JP2017129438A - Data processing device, data processing method, and data processing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a data processing device with which it is possible to realize realtime capability by a simple configuration.SOLUTION: The data processing device comprises: a storage unit 150 for storing a plurality of sensor information 320 in which a processing complete time at which each sensor data of a plurality of sensor data became usable is added to each sensor information; a time setting unit 120 for setting, on the basis of the processing complete time of sensor information in which a difference between the latest processing complete time and the present time is largest among the plurality of sensor information 320, a target time 121 that is a time of day at which mobile entity information is calculated; and a calculation unit 130 for calculating mobile entity information using each sensor information of the plurality of sensor information 320 in which a processing complete time preceding the target time 121 and closest to the target time 121 is added.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a data processing apparatus, a data processing method, and a data processing program for locating a position and posture of a moving body by using an autonomous sensor and a reinforcement sensor in combination.

  The position and orientation determination device uses an autonomous sensor such as an inertial device and a reinforcement sensor such as GPS (Global Positioning System) in combination. In such a position / orientation locator, it is desired to perform real-time calculation processing and result output. Realization means that there is no deviation between the time tag of the calculation result and the time when the calculation result is output. Conventionally, algorithms are developed and evaluated in post processing of log data.

  Usually, there is a delay time between the autonomous sensor and the reinforcement sensor. Therefore, if the target time of the position / orientation determination processing is set to real time in real time, the data cannot be used and the timing of the update cycle of each sensor data varies. Handling must be performed (see Patent Document 1).

JP 2007-155581 A

Conventional real-time processing has a problem in that it is necessary to implement complicated processing such as processing that goes back in time and processing that advances (returns) ahead.
An object of this invention is to provide the data processor which can implement | achieve real time realization by simple structure.

The data processing apparatus according to the present invention is a data processing apparatus that calculates the state of the moving body as moving body information based on a plurality of sensor data acquired by a plurality of sensors mounted on the moving body.
The plurality of sensor data is a plurality of sensor information processed into information used for calculation of the moving body information, and the processing completion time when the processing of each sensor data of the plurality of sensor data is completed is the sensor information. A storage unit for storing the given sensor information;
A time for setting a target time, which is a target time for calculating the mobile body information, based on a process completion time of sensor information having the largest difference between the latest process completion time and the current time among the plurality of sensor information. A setting section;
A calculation unit that calculates the moving body information using each sensor information of the plurality of sensor information to which the processing completion time closest to the target time is given before the target time.

  According to the data processing device of the present invention, the time setting unit processes sensor information having the largest difference between the latest processing completion time and the current time among the plurality of sensor information, that is, sensor information having the longest delay time. Based on the completion time, the target time is set, and the calculation unit is based on the sensor information of the plurality of sensor information to which the processing completion time immediately before the target time, that is, the latest processing completion time before the target time is given. Thus, the moving body information is calculated, so that it is possible to calculate the moving body information with the simple configuration and the most accurate real-time information.

A configuration of the data processing apparatus 100 according to the first embodiment will be described. FIG. 6 is a flowchart showing a data processing method 510 of the data processing apparatus 100 and a data processing S100 of the data processing program 520 according to the first embodiment. It is a flowchart which shows time setting process S120 which concerns on Embodiment 1. FIG. It is a schematic diagram which shows time setting process S120 which concerns on Embodiment 1. FIG. FIG. 6 is a flowchart showing calculation processing S130 according to the first embodiment. A configuration of data processing apparatus 100 according to a modification of the first embodiment will be described. It is a figure which shows the structure of the data processor 100a which concerns on Embodiment 2. FIG. It is a flowchart which shows data processing S100a by the data processor 100a which concerns on Embodiment 2. FIG. It is a flowchart which shows the interpolation process S140 which concerns on Embodiment 2. It is a schematic diagram which shows the interpolation process S140 which concerns on Embodiment 2. FIG. It is a figure which shows the structure of the data processor 100b which concerns on Embodiment 3. FIG. It is a figure which shows an example of the format information 300 which concerns on Embodiment 3. FIG. FIG. 10 is a schematic diagram showing the effect of the third embodiment.

