JP2018028483A - Information processing apparatus, information processing method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to accurately correct a step used for estimation of a moving distance by autonomous navigation.SOLUTION: An information processing apparatus estimates the position of a user on a guide route, and comprises: a positioning information acquisition part that acquires positioning information including information on a user's moving distance calculated by multiplying the number of steps measured on the basis of information detected by a sensor by a preset step; a position estimation part that, every time the positioning information is acquired, specifies an estimated position of the user on the guide route on the basis of the information on the user's moving distance; and a step correction instruction part that, when the estimated position of the user can be confirmed to match a point in which accurate position information is registered in map data, outputs a step correction execution instruction. When the correction execution instruction is output, the information processing apparatus takes, as a correction value for the step, a value obtained by dividing a distance specified on the basis of position information registered between two points from the estimated position of the user when the previous correction execution instruction is output to the current estimated position, by the number of steps of the user measured in a period from the time point at which the previous correction execution instruction is output to the current time point.SELECTED DRAWING: Figure 2

Description

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

  In recent years, portable terminals having a positioning function based on GPS (Global Positioning System), autonomous navigation, and the like have become widespread. The positioning function based on autonomous navigation can measure a position in a place where GPS positioning cannot be performed, such as underground or indoor, using various sensors (for example, a geomagnetic sensor, a gyro sensor, and an acceleration sensor).

  In positioning by autonomous navigation, the moving distance is calculated by multiplying the number of steps of the user measured using a sensor by a preset step length. However, there is an individual difference in the stride value, and it changes depending on the situation (road condition, weather, etc.) at that time. Thus, if the stride used for calculating the movement distance is different from the actual stride of the user, an error occurs between the positioning result and the actual movement distance.

  Patent Document 1 describes that a mobile terminal having an autonomous navigation function corrects a stride used for estimating a moving amount based on an error between the calculated actual distance and the estimated moving amount. .

JP 2012-117975 A

  However, when correcting the stride based on the actual distance calculated as in the mobile terminal described in Patent Document 1, if the calculated actual distance is not an accurate value, it is possible to correct the stride accurately. Can not.

  Therefore, an object of the present invention is to enable accurate correction of the stride used for estimating the travel distance by autonomous navigation.

  An information processing apparatus according to the present invention is an information processing apparatus that estimates a position of a user on a guide route, and is configured to have a step length set in advance to the number of steps of the user measured based on information detected by a sensor. Based on the information on the movement distance of the user, the positioning information acquisition unit that acquires the positioning information including the information on the movement distance of the user calculated by multiplying When it is possible to confirm that the estimated position of the user on the guide route and the estimated position of the user match the point where the accurate position information is registered in the map data, A step correction instruction unit for outputting a step correction execution instruction, and when the correction execution instruction is output, the current estimation is performed from the estimated position of the user when the previous correction execution instruction is output. The value obtained by dividing the distance specified based on the registered position information between two points up to the position by the number of steps of the user measured from the time when the previous correction execution instruction was output to the present time Is the correction value of the stride.

  An information processing method according to the present invention is an information processing method for estimating a position of a user on a guide route, and a step length set in advance to the number of steps of the user measured based on information detected by a sensor. Step of obtaining positioning information including information on the moving distance of the user, calculated by multiplying the information, and on the guide route based on the information on the moving distance of the user each time the positioning information is acquired. The step of specifying the estimated position of the user and the step of correcting the stride when the estimated position of the user can be confirmed to coincide with a point where accurate position information is registered in the map data And when the correction execution instruction is output, the registration between the two points from the user's estimated position when the previous correction execution instruction is output to the current estimated position is output. A value obtained by dividing the distance specified based on the position information being determined by the number of steps of the user measured from the time when the previous correction execution instruction was output to the present time is used as the correction value of the stride It is.

