JP2017116443A - Electronic apparatus and trajectory information acquisition method, and trajectory information acquisition program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve precision of a movement trajectory while suppressing power consumption of an electronic apparatus.SOLUTION: During a movement along a predetermined route from a start point to an end point, acquisition of first position information by autonomous navigation based upon sensor data detected by a motion sensor of a sensor part 110 and acquisition of second position information by GPS positioning operation of a signal reception part 120 are performed, and then trajectory information associated with a movement trajectory of an electronic apparatus based upon at least one of the first position information and second position information, and route information based upon at least any of the first position information, sensor data, second position information, and a reception state of a radio wave signal of the signal reception part 120 and showing respective characteristics of a plurality of regions on the route are alternately associated and stored in a storage 160. In moving along the route in a state in which the trajectory information and route information are stored in the storage 160, operations of the sensor part 110 and signal reception part 120 are controlled based upon the trajectory information and route information stored in the storage 160.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an electronic device having a function of collecting information on a user's movement locus, a locus information acquisition method, and a locus information acquisition program.

  In recent years, people who enjoy climbing, trekking, cycling, running, etc. are increasing due to increasing health consciousness and interest in nature. In such an operation involving movement, by carrying a terminal called a logger that collects trajectory information, a trajectory (movement trajectory) that the user has acted is acquired and recorded as a record, for analysis of the motion state, etc. Can be used. Here, since the terminal that collects the trajectory information is preferably small and lightweight so as not to hinder the portable terminal, the capacity of the built-in battery (battery) is restricted, and the terminal is driven for a long time. It is difficult. On the other hand, as a method for measuring the current position while moving outdoors, a positioning method using GPS (Global Positioning System) is generally known. However, this positioning method has a problem of high power consumption. have.

  Therefore, as described in, for example, Patent Document 1 and the like, the positioning means using the GPS is intermittently operated, and the autonomous navigation using the acceleration sensor, the geomagnetic sensor, or the like is performed during the period in which the GPS positioning means is off. A method for estimating the current position by (dead reckoning) has been proposed. According to this, the operation of the GPS positioning means with high power consumption can be suppressed as much as possible, and the position information of the GPS positioning means can be complemented by the autonomous navigation using the sensor with low power consumption. In addition, power saving can be achieved while maintaining positioning accuracy.

JP2013-134066A

  However, the method of acquiring position information by switching between the GPS positioning function and autonomous navigation as described above has the following problems. That is, in general, in autonomous navigation using acceleration sensors, geomagnetic sensors, etc., it is not possible to maintain a certain degree of positioning accuracy on relatively gentle terrain routes that have a small vertical difference and no sharp corners. However, there are cases where sufficient positioning accuracy cannot be obtained on a route with a steep slope, a sharp turn, a chain, or the like that frequently appears when climbing or trekking. In addition, when there is an iron structure such as a steel tower in the vicinity of the route, or in an area where the magnetic field is disturbed geologically, geomagnetism cannot be detected accurately, and positioning accuracy may decrease. In such a case, there is a problem that an accurate movement trajectory cannot be acquired.

  Therefore, in view of the above-described problems, the present invention provides an electronic device having a function capable of improving the accuracy of a movement locus while suppressing power consumption, a locus information acquisition method, and a locus information acquisition program. The purpose is to provide.

The present invention
Electronic equipment,
A sensor unit having a motion sensor for detecting a spatial operation of the electronic device;
A signal receiving unit that receives a radio signal from a communication satellite and performs a positioning operation to determine a current position of the electronic device based on the radio signal;
A control unit for controlling operations of the sensor unit and the signal receiving unit;
With
The controller is
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. The operation of the sensor unit and the signal receiving unit is controlled during the period.

The present invention
A method for acquiring trajectory information of an electronic device,
The electronic device has a sensor unit having a motion sensor that detects a spatial operation of the electronic device, and a radio signal received from a communication satellite, and positioning that determines the current position of the electronic device based on the radio signal A signal receiver that performs the operation,
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. While controlling the operation of the sensor unit and the signal receiving unit,
It is characterized by that.

The present invention
An electronic device trajectory information acquisition program,
The electronic device has a sensor unit having a motion sensor that detects a spatial operation of the electronic device, and a radio signal received from a communication satellite, and positioning that determines the current position of the electronic device based on the radio signal A signal receiver that performs the operation,
On the computer,
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. While controlling the operation of the sensor unit and the signal receiving unit,
It is characterized by that.

