiment.
First, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Subsequently, the control unit 28 functions as a current position estimation unit 31 and a height movement distance estimation unit 32, and stores the walking information data output by the walking sensor unit 21 and the environment information data output by the environment sensor unit 22. And stored in the walking information database D47 and the environment information database D48 (step S22).

  Next, the control unit 28 determines the horizontal position based on the input walking information data, that is, the moving position on the floor where the pedestrian who is the building user stays (for example, on the orthogonal coordinate system relative to the latitude / longitude coordinates or the reference position). (Distance etc.) is estimated (step S23).

  Subsequently, the control unit 28 updates the current horizontal position coordinate data D42 in the memory unit 23 using the estimated horizontal position coordinate as a new current horizontal position coordinate (horizontal position information) (step S24).

Subsequently, the control unit 28 functions as the movement state determination unit 41, determines the movement state based on the walking information data (step S35), and determines whether or not it is in the height direction movement state (step S36).
If it is not in the height direction moving state in the determination in step S36 (step S36; No), that is, if it is in the horizontal moving state or the stopped state, the processing is performed without estimating the moving distance in the height direction. The process proceeds to S14.

  If it is determined in step S36 that the moving state is in the height direction, the control unit 28 estimates the moving distance in the height direction on the stay floor as a vector amount (step S25), and the process proceeds to step S14.

  Therefore, according to the second embodiment, when the movement in the height direction is not detected based on the walking state data output from the walking sensor unit 21 by the moving state determination unit 41, the output of the environment sensor unit 22 Since certain environmental state data does not affect the operation of the hierarchy estimating unit 33, the influence of the atmospheric pressure change detected by the atmospheric pressure sensor incorporated in the environmental sensor unit 22 is suppressed, and the height direction is more accurately detected. Can be estimated.

[3] Third Embodiment FIG. 10 is a functional block diagram of a control unit of a mobile terminal device according to a third embodiment.
10 is different from the functional block diagram of FIG. 8 in that the mobile terminal device 13 is moved in the height direction based on the walking information data output from the walking sensor unit 21 by the movement state determination unit 41, the horizontal direction Of the height movement distance storage unit 45 and the height movement distance storage unit 45 for storing the height movement distance estimated by the height movement distance estimation unit 32 and the point at which the movement state or the stationary state can be determined. This is the point that an inter-floor threshold updating unit 46 that updates the inter-floor threshold for determining whether or not there is a movement between floors based on the storage state and outputs it to the hierarchy estimation unit 33 is provided.

FIG. 11 is a flowchart of a movement amount detection process according to the third embodiment.
First, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Subsequently, the control unit 28 functions as a current position estimation unit 31 and a height movement distance estimation unit 32, and stores the walking information data output by the walking sensor unit 21 and the environment information data output by the environment sensor unit 22. And stored in the walking information database D47 and the environment information database D48 (step S22).

  Next, the control unit 28 determines the horizontal position based on the input walking information data, that is, the moving position on the floor where the pedestrian who is the building user stays (for example, on the orthogonal coordinate system relative to the latitude / longitude coordinates or the reference position). (Distance etc.) is estimated (step S23).

  Subsequently, the control unit 28 updates the current horizontal position coordinate data D42 in the memory unit 23 using the estimated horizontal position coordinate as a new current horizontal position coordinate (horizontal position information) (step S24).

Subsequently, the control unit 28 functions as the movement state determination unit 41, determines the movement state based on the walking information data (step S35), and determines whether or not it is in the height direction movement state (step S36).
If it is not in the height direction moving state in the determination in step S36 (step S36; No), that is, if it is in the horizontal moving state or the stopped state, the processing is performed without estimating the moving distance in the height direction. The process proceeds to S14.

If it is determined in step S36 that the movement is in the height direction, the control unit 28 estimates the movement distance in the height direction on the stay floor as a vector amount (step S25).
Subsequently, the control unit 28 stores the total movement distance (sum of vectors) in the height direction during the period of the movement direction in the height direction continuously performed in the movement distance storage unit 45 (step S41).

  Subsequently, the control unit 28 determines whether or not the movement state in the height direction is changed to the movement state in the horizontal direction based on the determination result of the movement state determination unit 41 (step S42). That is, it is determined whether or not the movement between floors has been completed and one of the floors has been reached.

  In the determination in step S42, when the movement state in the height direction has not shifted to the movement state in the horizontal direction (step S42; No), the control unit 28 still continues to move in the height direction. Since this is a state, the process proceeds to step S14.

  In the determination of step S42, when the movement state in the height direction is shifted to the movement state in the horizontal direction (step S42; Yes), the control unit 28 stores the current height stored in the movement distance storage unit 45. It is determined whether or not the (total) height direction moving distance during the direction moving state is smaller than the floor threshold (step S43).

  If it is determined in step S43 that the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is equal to or greater than the floor threshold (step S43; No) ), It is not necessary to update the floor threshold, that is, the floor threshold currently set can be regarded as valid, and the control unit 28 proceeds to step S14.

  In the determination of step S43, when the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is smaller than the floor threshold (step S43; Yes). The control unit 28 has the (total) height direction moving distance stored in the moving distance storage unit 45 during the current height direction moving state substantially zero, that is, the same for some reason during the movement of the floor. It is determined whether or not the floor has been returned (step S44). This is because the floor threshold need not be updated when returning to the same floor for some reason during the movement of the floor, that is, the currently set floor threshold can be regarded as valid.

  In the determination in step S44, the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is substantially zero, that is, the same for some reason during the movement of the floor. When returning to the floor (step S44; Yes), there is no need to update the floor threshold, so the control unit 28 shifts the processing to step S14.

  If it is determined in step S44 that the floor does not return to the same floor for some reason during the movement of the floor (step S44; No), the control unit 28 stores the current high stored in the movement distance storage unit 45. The floor threshold data D45 is updated using the (total) height direction moving distance during the vertical movement state as a new floor threshold (step S45), and the process proceeds to step S14.