  The program according to the present invention is calculated by multiplying the number of steps of the user measured based on information detected by the sensor by a computer that estimates the position of the user on the guide route by a preset step length. In addition, a positioning information acquisition unit that acquires positioning information including information on the movement distance of the user, and the user on the guidance route based on the information on the movement distance of the user each time the positioning information is acquired. When the position estimation unit for identifying the estimated position of the user and the estimated position of the user can be confirmed to coincide with a point where accurate position information is registered in the map data, an instruction to execute the correction of the stride is issued. When the correction execution instruction is output when the correction execution instruction is output, the current estimation is performed from the estimated position of the user when the previous correction execution instruction is output. A value obtained by dividing the distance specified based on the registered position information between two points by the number of steps of the user measured from the time when the previous correction execution instruction was output until the present time. Is the correction value of the stride.

  According to the present invention, it is possible to accurately correct the stride used for estimating the travel distance by autonomous navigation.

The block diagram which shows the hardware constitutions of the portable terminal 10 by embodiment of this invention. The block diagram which shows the function structure of the portable terminal 10 by embodiment of this invention. The flowchart of the route guidance process performed in the portable terminal 10 by embodiment of this invention. The flowchart of the step correction process performed in the portable terminal 10 by embodiment of this invention. The figure explaining the timing which performs stride correction by this embodiment.

Next, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
Embodiment

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the scope of the invention is not limited to these.

  FIG. 1 is a block diagram showing a hardware configuration of a portable terminal (information processing apparatus) 10 according to an embodiment of the present invention. The mobile terminal 10 is a mobile phone (including a smartphone), a tablet terminal, a PDA (Personal Digital Assistant), a navigation dedicated terminal, a personal computer, or the like. As shown in FIG. 1, the mobile terminal 10 includes a control unit 11, a communication unit 12, a storage unit 13, an operation unit 14, a display unit 15, a sensor 16, and a speaker 17. The control unit 11 includes a CPU (Central Processing Unit) 11a and a memory 11b.

  In the control unit 11, the CPU 11 a controls the operation of various components included in the mobile terminal 10 by expanding and executing the program stored in the storage unit 13 or the like in the memory 11 b and controls the execution of various processes. To do. Details of processing executed in the control unit 11 will be described later.

  The communication unit 12 is a communication interface for communicating with an external device. For example, the communication unit 12 receives data or a command from an external device or transmits a processing result by the mobile terminal 10 to the outside.

  The storage unit 13 is a non-volatile storage device, and includes, for example, a semiconductor memory. The storage unit 13 stores various programs and various information necessary for execution of processing in the control unit 11.

  The operation unit 14 is a user interface for receiving an instruction from the user of the mobile terminal 10 and outputting the instruction to the control unit 11. The operation unit 14 includes, for example, operation keys and a touch panel.

  The display unit 15 is a user interface for displaying a processing result by the mobile terminal 10. The display unit 15 includes a display device using liquid crystal, LED (Light Emitting Diode), or the like.

  The sensor 16 is composed of various sensors. The sensor 16 can include, for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an atmospheric pressure sensor. The sensor 16 can detect various operations of the user who carries the mobile terminal 10.

  The speaker 17 outputs various sounds such as voice, music, and sound effects according to processing control by the control unit 11.

  In the present embodiment, the mobile terminal 10 is configured by a single information processing apparatus, but the configuration and functions of the mobile terminal 10 are not limited to this, and a plurality of information processing apparatuses capable of communicating with each other. May be realized.

  FIG. 2 is a block diagram illustrating a functional configuration of the mobile terminal 10. The mobile terminal 10 includes a database 110, a route guide unit 111, a signal positioning unit 112, an autonomous navigation positioning unit 113, a positioning information acquisition unit 114, a position estimation unit 115, a stride correction instruction unit 116, and a display control unit 117 as functional configurations. Prepare. The database 110 is implemented by the storage unit 13. The functions of the route guidance unit 111, the signal positioning unit 112, the autonomous navigation positioning unit 113, the positioning information acquisition unit 114, the position estimation unit 115, the stride correction instruction unit 116, and the display control unit 117 are the functions of the CPU 11a in the control unit 11. Is realized by developing and executing a program stored in the storage unit 13 or the like in the memory 11b. Below, the detail of each function structure with which the portable terminal 10 is provided is demonstrated.