  ADVANTAGE OF THE INVENTION According to this invention, the precision of a movement locus | trajectory can be aimed at, suppressing the power consumption of an electronic device provided with the function which collects the information regarding a user's movement locus | trajectory.

It is a schematic block diagram which shows an example of schematic structure of the electronic device which concerns on this invention. It is a flowchart which shows an example of the locus | trajectory information acquisition method in the case of carrying the electronic device which concerns on one Embodiment, and moving a specific path | route as an outward path | route. It is a timing chart which shows an example of positioning operation (basic operation) of electronic equipment concerning one embodiment. It is the schematic which shows an example of the specific path | route (outward path | route) which carries the electronic device which concerns on one Embodiment, and moves. It is the schematic which shows an example of the path | route information collected when carrying the electronic device which concerns on one Embodiment, and moving an outward path | route. It is a flowchart which shows an example of the locus | trajectory information acquisition method in the case of carrying the electronic device which concerns on one Embodiment, and moving as a return path | route. It is the schematic which shows an example of the specific path | route (return path) which carries the electronic device which concerns on one Embodiment, and moves. It is a timing chart which shows an example of the positioning operation | movement of the electronic device which concerns on one Embodiment. It is the schematic for demonstrating an example of the movement locus | trajectory replaced by the locus | trajectory information acquisition method which concerns on one Embodiment.

  Hereinafter, an electronic device, a track information acquisition method thereof, and a track information acquisition program according to the present invention will be described in detail with reference to embodiments. In the following embodiments, a case where the electronic device according to the present invention is applied to mountain climbing or trekking will be described.

(Electronics)
FIG. 1 is a schematic block diagram showing an example of a schematic configuration of an electronic device according to the present invention.
For example, as illustrated in FIG. 1, the electronic device 100 includes a sensor unit 110, a signal receiving unit 120, a control unit 130, a ROM 140, a RAM 150, a storage (storage unit) 160, and a communication unit 170. Have.

  The sensor unit 110 includes at least an acceleration sensor, a geomagnetic sensor, an angular velocity sensor (gyro sensor), and an atmospheric pressure sensor as motion sensors that detect a spatial operation of the electronic device 100 caused by a user operation. Sensor data detected by these motion sensors is used to determine the current position from the positioning operation (first positioning operation) by autonomous navigation in the control unit 130, which will be described later, and obtain position information (first position information) of the current position. Or when detecting the characteristics of a route. The signal receiving unit 120 receives radio signals (for example, GPS signals) from a plurality of communication satellites, and performs a positioning operation based on the received radio signals (hereinafter, also referred to as a GPS positioning operation: second positioning operation). To obtain geographical position information (second position information) based on the latitude and longitude information of the current position. In the present embodiment, the signal receiving unit 120 operates intermittently at predetermined time intervals to determine the current position of the user.

  The control unit 130 is a CPU (Central Processing Unit) or MPU (microprocessor), and by executing a predetermined program, the sensing operation in the sensor unit 110 or the signal receiving unit 120, or various data in the storage 160. The overall operation of the electronic device 100 such as the reading / writing operation and the transmission / reception operation in the communication unit 170 is controlled. In particular, in the present embodiment, the control unit 130 determines the characteristics of the region in the route based on the sensor data acquired by the motion sensor of the sensor unit 110 and the positioning status by the signal receiving unit 120, and the determination thereof. A process of switching the positioning method of the current position based on the result and a process of generating trajectory information based on the sensor data and the position information acquired by the signal receiving unit 120 are executed.

  The ROM 140 stores non-volatile data in addition to the control program and algorithm program executed by the control unit 130. The RAM 150 functions as a stack or a work memory, and temporarily stores data generated (calculated) or acquired by the control unit 130 by executing a program. The storage 160 is sensor data (acceleration data, magnetic data, angular velocity data, atmospheric pressure data) detected by the motion sensor of the sensor unit 110, position information based on the sensor data, or a position acquired by the signal receiving unit 120. Information and data such as trajectory information generated based on the position information are stored as a log file.

  As shown in FIG. 1, the communication unit 170 transmits various data such as a log file stored in the storage 160 to and from an external device (hereinafter referred to as “external device”) 200 of the electronic device 100. Or receive. Here, the communication unit 170 may transmit and receive data by directly connecting the electronic device 100 and the external device 200 using, for example, various wireless and wired communication methods, or a network such as the Internet. Data may be transmitted / received via a network, or data may be directly transferred using a memory card or the like.