  Therefore, according to the third embodiment, even when the elevation information of the actual floor (hierarchy) of the building where the pedestrian who is the user is walking is not obtained, the movement state of the floor can be accurately grasped, The stay floor can be estimated accurately.

[4] Fourth Embodiment FIG. 12 is a schematic configuration block diagram of a positioning system according to a fourth embodiment.
The positioning system 10 includes gate devices 11A and 11B arranged at predetermined reference positions (horizontal positions) on the reference floors in the building BLD (in the example of FIG. 1, the first floor and the fourth floor), the gate devices 11A, It is configured as an information processing device such as a mobile phone, a smartphone, or a tablet that can perform data communication for positioning with the server device 12 that performs control of 11B and the server device 12 via the gate devices 11A and 11B. Mobile terminal devices (pedestrian terminal devices) 13A to 13C.

In this case, the configuration of the mobile terminal devices 13A to 13C is the same as that of the mobile terminal device 13 shown in FIG.
In addition, it is assumed that the mobile terminal devices 13A to 13C can communicate with each other via the short-range communication unit 27B.

FIG. 13 is a functional block diagram of a control unit of the mobile terminal device according to the fourth embodiment.
13 is different from the functional block diagram of FIG. 3 in that another mobile terminal device (for example, in the case of FIG. 12, the mobile terminal device 13A is connected via the short-range communication unit 27B of the communication unit 27). Communication information based on the information acquired from the information acquisition unit 51 and the information acquisition unit 51 for acquiring information such as the current horizontal position coordinate data D42, the current floor data D46, and the electric field strength information from the mobile terminal devices 13B and 13C). The inter-terminal distance calculation unit 52 that calculates the distance between the target other mobile terminal devices, the position of the mobile terminal device estimated by the current position estimation unit 31, the information acquisition unit 51, and the inter-terminal distance calculation Based on the comparison result of the position information comparison unit 53 and the position information comparison unit 53 that determines whether or not to update the floor threshold based on the comparison result of the position of the mobile terminal device based on the output of the unit 52 Interfloor threshold And interfloor threshold updating unit 54 for updating, in that with a.

FIG. 14 is a flowchart of the movement amount detection process according to the fourth embodiment.
First, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Subsequently, the control unit 28 functions as a current position estimation unit 31 and a height movement distance estimation unit 32, and stores the walking information data output by the walking sensor unit 21 and the environment information data output by the environment sensor unit 22. And stored in the walking information database D47 and the environment information database D48 (step S22).

  Next, the control unit 28 determines the horizontal position based on the input walking information data, that is, the moving position on the floor where the pedestrian who is the building user stays (for example, on the orthogonal coordinate system relative to the latitude / longitude coordinates or the reference position). (Distance etc.) is estimated (step S23).

  Subsequently, the control unit 28 updates the current horizontal position coordinate data D42 in the memory unit 23 using the estimated horizontal position coordinate as a new current horizontal position coordinate (horizontal position information) (step S24).

Subsequently, the control unit 28 functions as the movement state determination unit 41, determines the movement state based on the walking information data (step S35), and determines whether or not it is in the height direction movement state (step S36).
If it is not in the height direction moving state in the determination in step S36 (step S36; No), that is, if it is in the horizontal moving state or the stopped state, the processing is performed without estimating the moving distance in the height direction. The process proceeds to S14.

  If it is determined in step S36 that the movement is in the height direction, the control unit 28 estimates the movement distance in the height direction on the stay floor as a vector amount (step S25).

  Subsequently, the control unit 28 stores the total movement distance (sum of vectors) in the height direction during the period of the movement direction in the height direction continuously performed in the movement distance storage unit 45 (step S41).

Subsequently, the control unit 28 determines, as the information acquisition unit 51, whether or not position information has been acquired from another mobile terminal device via the short-range communication unit 27B (step S51).
In the determination of step S51, when the position information cannot be acquired from another mobile terminal device (step S51; No), the control unit 28 cannot update the floor threshold value using the information, and thus the process is performed. The process proceeds to S14.

If it is determined in step S51 that the position information can be acquired from another mobile terminal device (step S51; Yes), the control unit 28 uses the radio wave intensity as the other mobile terminal as the inter-terminal distance calculation unit 52. The distance to the device is estimated (step S52), and the distance between terminals in the horizontal direction and the height direction from the estimated position is calculated (step S53).
Here, the distance between the mobile terminal device and other mobile terminal devices is calculated from the radio field intensity between other mobile terminal devices on other floors and other mobile terminal devices on the same floor. To identify.

  For example, in the case of the mobile terminal device 13A, the other mobile terminal device 13B is determined to be farther than the physical distance by being blocked by a flooring or the like, and determined to be on another floor. In contrast, the other mobile terminal device 13C is determined to have a close physical distance and is determined to be on the same floor.

  Subsequently, the control unit 28 determines, as the position information comparison unit 53, whether the distance between the mobile terminal devices calculated in step S53 is equal to or less than the floor threshold (step S54). For example, when the mobile terminal device is the mobile terminal device 13A, the distance between the mobile terminal device 13A and the mobile terminal device 13B or the distance between the mobile terminal device 13A and the mobile terminal device 13C is the floor. It is determined whether or not it is equal to or less than the threshold value.

  As a result of the determination in step S54, when the distance between the mobile terminal devices calculated in step S53 exceeds the floor threshold (step S54; No), the floor threshold is valid and does not need to be updated. Therefore, the process proceeds to step S14.

  As a result of the determination in step S54, when the distance between the mobile terminal devices calculated in step S53 is equal to or less than the floor threshold (step S54; Yes), the floor threshold may be deviated from the actual floor height. Therefore, the control unit 28 determines whether or not the distance between the mobile terminal devices calculated from the radio wave intensity in step S52 is less than or equal to the floor threshold (step S55).

  As a result of the determination in step S55, when the distance between the mobile terminal devices calculated in step S52 exceeds the floor threshold (step S55; No), the floor threshold is valid and does not need to be updated. Therefore, the process proceeds to step S14.