  The database 110 stores various information such as information necessary for processing executed in the mobile terminal 10 and information generated by the processing.

  The route guidance unit 111 acquires information on the guidance route from the departure point to the destination according to the inputted route search condition, and presents the guidance route via the display unit 15 to the user. Provide route guidance. In the present embodiment, the guidance route includes all routes that can be moved by the user, such as roads, plazas, and indoor and underground corridors.

  Regarding the search for the guide route, the route guide unit 111 refers to map data or the like stored in the database 110 (or acquired from an external device via the communication unit 12) according to the route search condition input by the user, for example. Information on the guide route is acquired by executing a route search. Alternatively, a route search process according to the input route search condition may be performed by an external device, and the route guide unit 111 may acquire a result of the route search process. As a route search method, an arbitrary method such as a label determination method or a Dijkstra method can be used. The optimal route means that the cost information from the starting point to the destination point is the minimum. The link cost information can be set according to the purpose, such as a distance, required time, fee, other parameters, and any combination of various parameters.

  In addition, for route guidance, the route guidance unit 111 presents the route via the display unit 15, displays information on the current location of the user specified by the processing described later, and outputs voice guidance via the speaker 17. It can also be done.

  The signal positioning unit 112 measures the current position of the mobile terminal 10 (or the user of the mobile terminal 10) based on a GPS satellite signal received by a GPS receiver (not shown), and information on the position (for example, (Latitude and longitude information) is output together with positioning time information. Further, the signal positioning unit 112 can measure the current position of the mobile terminal 10 according to a signal received from an access point installed near the mobile terminal 10. Further, the mobile terminal 10 receives a signal of a radio signal transmitting device such as RFID (Radio Frequency Identifier) or Bluetooth (registered trademark), and measures the current position of the mobile terminal 10 according to the received signal. You can also. The signal positioning unit 112 performs positioning processing at an arbitrary timing and time interval (for example, every second). Hereinafter, in the present embodiment, positioning processing performed in accordance with signals received from an external device such as GPS satellite signals, signals from access points, and RFID radio signals will be referred to as signal positioning.

  The autonomous navigation positioning unit 113 is based on the movement information of the user of the mobile terminal 10 detected by the sensor 16, the moving distance, moving direction, and position information (latitude and longitude) of the mobile terminal 10 (or the user of the mobile terminal 10). Information) is measured by autonomous navigation and output together with positioning time information as positioning information. The autonomous navigation positioning unit 113 performs positioning processing at an arbitrary timing and time interval (for example, every second). For the positioning by the autonomous navigation positioning unit 113, any autonomous navigation technique using the sensor 16 or the like can be adopted.

  In order to perform positioning, the autonomous navigation positioning unit 113, for example, the number of steps of movement from a reference position (positioning position specified at the previous positioning time) when the user walks based on the movement of the user detected by the sensor 16 Then, the moving direction is specified, and information on the relative moving distance and moving direction from the reference position is calculated based on the specified number of steps and moving direction. The relative moving distance is obtained by, for example, multiplying the standard step length (or the step length of the user of the mobile terminal 10 measured in advance) (for example, 65 cm) when a person walks by the specified number of steps. Is calculated by As will be described later, the stride is corrected when an instruction from the stride correction support unit 116 is received. The information on the movement direction indicates a relative displacement in the movement direction (angle) from the previous positioning time.

  The autonomous navigation positioning unit 113 measures the current position of the mobile terminal 10 based on information on the calculated moving distance and moving direction from the reference position. Note that the current position may be specified more accurately by acquiring the reference position by the positioning process of the signal positioning unit 112.