  The external device 200 is an information communication device such as a personal computer or a smartphone, for example. Although the illustration is simplified, the external device 200 is roughly a host system 210 having a communication unit, a control unit, and a storage having functions equivalent to those of the electronic device. And a display unit 220. The external device 200 has a function of storing various data received from the electronic device 100 by a predetermined communication method in a storage, and analyzing and displaying a movement trajectory based on the received data such as a log file. doing.

  In the present embodiment, as the electronic apparatus according to the present invention, an apparatus specialized for the function of acquiring and collecting sensor data and position information and generating trajectory information is shown, but the present invention is not limited to this. It is not something. For example, the present invention may be applied to a device having a display unit or an input operation unit such as a wristwatch type or wristband type smart watch or a smartphone. In this case, the user can check the collected sensor data, the generated trajectory information, the operation state of the device, and the like on the display unit, and can perform various settings via the input operation unit. In the present embodiment, the storage 160 is provided in the electronic apparatus 100, but is not limited thereto. For example, the storage 160 may be on an external cloud system connected to the electronic device 100, and may be configured to exchange data with the electronic device 100.

(Track information acquisition method)
Next, a control method (trajectory information acquisition method, trajectory information acquisition program) in the electronic apparatus according to the present invention will be described with reference to the drawings. Here, the trajectory information acquisition method described below is realized by the above-described control unit 130 executing processing according to a predetermined control program or algorithm program. Further, in the present embodiment, a case where the user carrying the electronic device 100 described above travels a route (moving route) such as a mountain trail or a trekking course from the mountain pass to the mountain peak direction and from the mountain peak to the beach direction will be described. To do.

  FIG. 2 is a flowchart illustrating an example of a trajectory information acquisition method when the electronic device according to the present embodiment is carried and the specific route is moved as a forward path, and FIG. 3 is a flowchart of the electronic device according to the present embodiment. It is a timing chart which shows an example of positioning operation (basic operation). FIG. 4 is a schematic diagram illustrating an example of a specific route (outward path) for carrying the electronic device according to the present embodiment, and FIG. It is the schematic which shows an example of the routing information collected when doing.

  FIG. 6 is a flowchart illustrating an example of a trajectory information acquisition method when the electronic device according to the present embodiment is carried and the specific route is moved as a return route, and FIG. 7 is a flowchart illustrating the electronic device according to the present embodiment. It is the schematic which shows an example of the specific path | route (return path) which carries an apparatus and moves. FIG. 8 is a timing chart showing an example of a positioning operation in the electronic apparatus according to the present embodiment, and FIG. 9 is a schematic diagram for explaining an example of a movement locus replaced by the locus information acquisition method according to the embodiment. It is.

  In the trajectory information acquisition method according to the present embodiment, first, the user carrying the electronic device 100 described above, for example, as shown in FIG. 4, the route from the start point (start point) to the goal point (end point) of the summit ( When moving on the forward path RT, the series of processing operations shown in the flowchart of FIG. 2 are executed.

  Specifically, when the power of the electronic device 100 is turned on in accordance with the timing when the user starts moving from the start point of the route RT, at least an acceleration sensor, a geomagnetic sensor, and an atmospheric pressure sensor among the motion sensors of the sensor unit 110. And the signal receiving part 120 starts and starts sensing operation (step S102). The control unit 130 calculates the number of steps and the moving distance based on the acceleration data detected by the acceleration sensor, calculates the traveling direction based on the magnetic data detected by the geomagnetic sensor, and sequentially adds these to the vector. Thus, a positioning operation (first positioning operation) by autonomous navigation for acquiring (estimating) the current position and the movement locus is executed. Further, the control unit 130 calculates a current position based on latitude and longitude information included in the radio wave signal (GPS signal) received from the communication satellite by the signal receiving unit 120, and performs a positioning operation based on the radio wave signal (GPS positioning operation: (Second positioning operation) is executed. In the present embodiment, the positioning operation based on these radio wave signals and the positioning operation based on autonomous navigation are controlled so as to be executed at predetermined timings, respectively.