Embodiment 1 FIG.
*** Explanation of configuration ***
The configuration of the data processing apparatus 100 according to the present embodiment will be described with reference to FIG.
In the present embodiment, data processing apparatus 100 is a computer. The data processing apparatus 100 includes hardware such as a processor 910, a storage device 920, an input interface 930, and an output interface 940. The storage device 920 includes a memory 921 and an auxiliary storage device 922.

  Further, the data processing apparatus 100 includes a time setting unit 120, a calculation unit 130, a sensor data processing unit 140, and a storage unit 150 as functional configurations. The sensor data processing unit 140 includes an autonomous sensor data processing unit 141, a reinforcement sensor data A processing unit 142, and a reinforcement sensor data B processing unit 143. In the following description, the functions of the time setting unit 120, the calculation unit 130, and the sensor data processing unit 140 in the data processing device 100 are referred to as “units” of the data processing device 100. The function of “unit” of the data processing apparatus 100 is realized by software.

  The storage unit 150 is realized by the memory 921. A plurality of sensor information 320 is stored in the storage unit 150. As each sensor information of the plurality of sensor information 320, autonomous sensor information 11, reinforcement sensor A information 12, and reinforcement sensor B information 13 are stored. In the present embodiment, the storage unit 150 is realized by the memory 921, but may be realized by the memory 921 and the auxiliary storage device 922. A method for realizing the storage unit 150 is arbitrary.

The processor 910 is connected to other hardware via a signal line, and controls these other hardware.
The processor 910 is an integrated circuit (IC) that performs processing. The processor 910 is a CPU (Central Processing Unit).

  Specifically, the memory 921 is a RAM (Random Access Memory). Specifically, the auxiliary storage device 922 is a ROM (Read / Only / Memory), a flash memory, or an HDD (Hard / Disk / Drive).

  The input interface 930 is a port connected to the plurality of sensors 200. In the present embodiment, the plurality of sensors 200 are an autonomous sensor 201, a reinforcement sensor A202, and a reinforcement sensor B203. The input interface 930 loads the sensor data 310 measured by each of the plurality of sensors 200 into the data processing apparatus 100. Sensor data 310 captured by the input interface 930 is stored in the memory 921. The input interface 930 may be a port connected to an input device such as a mouse, a keyboard, or a touch panel. Specifically, the input interface 930 is a USB (Universal / Serial / Bus) terminal, a serial interface (RS-232C), or the like. The input interface 930 may be a port connected to a LAN (Local / Area / Network).

  The output interface 940 is a port to which a cable of a display device such as a display is connected. Specifically, the output interface 940 includes a USB terminal, an HDMI (registered trademark) (High Definition, Multimedia, Interface) terminal, a serial interface (RS-232C), and the like. Specifically, the display is an LCD (Liquid / Crystal / Display).

  The auxiliary storage device 922 stores a program that realizes the function of “unit”. A program that realizes the function of “unit” is also referred to as a data processing program 520. This program is loaded into the memory 921, read into the processor 910, and executed by the processor 910. The auxiliary storage device 922 also stores an OS (Operating System). At least a part of the OS is loaded into the memory 921, and the processor 910 executes a program that realizes the function of “unit” while executing the OS.

  The data processing apparatus 100 may include only one processor 910, or may include a plurality of processors 910. A plurality of processors 910 may execute a program for realizing the function of “unit” in cooperation with each other.

Information, data, signal values, and variable values indicating the result of the processing of “part” are stored in the auxiliary storage device 922, the memory 921, or a register or cache memory in the processor 910.
In FIG. 1, an arrow connecting each unit and the storage unit 150 indicates that each unit stores the processing result in the storage unit 150 or that each unit reads information from the storage unit 150. In addition, arrows connecting the respective parts represent the flow of control or data.

The program for realizing the function of “part” may be stored in a portable recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD (Digital Versatile Disc).
In addition, what is called a data processing program product is a storage medium and a storage device in which a program that realizes the function described as “part” is recorded, and is a computer-readable program regardless of the appearance format. Is what you are loading.