  In addition, the autonomous navigation positioning unit 113 determines the presence or absence of the up-and-down movement due to the use of an escalator, an elevator, a staircase, or the like based on the amount of change in the atmospheric pressure value with the passage of time measured by the sensor 16 (atmospheric pressure sensor). An autonomous navigation technique using a barometric pressure sensor can be used to determine whether or not there is up / down movement. For example, the autonomous navigation positioning unit 113 outputs positioning information indicating that the up / down movement has been detected when an increase or decrease in the atmospheric pressure value is detected during each positioning time point.

  The autonomous navigation positioning unit 113 outputs the positioning information of the mobile terminal 10 specified as described above at an arbitrary timing and time interval (for example, every second). Positioning information includes relative distance and direction information from the previous positioning time, number of steps from the previous positioning time, current position information (latitude and longitude information), presence / absence of up / down movement detection This information is included.

  Note that positioning by the autonomous navigation positioning unit 113 is effective when the mobile terminal 10 cannot receive a GPS signal or a signal from an access point (for example, when the user carrying the mobile terminal 10 is indoors or underground). Alternatively, when the mobile terminal 10 can receive the above signal but the positioning accuracy by the signal positioning unit 112 is considered low (for example, when the user carrying the mobile terminal 10 is in a place surrounded by an outdoor high-rise building). However, positioning by the autonomous navigation positioning unit 113 is effective. Therefore, for example, the mobile terminal 10 can switch which of the signal positioning unit 112 and the autonomous navigation positioning unit 113 performs positioning according to the reception status of a GPS signal or a signal from an access point.

  The positioning information acquisition unit 114 receives the positioning information every time the positioning information is output from the autonomous navigation positioning unit 113 and supplies the positioning information to the position estimation unit 115.

  The position estimation unit 115 identifies the estimated position of the mobile terminal 10 on the guide route (or the estimated position of the user of the mobile terminal 10). Specifically, the position estimation unit 115 sets the position advanced by a predetermined distance in the direction of the destination along the guidance route from the previous estimated position (starting position in the first case) as the estimated position of the mobile terminal 10. Identify. The predetermined distance here is determined based on the positioning information output by the autonomous navigation positioning unit 113. For example, the movement distance included in the positioning information may be used as the predetermined distance. Further, a value obtained by multiplying the number of steps included in the positioning information by a preset step length may be set as the predetermined distance.

  Further, the position estimation unit 115, when there is a turning angle (direction turning point) between the previous estimated position of the mobile terminal 10 and the current estimated position on the guidance route, information on the moving direction included in the positioning information. Based on the above, it is determined whether or not the mobile terminal 10 has passed a corner, and the estimated position is specified based on the determination result. Specifically, for example, a value obtained by accumulating the relative movement direction (angle change) included in the positioning information for several times output in the vicinity of the corner is the same as the amount of displacement in the traveling direction due to the corner on the guide route. At that point, it is determined that the vehicle has passed a corner. For example, if it is predicted that the traveling direction will change by 90 degrees due to the passage of a corner, it will pass the corner when the total moving direction included in the positioning information reaches 90 degrees (for example, 30 degrees +40 degrees +20 degrees). Judge that The position estimation unit 115 can estimate the movement distance from the turning angle based on the moving distance included in the positioning information received after the time point when it is determined that the turning angle has passed.

  As the starting position on the guide route, a position on the guide route where the user of the mobile terminal 10 starts moving is set. In addition, as the information on the starting position, it is desirable to set information with high reliability as much as possible as information on a position where the user actually starts moving. For example, when the positioning accuracy by the signal positioning unit 112 is high (for example, when the intensity of the received GPS signal is strong), the position of the mobile terminal 10 positioned by the signal positioning unit 112 can be set as the starting position. .

  In addition, the position estimation unit 115 determines the position of the mobile terminal 10 measured by the signal positioning unit 112 when the accuracy of positioning by the signal positioning unit 112 is high (for example, when the received GPS signal is strong). It can also be specified as 10 estimated positions.