  Here, as an initial positioning operation (basic operation), for example, as shown in the timing chart of FIG. 3, the control unit 130 repeatedly turns on and off the power of the signal receiving unit 120 at a certain time interval. While the GPS positioning operation is intermittently performed, the positioning operation by the autonomous navigation based on the sensor data from the motion sensor of the sensor unit 110 is performed during the off-period of the GPS positioning operation (step S104). In addition, the signal receiving unit 120 executes a process of acquiring ephemeris information for specifying an accurate orbit (position) of the communication satellite included in the radio wave signal at a predetermined period during the intermittent operation. Here, as shown in FIG. 3, the current consumption in the signal receiving unit 120 is generally about 5 to 10 times larger than the current consumption of the acceleration sensor and the geomagnetic sensor used for autonomous navigation. Thereby, in the initial positioning operation (basic operation), the frequency of performing the GPS positioning operation by the signal receiving unit 120 with high power consumption can be suppressed as much as possible, and the sensor unit 110 with low power consumption is used. By the positioning operation by autonomous navigation, the position information during the off-period of the GPS positioning operation can be supplemented, and power saving can be achieved while maintaining the positioning accuracy. In the present embodiment, the period when the GPS positioning operation is intermittently performed is set to a time interval (off period) that can determine the characteristics of the specific area described later.

  Next, the control unit 130 acquires the position information of the current position by the positioning operation described above (step S106), and stores it as the path information of the forward path in a predetermined storage area of the storage 160 in association with the time information. Further, the control unit 130 determines whether or not the state in which the user is moving on the route RT continues based on the time change of the acquired position information (step S108). When it is determined that the user's movement state is not continued, the control unit 130 determines whether the user has reached the goal point of the route RT and the movement is completed, or the movement is interrupted in the middle of the route RT. The series of processing operations shown in the flowchart of FIG.

  On the other hand, when it is determined that the user's moving state is continued, the control unit 130 is a sensor data detected by the motion sensor of the sensor unit 110 or a state peculiar to the positioning situation in the signal receiving unit 120. Is determined (step S110). Here, the unique state of sensor data and positioning status is not limited to abnormal values that deviate from a predetermined threshold, or data that is abnormal, such as missing data or sudden time changes. It also includes those that show a good state such as a good state or a better condition than expected.

  If there is no unique state in the sensor data or the positioning situation, the control unit 130 returns to step S106 and continues to acquire the position information by the above-described initial positioning operation. On the other hand, if a unique state exists in the sensor data or the positioning situation, is the control unit 130 of such a degree that the unique state affects the acquisition of position information in the above-described initial positioning operation? It is determined whether or not (step S112).

  If the unique state does not affect the acquisition of the position information, the control unit 130 returns to step S106 and continues to acquire the position information by the above-described initial positioning operation. On the other hand, when the unique state affects the acquisition of the position information, the control unit 130 classifies the unique state into the region characteristics and stores the unique information in the storage 160 for each specific region associated with the position information of the current position. The data is saved in a predetermined storage area (step S114).

  Specifically, as shown in FIG. 4, for example, a plurality of specific areas PA1 to PA1 having area characteristics that affect acquisition of position information in a GPS positioning operation or a positioning operation by autonomous navigation on a route RT on which the user moves. Assume that PA5 exists.

  For example, the specific area PA1 is an area having a characteristic that the position information cannot be acquired by the GPS positioning operation because the route RT is behind a mountain and reception of a radio signal is poor or impossible. When the GPS positioning operation is intermittently executed in the above-described initial positioning operation, the number of captured communication satellites is less than the specified value, and the CN ratio (carrier-to-noise ratio) of the received radio signal is lower than the specified value. A position or a region where the bad (small) state continues is determined as the specific region PA1. If the radio signal cannot be received in the initial positioning operation, the control unit 130 sets the off period of the GPS positioning operation to be short, for example, as shown in FIG. By performing the positioning operation intermittently and confirming the reception status of the radio signal, it is possible to determine an area where the radio signal cannot be received.

  In addition, the specific area PA2 is an area having a characteristic that direction information by the geomagnetic sensor cannot be obtained satisfactorily in a positioning operation by autonomous navigation due to abnormality or disturbance of the magnetic field. A position or a region where a state where the magnitude or the dip angle of the magnetism acquired by the geomagnetic sensor is not within the specified range continues is determined as the specific region PA2.

  In addition, the specific area PA3 has a change of sensor data frequently in a positioning operation by autonomous navigation due to a complicated route such as a zigzag fold in a moving direction or a rapid change in a traveling direction. This is an area having a characteristic that direction information cannot be acquired well. For example, a position or a region where the traveling direction obtained by the geomagnetic sensor or the angular velocity sensor continues to change frequently is determined as the specific region PA3.