*** Explanation of operation ***
FIG. 2 is a flowchart showing the data processing method 510 of the data processing apparatus 100 and the data processing S100 of the data processing program 520 according to the present embodiment.
The data processing apparatus 100 calculates the state of the moving body as the moving body information 131 based on the plurality of sensor data 310 acquired by the plurality of sensors 200 mounted on the moving body.
The moving body information 131 representing the state of the moving body is specifically the position and posture of the moving body. The calculation of the moving body information 131 is to determine the position and orientation of the moving body, and the data processing apparatus 100 is also referred to as a position / orientation orientation apparatus that determines the position and orientation of the moving body. The data processing method 510 is also referred to as a position / orientation determination method, and the data processing program 520 is also referred to as a position / orientation determination program.

In the storage process S <b> 110, the storage unit 150 stores a plurality of sensor information 320 obtained by processing a plurality of sensor data 310 into information used for calculating the mobile object information 131.
Here, the plurality of sensor data 310 is sensor data acquired by each of the plurality of sensors 200. Specifically, autonomous sensor data 311 acquired by the autonomous sensor 201, reinforcement sensor data A312 acquired by the reinforcement sensor A202, and reinforcement sensor data B313 acquired by the reinforcement sensor B203.
The plurality of sensor information 320 is information obtained by processing each of the plurality of sensor data 310 into information used for calculating the mobile body information 131 by the sensor data processing unit 140 corresponding to each sensor data. Specifically, the autonomous sensor information 11 processed to be usable by the autonomous sensor data processing unit 141, the reinforcing sensor A information 12 processed to be usable by the reinforcing sensor data A processing unit 142, and the reinforcing sensor data B processing unit 143. It is the reinforcement sensor B information 13 processed so that it can be used.

  In the plurality of sensor information 320, a process completion time, which is a time when processing of each sensor data of the plurality of sensor data is completed, is given to each sensor information. The processing completion time is a time when each sensor data of the plurality of sensor data 310 becomes usable. That is, in the plurality of sensor information 320, a process completion time indicating the time when each sensor data of the plurality of sensor data 310 becomes available is given to each sensor information. Each sensor information is also given an acquisition time when each of the plurality of sensor data 310 is acquired by each of the plurality of sensors 200.

  When the corresponding sensor data is input, the sensor data processing unit 140 buffers the memory 921 and sequentially processes the sensor data so that the sensor data can be used, and stores the sensor data in the storage unit 150 as sensor information. Specifically, when the autonomous sensor data 310 is input, the corresponding autonomous sensor data processing unit 141 buffers the memory 921 and sequentially processes the buffered autonomous sensor data 310 so that it can be used. The sensor information 11 is stored in the storage unit 150. The same applies to the other sensor data processing units 140.

In the time setting process S120, the time setting unit 120 calculates the mobile body information 131 based on the process completion time of the sensor information having the largest difference between the latest process completion time and the current time among the plurality of sensor information 320. A target time 121 that is a target time to be set is set.
The time setting process S120 will be described in detail later.

In the calculation process S130, the calculation unit 130 uses the sensor information of the plurality of sensor information 320 to which the process completion time prior to the target time 121 is given and is buffered without being used, and the moving body information 131 is calculated. It should be noted that the process completion time prior to the target time 121 is given, and the sensor information buffered without being used has the process completion time closest to the target time 121 before the target time 121. The given sensor information is included. That is, the calculation unit 130 calculates the mobile body information 131 by using each sensor information of the plurality of sensor information 320 to which the process completion time closest to the target time 121 is given before the target time 121.
The calculation process S130 will be described in detail later.

<Time setting process S120>
FIG. 3 is a flowchart showing the time setting process S120 according to the present embodiment.
FIG. 4 is a schematic diagram showing time setting processing S120 according to the present embodiment.
The time setting process S120 according to the present embodiment will be described with reference to FIGS.

FIG. 4 shows the flow of time, the availability of sensor information in real time in the data processing apparatus 100, and the sensor information actually used in the data processing S100. The white sensor information is unusable sensor information that cannot be used to calculate the moving body information 131, and the hatched sensor information is usable data. The sensor information in the black frame indicates the sensor information being used among the available sensor information. Further, the scale in the flow of time indicates the timing at which the data processing apparatus 100 executes processing.
As shown in FIG. 4, the real-time property of sensor information becomes worse in the order of autonomous sensor information 11, reinforcement sensor B information 13, and reinforcement sensor A information 12.