  The stride correction instruction unit 116 gives a command to execute correction of stride used for calculation of the moving distance of the user to the autonomous navigation positioning unit 113. The correction value of the step length by the autonomous navigation positioning unit 113 is calculated by dividing the actual movement distance of the user in a predetermined period by the number of steps. The predetermined period can be, for example, between the output time of the previous correction execution instruction and the output time of the current correction execution instruction. The stride correction instruction unit 116 gives a correction execution instruction only when the actual movement distance of the user in a predetermined period can be accurately specified. In addition, the information which the autonomous navigation positioning part 113 measured within the predetermined period can be used for the information on the number of steps.

  The case where the actual movement distance of the user can be specified accurately is specifically the node where the start position and the end point of the movement section are registered with accurate position information (latitude, longitude, etc.) in the map data. Is the case. When the user's estimated position matches such a point (node), the exact distance traveled between the two points is obtained based on the map data, etc., thereby identifying the user's exact travel distance for a given period Can do. Thereby, the step length can be corrected based on the information of the actual moving distance and the number of steps. As such a node, as described later, for example, a corner (direction turning point) on the guide route can be used.

  Whether or not to give a correction execution instruction (that is, whether or not the estimated position of the mobile terminal 10 exactly matches a point where accurate position information is registered in the map data) is determined by autonomous navigation The positioning is performed at a timing when the positioning unit 113 outputs positioning information, and the position estimation unit 115 specifies the estimated position of the mobile terminal 10 based on the positioning information.

  The display control unit 117 controls display of various information and images on the display unit 15. For example, the display control unit 117 controls the display unit 15 to display the estimated position of the user on the guidance route specified by the position estimation unit 115.

(Route guidance processing)
Next, route guidance processing executed in the mobile terminal 10 will be described using the flowchart of FIG.

  First, in step S11, the route guidance unit 111 refers to the map data stored in the database 110 according to the route search condition input by the user of the mobile terminal 10, and executes the route search to start from the departure place. Get information on the guide route to the destination.

  Next, in step S12, the position estimation unit 115 sets the starting position of the mobile terminal 10 on the guidance route searched in step S11.

  Next, in step S <b> 13, the autonomous navigation positioning unit 113 performs positioning of the moving distance and moving direction of the mobile terminal 10 based on information such as the number of steps of the user of the mobile terminal 10 detected by the sensor 16.

  Next, in step S14, the autonomous navigation positioning unit 113 obtains positioning information including information on the moving distance and moving direction of the mobile terminal 10, information on the current position (information on latitude and longitude), information on the presence / absence of up / down movement, and the like. It outputs to the positioning information acquisition part 114.

  Next, in step S15, the position estimation unit 115 acquires the positioning information output by the autonomous navigation positioning unit 113 from the positioning information acquisition unit 114, and moves from the previous estimated position (starting position in the first case) to the guidance route. Accordingly, the position advanced by the movement distance of the mobile terminal 10 output by the autonomous navigation positioning unit 113 is specified as the estimated position of the mobile terminal 10.

  Next, in step S16, the display control unit 117 performs control so that the estimated position of the mobile terminal 10 specified in step S15 is displayed on the display unit 15.

  Next, in step S17, the route guidance unit 111 determines whether or not the estimated position of the mobile terminal 10 has reached the destination of the guidance route. If not (NO), the route guidance unit 111 proceeds to step S13. To do. On the other hand, if the destination has been reached (YES), the process ends.

(Step length correction processing)
Next, the stride correction process executed in the mobile terminal 10 will be described using the flowchart of FIG.

  First, in step S21, the stride correction instruction unit 116 registers the accurate position information of the estimated position of the mobile terminal 10 specified by the position estimation unit 115 (step S15 in FIG. 3) in the map data of the mobile terminal 10. It is determined whether or not it can be confirmed that the point (node) exactly matches.