  As a result of the determination in step S55, when the distance between mobile terminal devices calculated in step S52 is less than or equal to the floor threshold (step S55; Yes), the floor threshold may be shifted from the actual floor height. Therefore, the control unit 28 determines whether or not the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is smaller than the floor threshold. (Step S43).

  If it is determined in step S43 that the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is equal to or greater than the floor threshold (step S43; No) ), It is not necessary to update the floor threshold, that is, the floor threshold currently set can be regarded as valid, and the control unit 28 proceeds to step S14.

  In the determination of step S43, when the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is smaller than the floor threshold (step S43; Yes). The control unit 28 has the (total) height direction moving distance stored in the moving distance storage unit 45 during the current height direction moving state substantially zero, that is, the same for some reason during the movement of the floor. It is determined whether or not the floor has been returned (step S44).

  In the determination in step S44, the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is substantially zero, that is, the same for some reason during the movement of the floor. When returning to the floor (step S44; Yes), there is no need to update the floor threshold, so the control unit 28 shifts the processing to step S14.

  If it is determined in step S44 that the floor does not return to the same floor for some reason during the movement of the floor (step S44; No), the control unit 28 stores the current high stored in the movement distance storage unit 45. The floor threshold data D45 is updated using the (total) height direction moving distance during the vertical movement state as a new floor threshold (step S45), and the process proceeds to step S14.

  Therefore, according to the fourth embodiment, even when the altitude information of the actual floor (hierarchy) of the building where the pedestrian who is the user is walking is not obtained, the information of other mobile terminal devices is used. Thus, the movement state of the floor can be accurately grasped, and the stay floor can be accurately estimated.

[5] Fifth Embodiment FIG. 15 is a functional block diagram of a control unit of a mobile terminal device according to a fifth embodiment.
15 differs from the functional block diagram of FIG. 10 in that a height direction movement time measurement unit 61 that measures the height direction movement time based on the output result of the height movement distance estimation unit 32, and the measured height The threshold update determination unit 62 determines whether or not the floor threshold update unit 46 can update the floor threshold based on the vertical movement time.

FIG. 16 is a flowchart of the movement amount detection process according to the fifth embodiment.
First, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Subsequently, the control unit 28 functions as a current position estimation unit 31 and a height movement distance estimation unit 32, and stores the walking information data output by the walking sensor unit 21 and the environment information data output by the environment sensor unit 22. And stored in the walking information database D47 and the environment information database D48 (step S22).

  Next, the control unit 28 determines the horizontal position based on the input walking information data, that is, the moving position on the floor where the pedestrian who is the building user stays (for example, on the orthogonal coordinate system with respect to the latitude and longitude coordinates or the reference position (Distance etc.) is estimated (step S23).

  Subsequently, the control unit 28 updates the current horizontal position coordinate data D42 in the memory unit 23 using the estimated horizontal position coordinate as a new current horizontal position coordinate (horizontal position information) (step S24).

Subsequently, the control unit 28 functions as the movement state determination unit 41, determines the movement state based on the walking information data (step S35), and determines whether or not it is in the height direction movement state (step S36).
If it is not in the height direction moving state in the determination in step S36 (step S36; No), that is, if it is in the horizontal moving state or the stopped state, the processing is performed without estimating the moving distance in the height direction. The process proceeds to S14.

If it is determined in step S36 that the moving state is in the height direction (step S36; Yes), the control unit 28 estimates the moving distance in the height direction on the stay floor as a vector amount (step S25).
Subsequently, the control unit 28 calculates the moving time in the height direction on the stay floor (step S61).

Next, the control unit 28 stores the moving distance in the height direction while the height moving state continues (step S62).
And the control part 28 discriminate | determines whether it moved to the horizontal movement state from the movement state of a height direction as the movement state determination part 41 (step S63).

In the determination in step S63, when the movement state in the height direction has not yet shifted to the movement state in the horizontal direction (step S63; No), it is not necessary to update the floor threshold, that is, it is currently set. Since the floor threshold is considered to be valid, the control unit 28 proceeds to step S14.
In the determination in step S63, if the movement state in the height direction is shifted to the movement state in the horizontal direction (step S63; Yes), is the continuous movement time in the height direction equal to or greater than a preset time threshold value? It is determined whether or not (step S64).

  In the determination in step S64, when the continuous moving time in the height direction is less than the preset time threshold value (step S64; No), it is considered that the floor threshold is valid and does not need to be updated. Therefore, the process proceeds to step S14.

  If it is determined in step S64 that the continuous moving time in the height direction is equal to or greater than the preset time threshold value (step S64; Yes), the floor transition has already been completed, and the setting of the floor threshold value is correct. The control unit 28 determines that the total movement distance in the height direction during the current height direction movement state stored in the movement distance storage unit 45 is not necessary and may need to be updated. It is determined whether it is smaller than the floor threshold (step S43).

  If it is determined in step S43 that the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is equal to or greater than the floor threshold (step S43; No) ), It is not necessary to update the floor threshold, that is, the floor threshold currently set can be regarded as valid, and the control unit 28 proceeds to step S14.

  In the determination of step S43, when the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is smaller than the floor threshold (step S43; Yes). The control unit 28 has the (total) height direction moving distance stored in the moving distance storage unit 45 during the current height direction moving state substantially zero, that is, the same for some reason during the movement of the floor. It is determined whether or not the floor has been returned (step S44).

  In the determination in step S44, the (total) height direction moving distance during the current height direction moving state stored in the moving distance storage unit 45 is substantially zero, that is, the same for some reason during the movement of the floor. When returning to the floor (step S44; Yes), there is no need to update the floor threshold, so the control unit 28 shifts the processing to step S14.

  If it is determined in step S44 that the floor does not return to the same floor for some reason during the movement of the floor (step S44; No), the control unit 28 stores the current high stored in the movement distance storage unit 45. The floor threshold data D45 is updated using the (total) height direction moving distance during the vertical movement state as a new floor threshold (step S45), and the process proceeds to step S14.