  In step S121, the time setting unit 120 acquires the latest sensor information processing completion time for each sensor information. As shown in FIG. 4, the latest processing completion time for the autonomous sensor information 11 is T1. The latest processing completion time for the reinforcement sensor A information 12 is T2. The latest processing completion time for the reinforcement sensor B information 13 is T3.

  In step 122, the time setting unit 120 calculates the difference between the latest processing completion time and the current time Tr. The difference between the latest processing completion time and the current time Tr indicates the delay time of the sensor information. The time setting unit 120 determines sensor information having the largest difference between the latest processing completion time and the current time Tr. As shown in FIG. 4, sensor information having the largest difference between the latest processing completion time and the current time Tr is reinforcement sensor A information 12. The reinforcement sensor A information 12 is sensor information having the worst real-time property among the plurality of sensor information 320.

  In step 123, the time setting unit 120 sets the target time 121, which is the target time for calculating the mobile body information 131, based on the process completion time of the sensor information having the largest difference between the latest process completion time and the current time. Set. As shown in FIG. 4, the target time 121 is Tt, and the current time is Tr. The time setting unit 120 sets the target time Tt based on the processing completion time T2 of the reinforcement sensor A information 12. The time setting unit 120 sets an execution timing that is closer to the current time Tr than the processing completion time T2 and closest to the processing completion time T2 as the target time Tt. That is, the time setting unit 120 sets the latest execution timing after the processing completion time T2 as the target time Tt. Note that the time setting unit 120 may set the processing completion time T2 itself as the target time Tt.

FIG. 5 is a flowchart showing the calculation process S130 according to the present embodiment.
In step S131, the calculation unit 130 uses the sensor information of the plurality of sensor information 320 to which the processing completion time before the target time Tt is given and which is buffered without being used, and the moving body information 131. Is calculated. When the process completion time is equal to the target time Tt, sensor information of the process completion time may be used.
In FIG. 4, the sensor information that is given the processing completion time before the target time Tt and is buffered without being used is the processing that is closest to the target time Tt before the target time Tt. A case where only the sensor information to which the completion time is given is shown.
As shown in FIG. 4, in the autonomous sensor information 11, the processing completion time closest to the target time Tt and before the target time Tt is T1b. In the reinforcement sensor A information 12, the processing completion time closest to the target time Tt and before the target time Tt is T2b, that is, T2. In the reinforcement sensor B information 13, the processing completion time closest to the target time Tt and before the target time Tt is T3b.

Therefore, the calculation unit 130 includes the autonomous sensor information 11b to which the processing completion time T1b is given, the reinforcement sensor A information 12b to which the processing completion time T2b is given, and the reinforcement sensor B information 13b to which the processing completion time T3b is given. Based on the above, the mobile body information 131 is calculated. Specifically, the calculation unit 130 calculates the previous autonomous sensor information 11 from the autonomous sensor information 11b, the previous reinforcing sensor A information 12 from the reinforcing sensor A information 12b, and the previous reinforcing sensor B information from the reinforcing sensor B information 13b. 13 is used to determine the position and orientation of the moving body as moving body information 131.
The calculation unit 130 outputs the mobile body information 131 via the output interface 940.

  Above, description of data processing S100 concerning this embodiment is finished.

*** Other configurations ***
In the present embodiment, the data processing apparatus 100 is configured to acquire a plurality of sensor data 310 via the input interface 930 and output the moving body information 131 via the output interface 940. However, the data processing apparatus 100 may include a communication device and receive a plurality of sensor data 310 via the communication device. In addition, the data processing device 100 may transmit the mobile body information 131 via a communication device. In this case, the communication device includes a receiver and a transmitter. Specifically, the communication device is a communication chip or a NIC (Network, Interface, Card). The communication device functions as a communication unit that communicates data. The receiver functions as a receiving unit that receives data, and the transmitter functions as a transmitting unit that transmits data.