  Specifically, for example, the stride correction instruction unit 116 matches the node on the map when the estimated position of the mobile terminal 10 can be confirmed to be a corner (a turning point) on the guide route. It can be judged. As described above, when passing the corner, the position estimating unit 115 determines whether the mobile terminal 10 has actually passed the corner based on the moving direction included in the positioning information, and specifies the estimated position. . Therefore, when the estimated position is a corner, it can be guaranteed that the estimated position of the mobile terminal 10 and the actual position exactly match.

  In step S21, when it can be confirmed that the estimated position of the mobile terminal 10 matches the node (YES), in step S22, the stride correction instruction unit 116 starts from the time when the previous correction execution instruction is output. It is determined whether or not the positioning information received until then includes information indicating that the up / down movement is detected. On the other hand, if it is not confirmed in step S21 that the estimated position of the mobile terminal 10 matches the node (NO), the process returns to step S21 to determine the next estimated position.

  If it is determined in step S22 that the information indicating that the up / down movement has been detected is not included (NO), in step S23, the stride correction instruction unit 116 outputs the previous correction execution instruction. Until the present time, the signal positioning unit 112 determines whether or not the mobile terminal 10 has been positioned based on the GPS satellite signal. On the other hand, if it is determined in step S22 that the information indicating that the up / down movement is detected (YES), the process proceeds to step S26. The reason for not outputting the correction execution instruction when the up / down movement is detected is that the movement by the staircase, escalator, elevator, etc., which is the means of the up / down movement, is not performed by the normal stride, so the correction of the stride is performed. It is not suitable.

  If it is determined in step S23 that the positioning based on the GPS satellite signal is not performed (NO), the step correction instruction unit 116 outputs a correction execution instruction in step S24. On the other hand, if it is determined in step S23 that positioning based on the GPS satellite signal has been performed (YES), the process proceeds to step S26. When positioning based on a GPS satellite signal is detected, there is a high possibility that the user has deviated from the guide route during the movement, and in such a case, an accurate movement distance in the section cannot be specified. Therefore, in such a case, inaccurate stride correction can be avoided by not performing correction.

  Next, in step S <b> 25, the autonomous navigation positioning unit 113 executes the step correction when the correction execution instruction is output from the step correction instruction unit 116. Specifically, the autonomous navigation positioning unit 113 measured the distance between the registered start point (the estimated position of the mobile terminal 10 when the previous correction execution instruction was received) and the current estimated position. A step correction value is calculated by dividing by the number of steps of the user. Note that the position estimation unit 115 can supply the autonomous navigation positioning unit 113 with information about the distance between the estimated position of the mobile terminal 10 and the current estimated position when the previous correction execution instruction is output. The position estimation unit 115 acquires the distance between the two points based on the latitude / longitude information and map data of the two points stored in the database 110, for example, and supplies the distance to the autonomous navigation positioning unit 113. When the stride correction is executed, the end point of the section in which the current step correction is executed is registered as the correction execution start point when the next correction execution instruction is received.

  In step S26, the stride correction instruction unit 116 outputs a reset instruction without issuing a correction execution instruction. In this case, in step S27, the autonomous navigation positioning unit 113 does not perform the stride correction, and registers the current estimated position as the start point of the correction process when the next correction execution instruction is received (reset process).

  Next, in step S28, the stride correction instruction unit 116 determines whether or not the estimated position of the mobile terminal 10 has reached the destination of the guide route. If not (NO), the process proceeds to step S21. Transition. On the other hand, if the destination has been reached (YES), the process ends.

  In the present embodiment, an example in which a correction execution instruction is output when it is confirmed that the estimated position of the mobile terminal 10 is a corner on the guide route is given. If it is possible to confirm that the estimated position is exactly coincident with a point (node) where accurate position information is registered in the map data, a correction execution instruction can be output. That is, when the position estimation unit 115 can supply the autonomous navigation positioning unit 113 with an accurate distance between the estimated position of the mobile terminal 10 when the previous correction execution instruction is output and the current estimated position. Can output a correction execution instruction. Specifically, for example, the stride correction may be executed in a section from the start point (start position) of the route guidance to the first turn. Further, the route of the section to be corrected may be a straight line or a curve as long as the distance between the start point and the end point can be accurately specified.