  Therefore, according to the fifth embodiment, the floor threshold for determining the movement between floors can be set to a more optimal one, the movement state of the floors can be accurately grasped, and the stay The floor can be estimated accurately.

[6] Sixth Embodiment FIG. 17 is a functional block diagram of a control unit of a mobile terminal device according to a sixth embodiment.
17 differs from the functional block diagram of FIG. 3 in that a height movement time measurement unit 65 that measures the movement time in the height direction based on the output of the height movement distance estimation unit 32, and a height movement This is the point that an inter-floor movement determination unit 66 that determines the presence or absence of movement between floors based on the measurement result of the time measurement unit 65 is provided.

FIG. 18 is a flowchart of the movement amount detection process according to the sixth embodiment.
First, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Subsequently, the control unit 28 functions as a current position estimation unit 31 and a height movement distance estimation unit 32, and stores the walking information data output by the walking sensor unit 21 and the environment information data output by the environment sensor unit 22. And stored in the walking information database D47 and the environment information database D48 (step S22).

  Next, the control unit 28 determines the horizontal position based on the input walking information data, that is, the moving position on the floor where the pedestrian who is the building user stays (for example, on the orthogonal coordinate system with respect to the latitude and longitude coordinates or the reference position (Distance etc.) is estimated (step S23).

  Subsequently, the control unit 28 updates the current horizontal position coordinate data D42 in the memory unit 23 using the estimated horizontal position coordinate as a new current horizontal position coordinate (horizontal position information) (step S24).

Subsequently, the control unit 28 functions as the movement state determination unit 41, determines the movement state based on the walking information data (step S35), and determines whether or not it is in the height direction movement state (step S36).
If it is not in the height direction moving state in the determination in step S36 (step S36; No), that is, if it is in the horizontal moving state or the stopped state, the processing is performed without estimating the moving distance in the height direction. The process proceeds to S14.

  If it is determined in step S36 that the movement is in the height direction, the control unit 28 estimates the movement distance in the height direction on the stay floor as a vector amount (step S25).

Subsequently, the control unit 28 determines whether the movement time in the height direction measured by the height movement time measurement unit 65 is equal to or less than the set time threshold value as the floor movement determination unit 66 (step S65).
If it is determined in step S65 that the moving time in the height direction measured by the height moving time measuring unit 65 is less than the set time threshold (No in step S65), the process proceeds to step S21 again.
In the determination of step S65, when the moving time in the height direction measured by the height moving time measuring unit 65 exceeds the set time threshold value (step S65; Yes), the process proceeds to step S14.

  As a result, when the measured moving time in the height direction exceeds the set time threshold (step S65; Yes), the current floor data D46 as the stay floor information is updated.

FIG. 19 is an explanatory diagram of the effect of the sixth embodiment.
As shown in FIG. 19A, when the atmospheric pressure sensor constituting the environmental sensor unit 22 is affected by the atmospheric pressure change and seems to detect the movement in the height direction, the time threshold value is set. No movement exceeding the floor threshold is detected within the time corresponding to, and the current floor data D46 is never updated.

On the other hand, when the movement between floors is actually made, as shown in FIG. 19 (b), the movement exceeding the floor threshold is detected within the time corresponding to the time threshold. The current floor data D46 can be updated.
Therefore, according to the sixth embodiment, the atmospheric pressure fluctuation is not erroneously detected as a floor movement, and the influence of the atmospheric pressure change detected by the atmospheric pressure sensor incorporated in the environment sensor unit 22 is suppressed. The movement between floors can be detected more accurately.

[7] Seventh Embodiment FIG. 20 is a flowchart of a movement amount detection process according to the seventh embodiment.
FIG. 20 differs from FIG. 6 in that it is determined whether or not the reference position data is received from the gate device 11A or the gate device 11B shown in FIG. The estimated position and the height reference position are updated.

  First, the control unit 28 determines whether or not reference position data is received from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 (step S71).

  If the reference position data is not received from the gate device (in the example of FIG. 1, the gate device 11A or the gate device 11B) in step S71 (step S71; No), the process proceeds to step S21. .

  When the reference position data is received from the gate device in the determination in step S71 (step S71; Yes), the control unit 28 receives the reference position data (reference horizontal position coordinate data D41 and reference height position received from the gate device). Data D43) is updated (step S72). That is, the estimated horizontal position is updated to the horizontal position corresponding to the reference horizontal position coordinate data D41, and the height reference position is updated to the height position corresponding to the reference height position data D43.

  Thereby, the walking sensor part 21 detects walking information, and outputs it to the control part 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Thereafter, the processing of step S22 to step S25 is performed as in the first embodiment, and the control unit 28 estimates the current stay floor of the mobile terminal device 13 based on the estimated moving distance in the height direction ( Step S14).

  Therefore, according to the seventh embodiment, it is possible to prevent the accumulated error from accumulating and to estimate the moving distance in the height direction more accurately.

[8] Eighth Embodiment FIG. 21 is a movement amount detection process flowchart of the eighth embodiment.
21 is different from FIG. 20 in that reference position data is received from gate devices arranged on different floors of the same building, for example, the plurality of gate devices 11A or 11B shown in FIG. In the case where a plurality of reference position data is held, the height of each floor constituting the building is estimated and updated based on the data.

  First, the control unit 28 determines whether or not reference position data is received from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 (step S71).

  If the reference position data is not received from the gate device (in the example of FIG. 1, the gate device 11A or the gate device 11B) in step S71 (step S71; No), the process proceeds to step S21. .

  When the reference position data is received from the gate device in the determination in step S71 (step S71; Yes), the control unit 28 receives the reference position data (reference horizontal position coordinate data D41 and reference height position received from the gate device). Data D43) is updated (step S72).

  Next, the control unit 28 receives reference position data from a plurality of gate devices arranged on different floors of the building and determines whether or not the plurality of reference position data is held (step S75).

  If it is determined in step S75 that a plurality of reference position data of the building is not held (step S75; No), the process proceeds to step S21, and the operation is effectively the same as that of the seventh embodiment.