  Further, the specific area PA4 is an area having gentle characteristics with little difference in height and bending of the route RT. The position or region where the flat and linear route continues with little change in the altitude acquired by the atmospheric pressure sensor (up and down), for example, the direction of travel acquired by the geomagnetic sensor and the angular velocity sensor is small. Specific area PA4.

  The specific area PA5 is an area having the characteristic that the sky is open. When the GPS positioning operation is executed intermittently, the position or region where the number of captured communication satellites is greater than the specified value and the CN ratio of the received radio signal is better (larger) than the specified value is Specific area PA5.

  That is, the control unit 130 obtains the current position by an initial positioning operation (GPS positioning operation and positioning operation by autonomous navigation) according to the movement of the user, and receives sensor data and signals from the motion sensor of the sensor unit 110. The positioning status in the unit 120 is monitored, and when a unique state appears, as shown in FIG. 5, the area characteristics are determined and classified, and the position information of the current position is associated with the specific areas PA1 to PA5. By repeatedly executing such a series of processing operations according to the movement of the user, the region characteristics are determined for each of the specific regions PA1 to PA5 existing in the specific route RT shown in FIG. 4, and as shown in FIG. Is stored in the storage 160 as simple route information.

  Next, as shown in FIG. 7, for example, when the user carrying the electronic device 100 moves on the same route RT as the forward route described above from the starting point of the mountain top to the goal point of the foot, as shown in FIG. A series of processing operations as shown in the flowchart is executed.

  Specifically, similarly to the processing operation in the outward path described above, the control unit 130 intermittently executes the GPS positioning operation, and sensor data from the motion sensor of the sensor unit 110 while the GPS positioning operation is off. The position information of the current position is acquired according to the movement of the user by the initial positioning operation that executes the positioning operation by the autonomous navigation based on (steps S202 and S204). The acquired position information is stored in the predetermined storage area of the storage 160 as return path trajectory information in association with the time information.

  Next, the control unit 130 refers to the route information acquired in the forward path and stored in the storage 160 to determine whether or not the current position is within the specific areas PA1 to PA5, or the specific area where the current position is in the traveling direction. It is determined whether it is in the vicinity of PA1 to PA5 (step S206). When it is determined that the current position is within the specific areas PA1 to PA5, or when it is determined that the current position is in the vicinity of the specific areas PA1 to PA5 in the traveling direction, the control unit 130 It is specified whether the area is the specific area PA1 to PA5 (step S208). Then, based on the route information shown in FIG. 5, a positioning operation according to the positioning method according to the characteristics of the specific area is executed (step S210), and the processing operation for acquiring the position information of the current position is continued (step S210). S204).

  For example, when the current position is in the specific area PA1 or in the vicinity of the specific area PA1 where the current position is in the traveling direction, reception of the radio signal is poor or impossible due to the shadow of the mountain. Therefore, as shown in FIG. 8B, the control unit 130 sets the GPS positioning operation to an off state and switches to a positioning method based only on autonomous navigation (first positioning mode). Thereby, useless GPS positioning operation in which position information cannot be acquired can be suppressed, and power saving can be achieved while maintaining the positioning accuracy of the electronic device 100 to some extent.

  In addition, when the current position is in the specific area PA2 or in the vicinity of the specific area PA2 in which the current position is in the traveling direction, the direction information from the geomagnetic sensor cannot be obtained satisfactorily due to magnetic field abnormality or disturbance. The control unit 130 stops the geomagnetic sensor used for the positioning operation by autonomous navigation, activates the angular velocity sensor, and switches to the positioning method using the traveling direction calculated based on the angular velocity data (fourth positioning mode). Thereby, the positioning accuracy in autonomous navigation can be maintained. Here, since the power consumption in the angular velocity sensor is generally about 10 times larger than the power consumption of the acceleration sensor and the geomagnetic sensor, the angular velocity sensor is normally set to an off state and switched to the above positioning method. Thus, it is preferable to start the angular velocity sensor from the off state. On the other hand, when the angular velocity sensor is activated in advance (for example, always operating), the power consumption of the electronic device 100 increases, but the angular velocity sensor is suppressed from delaying (approximately several hundred ms to 1 sec) when the angular velocity sensor is activated. Data loss can be prevented and positioning accuracy in autonomous navigation can be improved. In addition, when direction information by the geomagnetic sensor cannot be acquired due to abnormalities or disturbances in the magnetic field, the case of switching to the positioning operation by the autonomous navigation using the angular velocity sensor has been described. And switching to only the GPS positioning operation. Thereby, the fall of positioning accuracy can be suppressed.