In the present embodiment, the function of the “unit” of the data processing device 100 is realized by software. However, as a modification, the function of the “unit” of the data processing device 100 may be realized by hardware.
The configuration of the data processing apparatus 100 according to the modification of the present embodiment will be described using FIG.
As shown in FIG. 6, the data processing apparatus 100 includes hardware such as a processing circuit 909, an input interface 930, and an output interface 940.

  The processing circuit 909 is a dedicated electronic circuit that realizes the function of the “unit” and the storage unit 150 described above. Specifically, the processing circuit 909 includes a single circuit, a composite circuit, a programmed processor, a processor programmed in parallel, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), or , FPGA (Field-Programmable Gate Gate Array).

  The function of “unit” and the storage unit 150 may be realized by a single processing circuit 909 or may be realized by being distributed to a plurality of processing circuits 909.

  As another modification, the function of the data processing apparatus 100 may be realized by a combination of software and hardware. That is, some functions of the data processing apparatus 100 may be realized by dedicated hardware, and the remaining functions may be realized by software.

  The processor 910, the storage device 920, and the processing circuit 909 are collectively referred to as a “processing circuit”. That is, regardless of the configuration of the data processing apparatus 100 shown in FIGS. 1 and 4, the function of “unit” and the storage unit 150 are realized by a processing circuit.

  “Part” may be read as “step” or “procedure” or “processing”. Further, the function of “unit” may be realized by firmware.

*** Explanation of effects of this embodiment ***
The real-time nature of sensor data, that is, the short delay time from sensing until the sensor data can be used by a data processing device, which is a position / orientation locating device, is the data processing time by each sensor and the transmission time by communication etc. Therefore, it is different for each sensor.
In order to perform real-time arithmetic processing using these sensor data having different real-time characteristics, the processing time is traced back to correspond to each sensor data that can be used before and after the time in the program implementation. It is necessary to handle appropriately, such as moving forward or moving forward, and the processing becomes complicated.
According to the data processing apparatus according to the present embodiment, sensor information that has become available is buffered once, and after processing, sensor information of a time tag older than that time is not available as much as possible. A time near real time is set as a target time for data processing, and processing is performed. In this way, after data processing, sensor information having a time tag older than that time is not available, and complicated processing such as processing that goes back in time or that is advanced (returned) ahead. Does not occur.
Therefore, according to the data processing device according to the present embodiment, it is possible to avoid complicated processing, and it is possible to obtain mobile object information that is highly real-time and accurate, that is, a position and orientation determination result. .

Embodiment 2. FIG.
*** Explanation of configuration ***
In the present embodiment, differences from the first embodiment will be mainly described.
FIG. 7 is a diagram showing a configuration of the data processing apparatus 100a according to the present embodiment.
In the first embodiment, since the data processing is performed after the sensor information with the lowest real-time property is available, the real-time property of the time tag of the mobile object information 131 that is the processing result is impaired by the amount of waiting. End up. This is sufficient for applications that do not require real-time performance, such as the display of self-location on a map such as a car navigation system. However, real-time performance is ensured when used as feedback for vehicle driving control. There is a need.
In the present embodiment, a data processing apparatus 100a capable of interpolating a delay caused by processing after waiting for sensor information having a slow real-time property to be used will be described. The data processing device 100a performs processing up to immediately before real time by autonomous navigation using the autonomous sensor information 11 having high real time property.
In the data processing device 100a, the description of the same configuration as that described in Embodiment 1 is omitted.

  As illustrated in FIG. 7, the data processing device 100 a includes an interpolation unit 160 in addition to the configuration of the data processing device 100 described in the first embodiment. That is, the function of the interpolation unit 160 is added to the function of the “unit” described in the first embodiment. Other configurations are the same as those in the first embodiment.

*** Explanation of operation ***
FIG. 8 is a flowchart showing data processing S100a performed by the data processing apparatus 100a according to the present embodiment.
As shown in FIG. 8, the data processing S100a includes an interpolation processing S140 in addition to the data processing S100 described in the first embodiment.
In the interpolation process S140, the interpolation unit 160 uses the autonomous sensor information 11 which is the sensor information having the smallest difference between the latest process completion time and the current time, and the mobile body information 131 after the target time Tt is obtained by autonomous navigation. calculate.

