JP2018151193A - Information processor, method for information processing, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a vertical direction with a high precision.SOLUTION: The present invention includes: a triaxial geomagnetic sensor 18; and a CPU 13 for plotting magnetic data for a three-dimensional space output from the triaxial geomagnetic sensor 18 associated with movement of a device 10, into a virtual three-dimensional space, calculating an approximate equation of a circle from a point row of a plurality of plotted pieces of magnetic data, and acquiring a direction of a center axis of a circle as a vertical direction from the obtained approximate equation of the circle.SELECTED DRAWING: Figure 2

Description

  The present invention particularly relates to an information processing apparatus, an information processing method, and a program suitable for an apparatus in which an application program that uses a dynamic change of a user is installed.

  In order to estimate the traveling direction more appropriately, a technique has been proposed in which the vertical direction in the basic posture is estimated using acceleration information acquired by an acceleration sensor. (For example, Patent Document 1)

JP 2016-218047 A

  In general, estimation of the direction of gravitational acceleration using an acceleration sensor, that is, the vertical direction is generally performed including the techniques described in the above-mentioned patent documents. In a program used in accompanying sports or games, there is a problem that the accuracy in the detected vertical direction cannot be ensured.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an information processing apparatus, an information processing method, and a program capable of stably detecting a vertical direction with high accuracy. There is.

  One aspect of the present invention includes a magnetic sensor, data plotting means for plotting in a virtual three-dimensional space magnetic data corresponding to the three-dimensional space output by the magnetic sensor as it moves, and virtual three-dimensional data by the data plotting means. Approximate expression calculation means for calculating an approximate expression of a circle from a sequence of a plurality of magnetic data plotted in space, and a vertical direction in which the central axis direction of the circle is obtained as a vertical direction from the approximate expression of the circle obtained by the approximate expression calculation means. Direction acquisition means.

  According to another aspect of the present invention, there is provided a magnetic sensor, a first vertical direction estimating unit that estimates a vertical direction based on magnetic data output from the magnetic sensor along with movement, an acceleration sensor, and the above-described movement along with the movement. A second vertical direction estimating means for estimating a vertical direction based on acceleration data output from the acceleration sensor; and a plurality of vertical degrees of dispersion estimated by the first vertical direction estimating means within a predetermined time. 1 dispersity determining means, a second dispersity determining means for determining a plurality of vertical dispersities estimated by the second vertical direction estimating means within a predetermined time, and the first and second dispersions Vertical direction specifying means for specifying the vertical direction based on the determination result of at least one of the degree determination means.

  According to the present invention, it is possible to always detect the vertical direction with high accuracy and stability.

The figure which shows the detection content of the wearer who wears the multi data logger which concerns on the 1st Embodiment of this invention. The block diagram which shows the structure of the functional circuit of the multi data logger which concerns on the same embodiment. The flowchart which shows the processing content which detects the perpendicular direction which concerns on the embodiment. The figure which illustrates the point sequence which plotted the output of the triaxial geomagnetic sensor which concerns on the embodiment in virtual X, Y, Z space. The block diagram which shows the structure of the functional circuit of the portable navigation apparatus which concerns on the 2nd Embodiment of this invention. The flowchart which shows the processing content which detects the perpendicular direction which concerns on the embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[First Embodiment]
A first embodiment in which the present embodiment is applied to a multi-data logger for recording a wearer's behavior from various directions will be described.

  FIG. 1 shows a multi-data logger 10 and its wearer PS. The wearer PS wears the multi-data logger 10 on a stable part such as a waist where the fluctuation amount due to his / her movement is small and the movement does not hinder the movement.

  In the figure, the multi-data logger 10 has a geomagnetic sensor and an acceleration sensor, which will be described later. When the wearer PS moves or rotates in the horizontal plane as indicated by the circular arrow C, the multi-data logger 10 calculates the geomagnetic vector TM in the magnetic north direction from the detection output of the geomagnetic sensor. At the same time, the vertical direction VT orthogonal to the geomagnetic vector TM is estimated.