  On the other hand, in the determination of step S75, when a plurality of reference position data of the building is held (step S75; Yes), the height distance from the floor to the ceiling per floor of the building is estimated. Then, the floor threshold data D45 is updated (step S76).

  Subsequently, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Thereafter, the processing of step S22 to step S25 is performed as in the first embodiment, and the control unit 28 estimates the current stay floor of the mobile terminal device 13 based on the estimated moving distance in the height direction ( Step S14).

  Therefore, according to the eighth embodiment, the distance between the floors can be set more accurately, and the moving distance in the height direction can be estimated more accurately.

[9] Ninth Embodiment FIG. 22 is a flowchart of a movement amount detection process according to the ninth embodiment.
22 differs from FIG. 20 in that the gate device 11A or the gate device 11B shown in FIG. 1 has a function of measuring temperature and pressure, and the gate device 11A or the gate device 11B functions as an altitude information calibration device. The current temperature information, barometric pressure information, and altitude information (elevation information) of the floor where the gate device 11A or the gate device 11B stored in advance is set as altitude calibration information to the mobile terminal device 13. It is the point which has taken the composition which transmits.

First, the control unit 28 determines whether temperature information, barometric pressure information, and altitude information are received as altitude calibration information data from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 ( Step S81).
If it is determined in step S81 that altitude calibration information data has not been received from the gate device (the gate device 11A or the gate device 11B in the example of FIG. 1) (step S81; No), the process proceeds to step S21. To do.

  When the altitude calibration information data is received from the gate device in the determination in step S75 (step S81; Yes), the control unit 28 obtains the reference height position data D43 based on the altitude calibration information data received from the gate device. Update (step S72).

  Thereby, the walking sensor part 21 detects walking information, and outputs it to the control part 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21). At this time, the detected environment information is calibrated based on the altitude calibration information data.

  Thereafter, the processing of step S22 to step S25 is performed as in the first embodiment, and the control unit 28 estimates the current stay floor of the mobile terminal device 13 based on the estimated moving distance in the height direction ( Step S14).

  Therefore, according to the ninth embodiment, the altitude detection error included in the detected environment information can be suppressed and the moving distance in the height direction can be estimated more accurately.

[10] Tenth Embodiment FIG. 23 is a movement amount detection process flowchart of the tenth embodiment.
23 differs from FIG. 20 in that the gate device 11A or the gate device 11B shown in FIG. 1 has a function of measuring the temperature and the atmospheric pressure, and functions as an altitude information calibration device so that the current temperature information and atmospheric pressure information can be obtained. In addition, the altitude information (elevation information) of the floor where the gate device 11A or the gate device 11B stored in advance is transmitted to the mobile terminal device 13 as altitude calibration information. If it is possible to receive and hold altitude calibration information data from the gate devices arranged on different floors of the building, and hold multiple altitude calibration information data, the building is based on those data. The height of each floor that constitutes is estimated and updated.

  First, the control unit 28 determines whether altitude calibration data is received from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 (step S81).

  If it is determined in step S81 that altitude calibration data has not been received from the gate device (in the example of FIG. 1, the gate device 11A or the gate device 11B) (step S81; No), the process proceeds to step S21. .

  If the altitude calibration data is received from the gate device in the determination in step S81 (step S81; Yes), the control unit 28 updates the reference height position data D43 received from the gate device (step S72).

  Next, the control unit 28 receives altitude calibration data from a plurality of gate devices arranged on different floors of the building and determines whether the altitude calibration data is held (step S82).

  If it is determined in step S82 that a plurality of reference position data of the building is not held (step S82; No), the process proceeds to step S21, and the operation is effectively the same as that of the seventh embodiment.

  On the other hand, in the determination of step S82, when a plurality of altitude calibration data of the building is held (step S82; Yes), the height distance from the floor to the ceiling per floor of the building is estimated. Then, the floor threshold data D45 is updated (step S76).

Subsequently, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).
Thereafter, the processing of step S22 to step S25 is performed as in the first embodiment, and the control unit 28 estimates the current stay floor of the mobile terminal device 13 based on the estimated moving distance in the height direction ( Step S14).

  Therefore, according to the tenth embodiment, the altitude detection error included in the detected environment information is calibrated, and the moving distance in the height direction can be accurately estimated with further suppression.

[11] Eleventh Embodiment FIG. 24 is a functional block diagram of a control unit of a mobile terminal device according to an eleventh embodiment.
24 is different from the functional block diagram of FIG. 8 in that the mobile terminal device 13 is moved in the height direction based on the walking information data output from the walking sensor unit 21 by the movement state determination unit 41, the horizontal direction A map information storage unit that stores the map information of each floor of the building, and outputs necessary map information based on the determination result of the movement state determination unit 41, while being able to determine whether the vehicle is in a moving state or a stationary state 71, and a position correction unit 72 that outputs position correction information from the determination result of the movement state determination unit 41 and the corresponding map information.

FIG. 25 is a flowchart of the movement amount detection process according to the eleventh embodiment.
25 differs from FIG. 22 in that, when the moving state is switched between the horizontal direction moving state and the height direction moving state, it is moved using a floor moving means such as stairs based on the map information. This is the point that the current position is corrected to the existing position of the floor moving means.

  First, the control unit 28 determines whether temperature information, barometric pressure information, and altitude information are received as altitude calibration information data from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 ( Step S81).

If it is determined in step S81 that altitude calibration information data has not been received from the gate device (the gate device 11A or the gate device 11B in the example of FIG. 1) (step S81; No), the process proceeds to step S21. To do.
When the altitude calibration information data is received from the gate device in the determination in step S81 (step S81; Yes), the control unit 28 obtains the reference height position data D43 based on the altitude calibration information data received from the gate device. Update (step S72).

  Thereby, the walking sensor part 21 detects walking information, and outputs it to the control part 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21). At this time, the detected environment information is calibrated based on the altitude calibration information data.