FIG. 9 is a flowchart showing the interpolation processing S140 according to the present embodiment.
FIG. 10 is a schematic diagram showing the interpolation processing S140 according to the present embodiment.
In step S <b> 141, the interpolation unit 160 calculates the moving body information 131 after the target time Tt by autonomous navigation using the autonomous sensor information 11.
As shown in FIG. 10, the autonomous sensor information 11 can be used only from the target time Tt to a later time Ts. Therefore, as shown by the solid curve arrow in FIG. 10, the mobile body information 131 is calculated by the autonomous navigation from the target time Tt to the time Ts. Thus, even when the moving body information 131 after the target time Tt is calculated by autonomous navigation, there is a possibility that it can be calculated only until the time Ts when the autonomous sensor data becomes available.
In this case, the interpolation unit 160 calculates the moving body information 131 from the time Ts when the calculation by the autonomous navigation of the moving body information 131 is completed to the current time Tr by an extrapolation method.

In step S142, the interpolation unit 160 determines whether or not the mobile object information 131 has been calculated up to the current time Tr. If it is determined that the current time Tr has been calculated, the process ends.
If it is determined that the current time Tr has not been calculated, the process proceeds to step S143.

  In step S143, the interpolation unit 160 calculates the moving body information 131 from the time Ts when the calculation of the moving body information 131 is completed to the current time Tr by an extrapolation method. Specifically, the interpolation unit 160 calculates a predicted value of the position and orientation from time Ts to the current time Tr by integration. As illustrated in FIG. 10, the interpolation unit 160 may predict moving body information from the current time Tr to a future time using an extrapolation method.

*** Explanation of effects of this embodiment ***
In data processing apparatus 100a according to the present embodiment, autonomous navigation is performed by using autonomous sensor data with high real-time characteristics for delays caused by processing after waiting for the availability of reinforcement sensor data with slow real-time characteristics. Is processed until just before real time. Further, the real-time processing in which the autonomous sensor data is not yet available, that is, the data processing at the data output time is supplemented by performing extrapolation calculation. Therefore, in the data processing device 100a according to the present embodiment, the real-time property of the moving body information that is the processing result can be further improved.

Embodiment 3 FIG.
*** Explanation of configuration ***
In the present embodiment, differences from the first and second embodiments will be mainly described.
FIG. 11 is a diagram showing a configuration of the data processing apparatus 100b according to the present embodiment.
In the first and second embodiments, when a reinforcement sensor is added, it is necessary to add a sensor data processing unit corresponding to the reinforcement sensor to be added each time. In this case, it is difficult to optimally select a reinforcement sensor such as using a reinforcement sensor such as a magnetic marker in the underground where GPS cannot be used. Further, every time a reinforcing sensor that can be newly used comes out, a program modification for adding a corresponding sensor data processing unit occurs.
In the present embodiment, a data processing apparatus 100b having a configuration in which input data from a reinforcement sensor to a data processing apparatus is standardized and a new reinforcement sensor can be easily added without modifying the program will be described.
In the data processing apparatus 100b, the description of the same configuration as that described in the first and second embodiments is omitted.

FIG. 11 corresponds to FIG. 7 described in the second embodiment. As shown in FIG. 11, the data processing device 100b is different from the data processing device 100a described in the second embodiment in a sensor data processing unit 140b. The sensor data processing unit 140b according to the present embodiment is a sensor data processing unit corresponding to each sensor data described in the second embodiment, that is, an autonomous sensor data processing unit 141, a reinforcement sensor data A processing unit 142, and a reinforcement sensor. The data B processing unit 143 is not provided. The sensor data processing unit 140b according to the present embodiment includes a standard processing unit 146.
That is, the function of “standard” described in Embodiment 2 is added to the function of the standard processing unit 146 instead of the autonomous sensor data processing unit 141, the reinforcement sensor data A processing unit 142, and the reinforcement sensor data B processing unit 143. . Other configurations are the same as those in the second embodiment.