  Based on the vertical direction VT thus estimated, the posture angle of the wearer PS and the like are appropriately recorded.

  FIG. 2 is a block diagram showing the configuration of the functional circuit of the multi-data logger 10. In this multi-data logger 10, based on incoming radio waves from a plurality of GPS satellites (not shown) received by a GPS (Global Positioning System) antenna 11, the GPS receiving unit 12 has three-dimensional coordinates of the current position, that is, The latitude, longitude, altitude and current time are calculated and sent to the CPU 13 via the bus B1.

  The CPU 13 performs operation control of the entire multi-data logger 10 by using a main memory 14 and an SSD (Solid State Drive) 15 connected via the bus B1.

  The main memory 14 is composed of, for example, SDRAM, and becomes a work memory when the CPU 13 executes a program. The SSD 15 is composed of a non-volatile memory, and stores and stores an operation program necessary for recording various data during operation of the multi-data logger 10, various fixed data, and the like. Is read into the main memory.

  The bus B1 is further connected to a display unit 16, a speaker 17, a 3-axis geomagnetic sensor 18, a 3-axis acceleration sensor 19, a 3-axis gyro sensor 20, a key operation unit 21, and an external device interface (I / F) 22. Is done.

  The display unit 16 includes, for example, a monochrome liquid crystal panel and a drive circuit thereof.

  The speaker 17 generates and emits an operation sound in the multi-data logger 10 or a beep sound according to the operation status.

  The triaxial geomagnetic sensor 18 detects the geomagnetism in each of the three axial directions orthogonal to each other, and can detect the orientation of the multi-data logger 10 at that time based on the magnetic north direction.

  The triaxial acceleration sensor 19 detects accelerations in the three axial directions orthogonal to each other, and can detect the attitude of the multi-data logger 10 based on the direction of gravity acceleration.

  The triaxial gyro sensor 20 is composed of a vibration gyroscope arranged in three axial directions orthogonal to each other, and in combination with the triaxial acceleration sensor 19, the operation of the user who owns and wears the multi-data logger 10 In order to execute the update operation of the current position by autonomous navigation in cooperation with the three-axis acceleration sensor 19 even when the current position cannot be recognized by the output from the GPS antenna 11 and the GPS receiver 12. Use.

  The key operation unit 21 includes a power key, a mode key, a cursor key, an enter key, and the like provided in the casing of the multi-data logger 10. The key operation signal corresponding to the key operation is transmitted via the bus B1. Send to CPU13.

  The external device interface 22 can connect or mount, for example, a headphone, an earphone, a USB device, and a memory card via a headphone jack 23, a micro USB terminal 24, and a memory card slot 25, respectively.

Next, the operation of the above embodiment will be described.
FIG. 3 is a flowchart showing extracted processing contents when detecting the vertical direction as one index when various data including the movement position and posture of the multi-data logger 10 are recorded.

  Initially, in the CPU 13, the detected values x, y in the X, Y, Z coordinate axis spaces for a plurality of times obtained continuously from the triaxial geomagnetic sensor 18 for a preset unit time, for example, 10.0 [seconds]. , Z is estimated and calculated from the three components (step S101).

  Here, in the process in which the wearer PS changes the direction of the body or moves on the horizontal plane as shown in FIG. When the X, Y, and Z components in the three-dimensional space obtained from the geomagnetic sensor 18 are plotted in a virtual X, Y, and Z axis space, a point sequence depicting a circle EL as shown in FIG. 4 is obtained. It will be.

  Therefore, for example, by calculating an approximate expression of this circle EL by the least square method or the like, the center axis A passing through the center of the calculated circle EL is estimated from the origin position as indicating the vertical direction.

  Next, the CPU 13 calculates the degree of dispersion σa as an integrated value indicating how much each point sequence is dispersed from the circle EL calculated by the above approximate expression (step S102).