Thereafter, the processing from step S22 to step S24 is performed in the same manner as in the first embodiment, and the control unit 28 moves as the movement state determination unit 41 from the horizontal movement state to the height direction movement state (for example, there is It is determined whether or not the use of stairs has been started to move from the floor to another floor (step S85).
If it is determined in step S85 that the movement state has shifted from the horizontal movement state to the height direction movement state (step S85; Yes), the process proceeds to step S87.

  If it is determined in step S85 that the moving state has not shifted from the horizontal direction moving state to the height direction moving state (step S85; No), the control unit 28 operates as the moving state determination unit 41 in which the moving state is high. It is determined whether or not the state has shifted from the direction moving state to the horizontal direction moving state (for example, moving from one floor to another floor by a staircase and reaching the floor of another floor and walking) (step S86). .

  If it is determined in step S86 that the moving state has not shifted from the height direction moving state to the horizontal direction moving state (step S86; No), the control unit 28 shifts the process to step S14.

In the determination in step S86, when the movement state shifts from the height direction movement state to the horizontal direction movement state (step S86; Yes), it is presumed that the movement to another floor is completed using stairs or the like. Therefore, the control unit 28 reads out the map information from the map information storage unit 71 based on the position corresponding to the position information currently estimated by the current position estimation unit 31 as the position correction unit 72, and sets the position to the estimated position most. The latest level movement point such as a staircase capable of moving in the near height direction is detected (step S87).
Then, the control unit 28 controls the current position estimating unit 31 as the position correcting unit 72 so as to correct the current estimated position with the latest hierarchy movement point (step S88).

FIG. 26 is an explanatory diagram for correcting the estimated position of the position estimation unit.
Consider a case where a pedestrian who is a user of the mobile terminal device 13 moves from the first floor to the second floor using the stairs as shown by a solid arrow in FIG.

  Here, as indicated by a dashed line arrow in FIG. 26, when the movement state shifts from the horizontal movement state to the height direction movement state at the point P01 estimated as the current position estimation unit 31, the control unit 28 is a position near the point P01 based on the map information read out from the map information storage unit 71 as the position correction unit 72, and is an ascending point of the staircase A that can move from the first floor to the second floor. A certain point P1 is detected as a hierarchical movement point.

Then, the position coordinates of the estimated point are corrected from the position coordinates of the point P01 to the point P1.
Similarly, when the moving state shifts from the height direction moving state to the horizontal direction moving state at the point P02 estimated as the current position estimating unit 31, the control unit 28 uses the map information storage as the position correcting unit 72. Based on the map information read from the unit 71, a point P2 that is a point close to the point P02 and is the exit point of the staircase A where the floor movement from the first floor to the second floor is completed is detected as a hierarchical movement point.

Then, the position coordinate of the point P02 is corrected to the point P2.
Therefore, it is possible to correct the estimated route and bring it closer to the actual moving route, and even when performing route guidance, it is possible to guide more accurately according to the actual building situation.

  As described above, according to the eleventh embodiment, the current position can be estimated with high accuracy.

[12] Twelfth Embodiment FIG. 27 is a functional block diagram of a control unit of a mobile terminal device according to a twelfth embodiment.
27 differs from the functional block diagram of FIG. 3 in that the movement path storage unit 75 stores a movement path (having a track record) that is a history of the horizontal position estimated by the current position estimation unit 31, and the movement path storage. A movement path comparison unit 76 that compares the movement path stored in the unit 75 with the horizontal position (and movement path) estimated by the current position estimation unit 31, and based on the comparison result of the movement path comparison unit 76. This is the point that the level estimation unit 33 estimates the current stay floor.

FIG. 28 is a movement amount detection process flowchart according to the twelfth embodiment.
FIG. 28 differs from FIG. 21 in that the stay floor is set to be a movable area such as a passage portion when the movement position on the movement route is a non-movable region other than a passage portion such as an atrium portion or a living room portion. The point is to estimate and update.
First, the control unit 28 determines whether or not reference position data is received from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 (step S71).

  If the reference position data is not received from the gate device (in the example of FIG. 1, the gate device 11A or the gate device 11B) in step S71 (step S71; No), the process proceeds to step S21. .

  When the reference position data is received from the gate device in the determination in step S71 (step S71; Yes), the control unit 28 receives the reference position data (reference horizontal position coordinate data D41 and reference height position received from the gate device). Data D43) is updated (step S72). Subsequently, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Thereafter, the processing in steps S22 to S24 is performed in the same manner as in the first embodiment, and in parallel with these operations, the control unit 28 estimates the estimated horizontal direction as the current position estimation unit 31 as the movement path storage unit 75. Continue to store location history as a travel path.

  Further, the control unit 28 compares the movement route stored in the past with the movement route which is the history of the estimated horizontal position estimated this time as the movement route comparison unit 76, and the movement position is included in the movement route stored in the past. It is determined whether or not it is located in a non-movable area (step S91).

If it is determined in step S91 that the current movement route is located in the immovable region (step S91; Yes), the control unit 28 is based on the past movement route information and the current estimated route on each floor. The floor that includes the most movement path in the movable area is detected (step S92). That is, the floor that can actually walk along the moving route based on the current estimated route and has the highest possibility of walking is detected.
Next, the control unit 28 updates the stay floor to the floor that includes the movement route of the mobile terminal device 13 in the most movable area (step S93).

FIG. 29 is an explanatory diagram of a specific example of the twelfth embodiment.
When it is detected that the moving route based on the current estimated route is located in the immovable area such as the atrium portion on the second floor, as indicated by the broken line arrow at the top of FIG. 29, FIG. As shown by a solid arrow at the bottom of the floor, the floor (most floor in the example of FIG. 29) that includes the most travel route based on the current estimated route is detected and the stay floor is updated. A pedestrian who is a user of the mobile terminal device 13 can use information without being confused.

  As described above, according to the twelfth embodiment, even if the currently estimated movement route is included in the immovable area, the floor where the possibility of movement is actually high is selected. Since processing is performed as the stay floor, route guidance and the like can be surely performed.