*** Explanation of operation ***
In the present embodiment, each sensor of the plurality of sensors 200 outputs sensor data including format information 300 used for calculation of the moving body information 131. That is, the autonomous sensor data 311b, the reinforcement sensor data A 312b, and the reinforcement sensor data B 313b each include format information 300.

FIG. 12 is a diagram showing an example of the format information 300 according to the present embodiment.
As described above, there are not a few reinforcement sensors that are expected to be added, but infrastructure may be required, and a new reinforcement sensor system may be constructed in the future. Therefore, the format information 300 standardizes data input from the reinforcement sensor to the data processing apparatus 100b so that all information necessary for the data processing apparatus 100b to use the reinforcement sensor data is included.
Examples of necessary information are time, observation data, observation error, observation equation, and observation object parameter. The time is the time when the observation data is sensed, and the observation data is the sensing data. The observation error is the error variance of the sensing data. The observation equation is a relational expression between the state quantity of the data processing device, that is, the position and orientation recognition device, and the observation data. The observation object parameter is a parameter of the object to be sensed that is necessary for the data processing apparatus to predict the observation value. Specific examples of the observation object parameter include position information of the object to be sensed.

In the storage process S110, the standard processing unit 146 acquires a plurality of sensor data 310b in which the format information 300 is included in each sensor data. The standard processing unit 146 stores the plurality of sensor information 320 in the storage unit 150 using the format information 300 included in each sensor data of the plurality of sensor data 310b as each sensor information.
Other processes are the same as those described in the first and second embodiments.

*** Explanation of effects of this embodiment ***
Since the data processing device, which is a position and orientation determination device, is based on autonomous navigation based on autonomous sensor data such as an inertial device, the accuracy deteriorates due to a sensor error. Therefore, it is necessary to correct the deteriorated accuracy by using the data of the reinforcement sensor having the absolute observation information of the position and orientation. As described above, the real-time property of the reinforcement sensor data varies from sensor to sensor. However, according to the data processing device according to the present embodiment, the processing does not become complicated even if the number of reinforcement sensors is increased. By using the sensor in combination, the robustness of the processing of the position / orientation locator can be improved.

FIG. 13 is a schematic diagram showing the effect of the present embodiment. As shown in FIG. 13, in addition to reinforcing sensors such as a laser, a camera, a magnetic marker, and RFID (Radio Frequency Frequency Identification), a program can be added even when a sensor 1, a sensor 2,. It can be added without renovation.
The data processing apparatus according to the present embodiment buffers the input reinforcement sensor data after rearranging the data in order of time. Then, when there is reinforcing sensor data before and after the target time, the data processing device calls the observation equations and parameters that are also buffered, and observes and updates the autonomous navigation so that the accuracy can be maintained. This makes it possible to select a plurality of reinforcing sensors according to the application and use location, and it is possible to easily obtain highly robust moving body information, that is, a position / orientation determination result simply by connecting to a data processing device. It becomes. In addition, it is possible to easily convert a position / orientation positioning program, which is usually developed and evaluated by post-processing, into a real-time process simply by changing the interface. It can be easily confirmed.

In the above-described embodiment, each “unit” constitutes the data processing device as an independent functional block. However, the configuration may not be as described above, and the configuration of the data processing apparatus is arbitrary. The functional blocks of the data processing apparatus are arbitrary as long as the functions described in the above embodiments can be realized. These functional blocks may be configured in any other combination or arbitrary block configuration to form a data processing apparatus.
Further, the data processing device may be a system constituted by a plurality of devices instead of a single device.

  The data processing apparatus is mounted on a moving body and can check moving body information in real time or near real time while measuring. However, it may not be mounted on the moving body. Alternatively, the data processing device may be mounted in a remote center connected to the mobile body via the communication device, and the mobile body information may be calculated in real time or near real time.

Although Embodiments 1 to 3 have been described, a combination of a plurality of portions may be implemented among these embodiments. Alternatively, one part of these embodiments may be implemented. In addition, these embodiments may be implemented in any combination as a whole or in part.
In addition, said embodiment is an essentially preferable illustration, Comprising: It does not intend restrict | limiting the range of this invention, its application thing, and a use, A various change is possible as needed. .