  In addition, when the current position is in the specific area PA3 or in the vicinity of the specific area PA3 in which the current position is in the traveling direction, the geomagnetic sensor and the angular velocity are detected by a complicated route such as frequent changes or sudden changes in the traveling direction. Since the direction information from the sensor cannot be obtained well, the control unit 130 sets the GPS positioning operation OFF period (intermittent cycle) to be short, and performs a positioning method that intermittently executes the GPS positioning operation with a short cycle. Switch (second positioning mode). Thereby, accumulation of errors in positioning operation by autonomous navigation can be suppressed. Alternatively, the positioning operation by autonomous navigation is set to the off state, and only the GPS positioning operation is switched. Thereby, the fall of positioning accuracy can be suppressed.

  In addition, when the current position is in the specific area PA4 or in the vicinity of the specific area PA4 in the traveling direction, it is in a gentle area with little difference in elevation and bending, so an error in positioning operation by autonomous navigation The accumulation of is small. Therefore, the control unit 130 sets the off period of the GPS positioning operation to be long and switches to a positioning method that intermittently executes the GPS positioning operation with a long cycle (third positioning mode). Thereby, it is possible to save power while suppressing the GPS positioning operation and maintaining the positioning accuracy of the electronic device 100.

  In addition, when the current position is in the specific area PA5 or in the vicinity of the specific area PA5 in the traveling direction, since the sky is open, the communication satellite is well captured and the radio signal is excellent. Can be received. Therefore, the control unit 130 executes processing for obtaining ephemeris information included in the radio signal by the signal receiving unit 120 (fifth positioning mode). Accordingly, necessary data can be received from the communication satellite in a short time, and power saving can be achieved while maintaining the positioning accuracy of the electronic device 100.

  When it is determined in step S206 that the current position is not within the specific areas PA1 to PA5, or when it is determined that the current position is not in the vicinity of the specific areas PA1 to PA5 in the traveling direction, the control unit 130. Determines whether the current position is immediately after leaving (leaving) the specific areas PA1 to PA5 with reference to the route information (step S212). When it is determined that the current position is immediately after leaving (leaving) the specific areas PA1 to PA5, the control unit 130 switches the positioning method switched according to the characteristics of the specific areas PA1 to PA5 in step S210. Initialization is performed (step S214), and the processing operation for acquiring the position information of the current position is continued by the above-described initial positioning operation (step S204). Further, every time the positioning operation in each of the specific areas PA1 to PA5 is finished, the control unit 130 replaces the trajectory information of the forward path stored in the storage 160 with the trajectory information acquired in the return path as shown in FIG. Update processing is executed (step S216). Thereby, the accuracy of the trajectory information when the user moves along the route RT can be improved.

  On the other hand, when it is determined that the current position is not immediately after leaving (leaving) the specific areas PA1 to PA5, that is, when the current position is between the specific areas PA1 to PA5, the position information is acquired in the initial positioning operation. If there is no unique state that affects the control unit 130, the control unit 130 determines whether or not the state in which the user is moving continues based on the time change of the acquired position information (step S218). . If it is determined that the user's moving state continues, the control unit 130 returns to step S204 and continues to acquire position information by the above-described initial positioning operation. On the other hand, when it is determined that the user's movement state is not continuing, the control unit 130 determines whether the user has reached the goal point of the route RT and the movement is completed, or the movement is performed in the middle of the route RT. It is determined that the process has been interrupted, and the series of processing operations shown in the flowchart of FIG.

  In the above-described embodiment, the case where the user carrying the electronic device 100 reciprocates the specific route RT has been described. However, the present invention is not limited to this, and the same route RT is set at different times. Even when moving in the same direction (for example, several hours later or at a later date), the same applies. In addition, the movement of the forward path described above is replaced with the first or previous movement, and the movement of the return path is replaced with the second or subsequent movement or the current movement, thereby limiting the path information acquired when the user moves the route RT. Even when another user uses the route information acquired when the route RT is moved to another date and time, the present invention can be favorably applied.