[13] Thirteenth Embodiment FIG. 30 is a functional block diagram of a control unit of a mobile terminal device according to a thirteenth embodiment.
30 is different from the functional block diagram of FIG. 27 in that an elapsed time calculation unit 81 that calculates an elapsed time after acquiring the reference position data is provided.

FIG. 31 is a flowchart of the movement amount detection process according to the thirteenth embodiment.
First, the control unit 28 determines whether or not reference position data is received from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 (step S71).

  If the reference position data is not received from the gate device (in the example of FIG. 1, the gate device 11A or the gate device 11B) in step S71 (step S71; No), the process proceeds to step S21. .

  When the reference position data is received from the gate device in the determination in step S71 (step S71; Yes), the control unit 28 receives the reference position data (reference horizontal position coordinate data D41 and reference height position received from the gate device). Data D43) is updated (step S72). Subsequently, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

  Thereafter, the processing in steps S22 to S24 is performed in the same manner as in the first embodiment, and in parallel with these operations, the control unit 28 estimates the estimated horizontal direction as the current position estimation unit 31 as the movement path storage unit 75. Continue to store location history as a travel path.

Next, the control unit 28 calculates an elapsed time after receiving and acquiring the reference position data (step S95).
Then, the control unit 28 determines whether or not the calculated elapsed time is equal to or greater than a set threshold time (step S96).

If it is determined in step S96 that the calculated elapsed time is greater than or equal to the set threshold time (step S96; Yes), the process proceeds to step S14.
When the elapsed time calculated in the determination in step S96 is less than the set threshold time (step S96; No), the control unit 28 serves as the movement route comparison unit 76 and the previously estimated movement route and the estimation estimated this time. The movement path which is the history of the horizontal position is compared, and it is determined whether or not the movement position is located in a non-movable area not included in the movement path stored in the past (step S91).

  If it is determined in step S91 that the current movement route is located in the immovable region (step S91; Yes), the control unit 28 is based on the past movement route information and the current estimated route on each floor. The floor that includes the most movement path in the movable area is detected (step S92). That is, a floor that can actually walk along the moving route based on the current estimated route and has the highest possibility of walking is detected (step S92).

  Next, the control unit 28 updates the stay floor to the floor that includes the movement route of the mobile terminal device 13 in the most movable area (step S93).

  As described above, according to the thirteenth embodiment, even if the currently estimated movement route is included in the immovable area, the reference position can be said to have high data reliability. When the elapsed time after receiving and acquiring the data is less than the set threshold time, the floor where the possibility of movement is actually high is processed as the stay floor, so that route guidance and the like can be reliably performed.

[14] Fourteenth Embodiment FIG. 32 is a functional block diagram of a control unit of a mobile terminal device according to a fourteenth embodiment.
32 is different from the functional block diagram of FIG. 30 in that, instead of the elapsed time calculation unit 81, a movement distance calculation unit 85 that calculates a movement distance after obtaining the reference position data is provided.

FIG. 33 is a flowchart of the movement amount detection process according to the fourteenth embodiment.
First, the control unit 28 determines whether or not reference position data is received from the gate device 11A or the gate device 11B via the short-range communication unit 27B of the communication unit 27 (step S71).
If the reference position data is not received from the gate device (in the example of FIG. 1, the gate device 11A or the gate device 11B) in step S71 (step S71; No), the process proceeds to step S21. .

  When the reference position data is received from the gate device in the determination in step S71 (step S71; Yes), the control unit 28 receives the reference position data (reference horizontal position coordinate data D41 and reference height position received from the gate device). Data D43) is updated (step S72). Subsequently, the walking sensor unit 21 detects walking information and outputs it to the control unit 28 as walking information data. Similarly, the environmental sensor unit 22 detects environmental information and outputs it to the control unit 28 as environmental information data (step S21).

Thereafter, the processing in steps S22 to S24 is performed in the same manner as in the first embodiment, and in parallel with these operations, the control unit 28 estimates the estimated horizontal direction as the current position estimation unit 31 as the movement path storage unit 75. Continue to store location history as a travel path.
Next, the control unit 28 calculates a movement distance after receiving and acquiring the reference position data (step S101).

Then, the control unit 28 determines whether or not the calculated movement distance is greater than or equal to the set threshold distance (step S102).
If it is determined in step S102 that the calculated movement distance is equal to or greater than the set threshold distance (step S102; Yes), the process proceeds to step S14.

  When the travel distance calculated in the determination in step S102 is less than the set threshold travel distance (step S102; No), the control unit 28 estimates the travel route stored in the past as the travel route comparison unit 76 this time. The movement path which is the history of the estimated horizontal direction position is compared, and it is determined whether or not the movement position is located in a non-movable area not included in the movement path stored in the past (step S91).

  If it is determined in step S91 that the current movement route is located in the immovable region (step S91; Yes), the control unit 28 is based on the past movement route information and the current estimated route on each floor. The floor that includes the most movement path in the movable area is detected (step S92). That is, the floor that can actually walk along the moving route based on the current estimated route and has the highest possibility of walking is detected.

  Next, the control unit 28 updates the stay floor to the floor that includes the movement route of the mobile terminal device 13 in the most movable area (step S93).

  As described above, according to the fourteenth embodiment, as in the thirteenth embodiment, the reliability of data can be obtained even when the current estimated movement route is included in the immovable area. If the moving distance after receiving and acquiring the reference position data that can be said to be high is less than the set threshold distance, the floor where the possibility of movement is actually high is processed as the staying floor, so surely Route guidance can be performed.

  The positioning information processing apparatus according to the present embodiment includes a control device such as a CPU, a storage device such as a ROM (Read Only Memory) and a RAM, an external storage device, a display device such as a display device, and a keyboard and a mouse. It has an input device and has a hardware configuration using a normal computer.

  The program executed by the positioning information processing apparatus of the present embodiment is an installable or executable file, such as a CD-ROM, flexible disk (FD), CD-R, DVD (Digital Versatile Disk), etc. The program is provided by being recorded on a computer-readable recording medium.