  Moreover, you may make it provide a fixed restriction | limiting in the distance of the area (between a start point and an end point) which performs step length correction. For example, when determining whether or not to output a correction execution instruction, the stride correction instruction unit 116 is between a start point (estimated position when a previous correction execution instruction is output) and an end point (current estimated position). It may be determined whether or not the distance is equal to or greater than a certain value (for example, 20 m or more), and the correction execution instruction may be output only when the distance is equal to or greater than the certain value.

  FIG. 5 is a diagram illustrating timing for performing stride correction according to the present embodiment. As shown in FIG. 5, when the user starts moving from the start point S of the route guidance along the guide route R, the first correction execution instruction is issued from the stride correction instruction unit 116 when the estimated position reaches the corner C1. Is output. The autonomous navigation positioning unit 113 registers the point C1 as a correction start point. When the user further moves along the route, a second correction execution instruction is output when the next turn corner C2 is reached. When the autonomous navigation positioning unit 113 receives the second correction execution instruction, the autonomous navigation positioning unit 113 executes the step correction with the start point as C1 and the end point as C2. Specifically, information on the distance between C1 and C2 is acquired from the position estimation unit 115, and the step correction value is calculated by dividing by the number of steps between C1 and C2. When the correction is completed, C2 is registered as a new correction start point.

  Furthermore, when the user moves along the route, the third correction execution instruction is output when the next turn C3 is reached, and the autonomous navigation positioning unit 113 sets the start point as C2 and the end point as C3. Perform stride correction. When the correction is completed, C3 is registered as a new correction start point.

  Further, as the user moves along the route, the next turn corner C4 is reached, but a staircase ST exists between C3 and C4, and ascending / descending movement is detected, a correction execution instruction is output. Reset instruction is output. When receiving the reset instruction, the autonomous navigation positioning unit 113 does not perform the stride correction and registers C4 as the starting point of the next correction execution.

  Further, as the user moves along the route, the fourth correction execution instruction is output when the next turn C5 is reached, and the autonomous navigation positioning unit 113 sets the start point to C4 and the end point to C5. Perform stride correction. When the correction is completed, C5 is registered as a new correction start point.

  As described above, according to the present embodiment, when the stride correction instruction unit 116 can accurately specify the actual movement distance of the user, that is, the estimated position of the user at the start point and the end point of the section to be corrected. Only when it can be assured that the position information (node) where the accurate location information is registered in the map data, the instruction to execute the stride correction is output. Thereby, the correction value of the stride can be calculated based on the accurate moving distance and the number of steps. As the start point and end point of the section to be corrected, for example, a corner on the guide route can be used.

  In addition, when a user's up-and-down movement is detected in a section where correction is performed, the correction execution instruction is not output even when an accurate movement distance can be specified, so that inaccurate step length correction can be avoided. .

  In addition, when the position of the user using the GPS signal is specified in the section where correction is performed, the correction execution instruction is not output even when the accurate movement distance can be specified. Can be avoided.

  The present invention is not limited to the above-described embodiment, and can be implemented in various other forms without departing from the gist of the present invention. The above-described embodiment is merely an example in all respects, and is not construed as limiting.

  In addition, each processing step included in the above processing flow can be executed in any order or in parallel as long as there is no contradiction in the processing contents, and other steps can be performed between the processing steps. May be added. Further, a step described as one step for convenience can be executed by being divided into a plurality of steps, while a step described as being divided into a plurality of steps for convenience can be grasped as one step.

  The program of the present invention can be installed or loaded on a computer through various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory, or via a communication network. .