  As described above, in the present embodiment, when moving along a predetermined route, as a positioning operation for acquiring position information, a positioning operation based on autonomous navigation based on sensor data and a GPS positioning operation are applied. Route information including information on a specific area existing on the route in movement and having specific characteristics that affect the acquisition of position information is acquired and stored by an initial positioning operation. Then, in the return path or the second and subsequent movements, the route information stored for the route is referred to, the positioning operation is performed by switching to the optimum positioning method according to the characteristics of the specific area, and the acquired position information Based on this, the trajectory information is updated. Thereby, by suppressing the frequency of performing the positioning operation using the signal receiving unit and the angular velocity sensor with large power consumption as much as possible, it is possible to improve the accuracy of the movement trajectory while suppressing the power consumption in the electronic device, It can be favorably applied to small and light electronic devices.

As mentioned above, although some embodiment of this invention was described, this invention is not limited to embodiment mentioned above, It includes the invention described in the claim, and its equivalent range.
Hereinafter, the invention described in the scope of claims of the present application will be appended.

(Appendix)
[1]
Electronic equipment,
A sensor unit having a motion sensor for detecting a spatial operation of the electronic device;
A signal receiving unit that receives a radio signal from a communication satellite and performs a positioning operation to determine a current position of the electronic device based on the radio signal;
A control unit for controlling operations of the sensor unit and the signal receiving unit;
With
The controller is
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. An electronic apparatus that controls operations of the sensor unit and the signal receiving unit during the operation.

[2]
Having a storage unit,
The controller is
While the electronic device moves at least once from the start point to the end point of the movement route, the first position information based on autonomous navigation based on sensor data detected by the sensor unit and the current position measured by the signal receiving unit Trajectory information is acquired based on at least one of the second position information of the position, and at least one of the first position information, the sensor data, the second position information, and the reception state of the radio wave signal in the signal receiving unit The route information on the travel route is acquired, the trajectory information and the route information are associated with each other and stored in the storage unit,
When the electronic device moves along the movement route after the locus information and the route information are stored in the storage unit, based on the locus information and the route information stored in the storage unit, The electronic apparatus according to [1], wherein the operations of the sensor unit and the signal receiving unit are controlled.

[3]
The controller is
The first trajectory information based on at least one of the first position information and the second position information acquired when the movement route is moved for the first time is acquired when the movement route is moved after the next time. [2] The electronic device according to [2], wherein the electronic device is updated by replacing with the trajectory information after the next time based on at least one of the first position information and the second position information.

[4]
The specific movement route that moves the first time is an outward route that moves from the start point to the end point, and the specific movement route that moves after the next time is a return route that moves from the end point to the start point. The electronic device according to [3].

[5]
The route information has characteristics that affect at least one of the acquisition of the first position information based on the autonomous navigation and the reception status of the radio wave signal in the signal receiver in the plurality of regions along the movement route. The electronic device according to any one of [1] to [4], including information on at least one specific area.

[6]
[5], wherein the specific region has characteristics resulting from a state in which the change in the sensor data deviates from a specified value or a poor reception state of the radio signal in the signal reception unit. Electronic equipment.

[7]
The motion sensor of the sensor unit includes an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor,
The controller is
When the electronic device moves along the movement route, according to the trajectory information and the route information,
A first positioning mode in which the positioning operation in the signal receiving unit is stopped, the sensor unit is operated, and the first position information is acquired by the autonomous navigation;
A second positioning mode in which the period of the positioning operation in the signal receiving unit is shorter than a predetermined first period, and the sensor unit is operated during a period in which the signal receiving unit is not performing the positioning operation;
A third positioning mode in which the period of the positioning operation in the signal receiving unit is longer than the first period, and the sensor unit is operated during a period in which the signal receiving unit is not performing the positioning operation;
The geomagnetic sensor of the sensor unit is stopped, the angular velocity sensor is operated, and the first position information is acquired based on the autonomous navigation using data detected by the angular velocity sensor as the sensor data. Positioning mode,
A fifth measurement mode for causing the signal receiver to acquire ephemeris information;
The electronic device according to any one of [1] to [6], wherein control is performed to switch to any one of a plurality of positioning modes including:

[8]
A method for acquiring trajectory information of an electronic device,
The electronic device has a sensor unit having a motion sensor that detects a spatial operation of the electronic device, and a radio signal received from a communication satellite, and positioning that determines the current position of the electronic device based on the radio signal A signal receiver that performs the operation,
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. While controlling the operation of the sensor unit and the signal receiving unit,
A trajectory information acquisition method characterized by this.