  Further, the program executed by the positioning information processing apparatus of the present embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The program executed by the positioning information processing apparatus according to the present embodiment may be provided or distributed via a network such as the Internet.

In addition, the program of the positioning information processing apparatus according to the present embodiment may be provided by being incorporated in advance in a ROM or the like.
Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

10 Positioning system 11A, 11B Gate device (altitude information calibration device)
DESCRIPTION OF SYMBOLS 12 Server apparatus 13, 13A-13C Mobile terminal device 21 Walking sensor part 22 Environment sensor part 23 Memory part 24 GPS positioning part 25 Operation part 26 Display part 27 Communication part 27A Wide area communication part 27B Short-range communication part 28 Control part 31 Present Position estimation unit 32 Height movement distance estimation unit 33 Hierarchy estimation unit 41 Movement state determination unit 45 Movement distance storage unit 46 Inter-floor threshold update unit 51 Information acquisition unit 52 Inter-terminal distance calculation unit 53 Position information comparison unit 54 Inter-floor threshold update Unit 61 Height direction moving time measuring unit 62 Threshold update determining unit 65 Height moving time measuring unit 66 Inter-story moving determining unit 71 Map information storage unit 72 Position correcting unit 75 Moving path storage unit 76 Moving path comparison unit 81 Elapsed time calculation 85 Moving distance calculator BLD Building D41 Reference horizontal position coordinate data D42 Current horizontal position Target data D43 reference height position data D44 Height movement amount data D45 interfloor threshold data D46 current floor data D47 walking information database D48 environment information database

Claims (18)

A first detector for detecting that a positioning reference position has been reached in a predetermined building having a plurality of floors;
A second detection unit for detecting a movement vector amount in the height direction of the building from the positioning reference position;
Estimate the floor located in the building based on the amount of movement vector in the height direction from the positioning reference position and a preset floor threshold for determining the movement of the building between floors. A control unit,
A portable positioning information processing apparatus. The control unit estimates a horizontal position on the floor where the positioning information processing apparatus is located.
The positioning information processing apparatus according to claim 1.   The positioning information processing apparatus according to claim 1, wherein the first detection unit includes a walking sensor that detects a walking state of a user carrying the positioning information processing apparatus. The control unit includes a movement state determination unit that can identify whether the positioning information processing apparatus is in a horizontal movement state or a height movement state based on a detection result of the first detection unit. ,
The information processing apparatus for positioning according to any one of claims 1 to 3. The second detection unit includes an environmental sensor that measures the atmospheric pressure and the temperature around the positioning information processing device.
The information processing apparatus for positioning according to any one of claims 1 to 4. A storage unit that stores in advance the floor corresponding to the positioning reference position and the inter-floor threshold;
The information processing apparatus for positioning according to any one of claims 1 to 4. The detection information of the second detection unit is calibrated based on the received altitude information calibration information data.
The information processing apparatus for positioning according to any one of claims 1 to 6. The control unit updates the floor threshold based on the plurality of altitude information calibration information data when a plurality of the altitude information calibration information data having different altitudes can be acquired.
The positioning information processing apparatus according to claim 7. The control unit corrects its current position based on the received reference position data regarding the positioning reference position.
The information processing apparatus for positioning according to any one of claims 1 to 8. The controller updates the floor threshold based on the plurality of reference position data when a plurality of reference position data corresponding to the plurality of positioning reference positions can be acquired.
The positioning information processing apparatus according to claim 9. Communicating with other positioning information processing devices, equipped with a communication unit capable of acquiring the position information of each positioning information processing device,
The control unit identifies whether the other information processing device for positioning is located on the same floor or another floor based on the position information and the radio wave intensity during communication of the communication unit.
The information processing apparatus for positioning according to any one of claims 1 to 7. The control unit updates the inter-floor threshold based on an identification result of whether the other positioning information processing device is located on the same floor or another floor.
The positioning information processing apparatus according to claim 11. A map information storage unit for storing map information in the building;
When the control unit estimates that the positioning information processing apparatus is located in the immovable region based on the map information, the control unit is based on the map information and a history of horizontal movement paths in the past. Estimating the floor where the information processing device for positioning is most likely located,
The positioning information processing apparatus according to claim 2. A map information storage unit for storing map information in the building including the installation position of equipment capable of moving in the height direction to another floor;
The control unit shifts the positioning information processing apparatus from the horizontal movement state to the height movement state based on the determination result of the movement state determination unit, or the positioning information processing apparatus moves in the height direction. Among the equipment that can move in the height direction to the other floor when the transition is detected from the movement state to the horizontal movement state, the installation position of the equipment closest to the current estimated position is currently The estimated position of
The positioning information processing apparatus according to claim 4. The control unit determines that the floor has been moved when it is detected that it has moved in the height direction over a predetermined floor threshold within a predetermined threshold time,
The information processing apparatus for positioning according to any one of claims 1 to 14. A communication unit that communicates with a communication device that notifies information about the positioning reference position provided on the floor where the positioning reference position is set;
The control unit sets the positioning reference position as a current estimated position;
The information processing apparatus for positioning according to any one of claims 1 to 15. A method of performing positioning using autonomous navigation and executed by a portable positioning information processing device,
A process of detecting that a positioning reference position has been reached in a predetermined building having multiple floors;
Detecting a movement vector amount in the height direction of the building from the positioning reference position;
Estimate the floor located in the building based on the amount of movement vector in the height direction from the positioning reference position and a preset floor threshold for determining the movement of the building between floors. The process of
With a method. A program for performing positioning using autonomous navigation and controlling a portable positioning information processing device by a computer,
The computer,
Means for detecting that a positioning reference position has been reached in a predetermined building having a plurality of floors;
Means for detecting a moving vector amount in the height direction of the building from the positioning reference position;
Estimate the floor located in the building based on the amount of movement vector in the height direction from the positioning reference position and a preset floor threshold for determining the movement of the building between floors. Means to
Program to make it work.

Images