  DESCRIPTION OF SYMBOLS 11 Autonomous sensor information, 12 Reinforcement sensor A information, 13 Reinforcement sensor B information, 100, 100a, 100b Data processing device, 120 Time setting part, 121, Tt Target time, 130 Calculation part, 131 Mobile body information, 140, 140b Sensor Data processing unit, 141 Autonomous sensor data processing unit, 142 Reinforcement sensor data A processing unit, 143 Reinforcement sensor data B processing unit, 146 Standard processing unit, 150 Storage unit, 160 Interpolation unit, 200 Multiple sensors, 201 Autonomous sensor, 202 Reinforcement sensor A, 203 Reinforcement sensor B, 300 Format information, 310, 310b Sensor data, 311, 311b Autonomous sensor data, 312, 312b Reinforcement sensor data A, 313, 313b Reinforcement sensor data B, 320 Multiple sensor information, 321 Autonomous Sensor information, 322 Reinforcement sensor A information, 323 Reinforcement sensor B information, 510 Data processing method, 520 Data processing program, 909 Processing circuit, 910 Processor, 920 Storage device, 921 Memory, 922 Auxiliary storage device, 930 Input interface, 940 Output Interface, S100, S100a Data processing, S110 storage processing, S120 time setting processing, S130 calculation processing, S140 interpolation processing, Tr current time.

Claims (6)

In a data processing device that calculates the state of the moving body as moving body information based on a plurality of sensor data acquired by a plurality of sensors mounted on the moving body,
The plurality of sensor data is a plurality of sensor information processed into information used for calculation of the moving body information, and the processing completion time when the processing of each sensor data of the plurality of sensor data is completed is the sensor information. A storage unit for storing the given sensor information;
A time for setting a target time, which is a target time for calculating the mobile body information, based on a process completion time of sensor information having the largest difference between the latest process completion time and the current time among the plurality of sensor information. A setting section;
Data processing comprising: a calculation unit that calculates the moving body information using each sensor information of the plurality of sensor information to which the processing completion time closest to the target time is given before the target time apparatus. The data processing device further includes:
The data according to claim 1, further comprising an interpolation unit that calculates the moving body information after the target time using autonomous sensor information that is sensor information having a smallest difference between the latest processing completion time and the current time. Processing equipment. The interpolation unit
The data processing apparatus according to claim 2, wherein the moving body information from the time when the calculation of the moving body information is completed to the current time is calculated by an extrapolation method. The data processing device further includes:
The plurality of sensor data including each piece of sensor data including format information used for calculating the mobile body information, and the plurality of sensors using the format information included in each sensor data of the plurality of sensor data as sensor information. The data processing apparatus according to claim 1, further comprising a standard processing unit that stores information in the storage unit. In a data processing method of a data processing device for calculating a state of the moving body as moving body information based on a plurality of sensor data acquired by a plurality of sensors mounted on the moving body,
The storage unit is a plurality of pieces of sensor information in which the plurality of sensor data is processed into information used for calculating the mobile body information, and a processing completion time when processing of each sensor data of the plurality of sensor data is completed A plurality of sensor information assigned to each sensor information is stored,
A target that is a time for which the mobile object information is calculated based on the processing completion time of the sensor information having the largest difference between the latest processing completion time and the current time among the plurality of sensor information. Set the time,
A data processing method in which the calculation unit calculates the mobile body information using each sensor information of the plurality of sensor information to which a process completion time immediately before the target time is given. In a data processing program of a data processing device that calculates the state of the moving body as moving body information based on a plurality of sensor data acquired by a plurality of sensors mounted on the moving body,
The plurality of sensor data is a plurality of sensor information processed into information used for calculation of the moving body information, and the processing completion time when the processing of each sensor data of the plurality of sensor data is completed is the sensor information. A storage process for storing the given sensor information;
A time for setting a target time, which is a target time for calculating the mobile body information, based on a process completion time of sensor information having the largest difference between the latest process completion time and the current time among the plurality of sensor information. Configuration process,
A data processing program for causing a computer to execute a calculation process of calculating the moving body information using each sensor information of the plurality of sensor information to which a process completion time immediately before the target time is given.

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