  The CPU 13 is sufficiently accurate that the estimated vertical direction is estimated under the stable operation of the wearer PS depending on whether or not the calculated degree of dispersion σa is equal to or less than a threshold value Tha prepared in advance. Whether or not (step S103).

  Here, when the degree of dispersion σa is equal to or less than the threshold value Tha and it is determined that the accuracy is sufficiently high (Yes in Step S103), the CPU 13 determines that the central axis A is in the vertical direction as it is (Step S104). At the same time as the processing of FIG. 3 is completed, the obtained vertical direction A is used as an index of other various data.

  If it is determined in step S103 that the calculated dispersion σa is greater than the threshold value Tha prepared in advance and does not have the required accuracy (No in step S103), the CPU 13 is uncertain about the central axis A. Yes, assuming that the vertical direction is indefinite (step S105), the process of FIG. 3 is terminated, and the vertical direction A obtained by the estimation is discarded, and one index for calculating other various data It shall not be used.

  In this way, the CPU 13 continues to estimate and calculate the vertical direction A every predetermined time, and uses the obtained vertical direction A that seems to have sufficiently high accuracy as an index for other various data.

  In this case, the vertical direction can be estimated in a more stable state by the output of the triaxial geomagnetic sensor 18 even when the wearer PS is taking a movement that causes a significant change in the output of the triaxial acceleration sensor 19.

  As described above in detail, according to the present embodiment, it is possible to stably detect the vertical direction with high accuracy.

  In addition, in the above embodiment, as shown in FIG. 4 above, from the point sequence consisting of the x, y, z components of the output of the triaxial geomagnetic sensor 18 plotted in the virtual X, Y, Z axis space, the minimum Since the center axis A passing through the center of the circle EL calculated from the origin position of the space is obtained as a vertical direction as an approximate expression of the circle EL by the square method, the output of the triaxial geomagnetic sensor 18 is somewhat Even if variations occur, the variations can be absorbed as a whole, and a relatively stable estimation of the vertical direction can be executed.

[Second Embodiment]
A second embodiment will be described in which this embodiment is applied to a portable navigation device (PND) that records map data in a semiconductor memory and operates by battery drive.

  FIG. 5 is a block diagram showing the configuration of the functional circuit of the PND 30. As shown in FIG. In this PND 30, the GPS receiver 32 calculates the three-dimensional coordinates of the current position, that is, the latitude, longitude, altitude, and current time, based on the incoming radio waves from the plurality of GPS satellites received by the GPS antenna 31, and the bus The data is sent to the CPU 33 via B2.

  The CPU 33 executes the operation control of the entire PND 30 using the main memory 34 and the SSD 35 connected via the bus B2.

  The main memory 34 is composed of, for example, SDRAM, and becomes a work memory when the CPU 33 executes a program. The SSD 35 is composed of a non-volatile memory, and stores and stores various operation programs necessary for navigation operations, various fixed data including the map data 35A, etc., and the stored contents are appropriately transferred to the main memory 34 by the CPU 33. Read out.

  The bus B2 further includes a display unit 36, a touch input unit 37, a voice processing unit 38, a triaxial geomagnetic sensor 39, a triaxial acceleration sensor 40, a triaxial gyro sensor 41, an atmospheric pressure sensor 42, a key operation unit 43, a short distance. A wireless communication unit 44 and an external device interface (I / F) 45 are connected.

  The display unit 36 includes a color liquid crystal panel with a backlight and their drive circuits. A touch input unit 37 using a transparent electrode film is integrally formed with the display unit 36. The touch input unit 37 digitizes a time-series coordinate signal corresponding to a user's touch operation and sends it to the CPU 33 as a touch operation signal.

  The sound processing unit 38 includes a sound source circuit such as a PCM sound source, generates an analog sound signal in accordance with applied sound data, and emits a loud sound from the speaker 46.