[9]
An electronic device trajectory information acquisition program,
The electronic device has a sensor unit having a motion sensor that detects a spatial operation of the electronic device, and a radio signal received from a communication satellite, and positioning that determines the current position of the electronic device based on the radio signal A signal receiver that performs the operation,
On the computer,
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. While controlling the operation of the sensor unit and the signal receiving unit,
A trajectory information acquisition program characterized by this.

DESCRIPTION OF SYMBOLS 100 Electronic device 110 Sensor part 120 Signal receiving part 130 Control part 160 Storage RT route

Claims (9)

Electronic equipment,
A sensor unit having a motion sensor for detecting a spatial operation of the electronic device;
A signal receiving unit that receives a radio signal from a communication satellite and performs a positioning operation to determine a current position of the electronic device based on the radio signal;
A control unit for controlling operations of the sensor unit and the signal receiving unit;
With
The controller is
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. An electronic apparatus that controls operations of the sensor unit and the signal receiving unit during the operation. Having a storage unit,
The controller is
While the electronic device moves at least once from the start point to the end point of the movement route, the first position information based on autonomous navigation based on sensor data detected by the sensor unit and the current position measured by the signal receiving unit Trajectory information is acquired based on at least one of the second position information of the position, and at least one of the first position information, the sensor data, the second position information, and the reception state of the radio wave signal in the signal receiving unit The route information on the travel route is acquired, the trajectory information and the route information are associated with each other and stored in the storage unit,
When the electronic device moves along the movement route after the locus information and the route information are stored in the storage unit, based on the locus information and the route information stored in the storage unit, The electronic apparatus according to claim 1, wherein operations of the sensor unit and the signal receiving unit are controlled. The controller is
The first trajectory information based on at least one of the first position information and the second position information acquired when the movement route is moved for the first time is acquired when the movement route is moved after the next time. The electronic apparatus according to claim 2, wherein the electronic device is updated by replacing with the trajectory information after the next time based on at least one of the first position information and the second position information.   The specific movement route that moves the first time is an outward route that moves from the start point to the end point, and the specific movement route that moves after the next time is a return route that moves from the end point to the start point. The electronic device according to claim 3.   The route information has characteristics that affect at least one of the acquisition of the first position information based on the autonomous navigation and the reception status of the radio wave signal in the signal receiver in the plurality of regions along the movement route. 5. The electronic device according to claim 1, comprising information on at least one specific area. 5.   The said specific area | region has the characteristic resulting from the state in which the change of the said sensor data has deviated from the regulation value, or the reception failure state of the said radio signal in the said signal receiving part. Electronic equipment. The motion sensor of the sensor unit includes an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor,
The controller is
When the electronic device moves along the movement route, according to the trajectory information and the route information,
A first positioning mode in which the positioning operation in the signal receiving unit is stopped, the sensor unit is operated, and the first position information is acquired by the autonomous navigation;
A second positioning mode in which the period of the positioning operation in the signal receiving unit is shorter than a predetermined first period, and the sensor unit is operated during a period in which the signal receiving unit is not performing the positioning operation;
A third positioning mode in which the period of the positioning operation in the signal receiving unit is longer than the first period, and the sensor unit is operated during a period in which the signal receiving unit is not performing the positioning operation;
The geomagnetic sensor of the sensor unit is stopped, the angular velocity sensor is operated, and the first position information is acquired based on the autonomous navigation using data detected by the angular velocity sensor as the sensor data. Positioning mode,
A fifth measurement mode for causing the signal receiver to acquire ephemeris information;
7. The electronic device according to claim 2, wherein control is performed to switch to any one of a plurality of positioning modes including. A method for acquiring trajectory information of an electronic device,
The electronic device has a sensor unit having a motion sensor that detects a spatial operation of the electronic device, and a radio signal received from a communication satellite, and positioning that determines the current position of the electronic device based on the radio signal A signal receiver that performs the operation,
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. While controlling the operation of the sensor unit and the signal receiving unit,
A trajectory information acquisition method characterized by this. An electronic device trajectory information acquisition program,
The electronic device has a sensor unit having a motion sensor that detects a spatial operation of the electronic device, and a radio signal received from a communication satellite, and positioning that determines the current position of the electronic device based on the radio signal A signal receiver that performs the operation,
On the computer,
Based on path information indicating characteristics related to the control of the sensor unit and the signal receiving unit of each of a plurality of areas on a specific movement path acquired in advance, the electronic device moves along the movement path. While controlling the operation of the sensor unit and the signal receiving unit,
A trajectory information acquisition program characterized by this.

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