  DESCRIPTION OF SYMBOLS 10 Mobile terminal, 11 Control part, 12 Communication part, 13 Storage part, 14 Operation part, 15 Display part, 16 Sensor, 17 Speaker, 110 Database, 111 Route guidance part, 112 Signal positioning part, 113 Autonomous navigation positioning part, 114 Positioning information acquisition unit, 115 position estimation unit, 116 stride correction instruction unit, 117 display control unit

Claims (7)

An information processing apparatus for estimating the position of a user on a guide route,
A positioning information acquisition unit for acquiring positioning information including information on the moving distance of the user, which is calculated by multiplying the number of steps of the user measured based on information detected by a sensor by a predetermined step length; ,
Each time the positioning information is acquired, a position estimation unit that identifies the estimated position of the user on the guidance route based on information on the movement distance of the user;
A stride correction instruction unit that outputs a correction execution instruction of the stride when it is possible to confirm that the user's estimated position matches a point where accurate position information is registered in map data;
When the correction execution instruction is output, it is specified based on registered position information between two points from the user's estimated position when the previous correction execution instruction was output to the current estimated position. An information processing apparatus, wherein a value obtained by dividing the measured distance by the number of steps of the user measured between the time when the previous correction execution instruction is output and the current time is used as the correction value of the stride. The stride correction instruction unit includes:
When the positioning information acquired between the time when the previous correction execution instruction was output and the current time includes information indicating that the user's up / down movement has been detected,
The information processing apparatus according to claim 1, wherein the correction execution instruction is not output even when it can be confirmed that the estimated position of the user matches a point where accurate position information is registered in map data. The stride correction instruction unit includes:
When the position of the user using the GPS signal is specified between the time when the previous correction execution instruction is output and the current time,
3. The information processing according to claim 1, wherein the correction execution instruction is not output even when it is confirmed that the estimated position of the user matches a point where accurate position information is registered in map data. apparatus. The stride correction instruction unit includes:
The correction execution instruction is output when it is detected that the estimated position of the user is a direction turning point on the guide route based on information on the moving direction of the user included in the positioning information. Item 4. The information processing apparatus according to any one of Items 1 to 3. The stride correction instruction unit includes:
5. The correction execution instruction is output only when a distance between two points from the estimated position of the user when the previous correction execution instruction is output to the estimated position of the current time is a certain value or more. The information processing apparatus according to any one of the above. An information processing method for estimating a user's position on a guide route,
Obtaining positioning information including information on the moving distance of the user calculated by multiplying the number of steps of the user measured based on information detected by a sensor by a preset step length; and
Each time the positioning information is acquired, the step of identifying the estimated position of the user on the guide route based on the information on the movement distance of the user;
When the estimated position of the user can be confirmed to be coincident with a point where accurate position information is registered in the map data, the step of outputting the step correction execution instruction,
When the correction execution instruction is output, it is specified based on registered position information between two points from the user's estimated position when the previous correction execution instruction was output to the current estimated position. An information processing method, wherein a value obtained by dividing the distance obtained by dividing the distance by the number of steps of the user measured from the time when the previous correction execution instruction is output to the present time is used as the correction value of the stride. A computer that estimates the user's position on the guide route,
A positioning information acquisition unit for acquiring positioning information including information on the moving distance of the user, which is calculated by multiplying the number of steps of the user measured based on information detected by a sensor by a predetermined step length; ,
Each time the positioning information is acquired, a position estimation unit that identifies the estimated position of the user on the guidance route based on information on the movement distance of the user;
When the user's estimated position can be confirmed to coincide with a point where accurate position information is registered in the map data, it functions as a step correction instruction unit that outputs the step correction execution instruction. Let
When the correction execution instruction is output, it is specified based on registered position information between two points from the user's estimated position when the previous correction execution instruction was output to the current estimated position. A value obtained by dividing the distance obtained by dividing the distance measured by the number of steps of the user measured from the time when the previous correction execution instruction is output until the present time, as the step length correction value.