  The triaxial geomagnetic sensor 39 detects the geomagnetism in each of the three axial directions orthogonal to each other, and can detect the azimuth of the PND 30 at that time based on the magnetic north direction.

  The triaxial acceleration sensor 40 detects accelerations in the three axial directions orthogonal to each other, and can detect the movement of the PND 30 itself, a given external force, and the like.

  The triaxial gyro sensor 41 is composed of a vibration gyroscope arranged in three axial directions orthogonal to each other, and in combination with the output of the triaxial acceleration sensor 40, the operation of the user who owns and wears the PND 30 Analyzed and used to execute the update operation of the current position by autonomous navigation in cooperation with the three-axis acceleration sensor 40 even when the current position cannot be recognized by the outputs from the GPS antenna 31 and the GPS receiver 32. .

  The atmospheric pressure sensor 42 detects atmospheric pressure at that time, and converts atmospheric pressure information into altitude information based on altitude information when the measurement accuracy of the current position by the GPS antenna 31 and the GPS receiving unit 32 is high. Even when the position accuracy of the current position that can be acquired by the GPS antenna 31 and the GPS receiving unit 32 is lowered with the subsequent movement, the pressure information at the position where the measurement accuracy is high is used as a reference from the pressure information obtained at that time. The altitude information of the current position can be calculated relatively.

  The key operation unit 43 includes a power key, a current position key, a destination key, a cursor key, an enter key, and the like provided in the housing of the PND 30, and sends a key operation signal corresponding to the key operation via the bus B2. To the CPU 33.

  The short-range wireless communication unit 44 wirelessly connects to an external device that has been paired in advance via the short-range communication antenna 47 by, for example, Bluetooth (registered trademark) SMART or ANT +.

  The external device interface 45 can connect or mount, for example, a headphone, an earphone, a USB device, and a memory card via the headphone jack 48, the micro USB terminal 49, and the memory card slot 50, respectively.

Next, the operation of the above embodiment will be described.
The portable navigation device 30 is mainly used when moving on the ground surface, for example, when a climber or the like is fixed to a shoulder harness portion of a backpack or the like.

  FIG. 6 shows extracted processing contents when detecting the vertical direction as an index of posture information to be recorded together with the position information during the guide operation after the current position is recognized by the portable navigation device 30. It is a flowchart.

  Initially, in the CPU 33, the X, Y, and Z coordinate axis spaces of the triaxial geomagnetic sensor 39 for a plurality of times obtained continuously from a triaxial geomagnetic sensor 39 for a preset unit time, for example, 10.0 [seconds]. The vertical direction A is estimated and calculated from the three components of detected values x, y, and z (step S201).

  Here, in the process of performing the operation without changing the tilt state of the portable navigation device 30, the x, y, and z components in the three-dimensional space obtained from the three-axis geomagnetic sensor 39 are virtual X, Y, and Z axes. When plotted in space, a point sequence depicting a circle as shown in FIG. 4 is obtained.

  Therefore, for example, by calculating an approximate expression of this circle EL by the least square method or the like, the center axis A passing through the center of the calculated circle EL is estimated from the origin position as indicating the vertical direction.

  Next, the CPU 33 calculates the degree of dispersion σa as an integrated value indicating how much each point sequence is dispersed from the circle calculated by the above approximate expression (step S202).

  Further, the CPU 33 obtains detection values x, y, and z in a plurality of X, Y, and Z coordinate axis spaces obtained continuously from the triaxial acceleration sensor 40 for a preset unit time, for example, 10.0 [seconds]. The vertical direction B corresponding to the gravitational acceleration is estimated and calculated from the three components (step S203).

  Here, in the process of performing the operation without changing the tilt state of the portable navigation device 30, the x, y, and z components in the three-dimensional space obtained from the three-axis acceleration sensor 40 are virtual X, Y, and Z axes. When plotting in space, a large number of plot positions having values corresponding to the gravitational acceleration are converged in a specific direction.

  Therefore, the CPU 33 can calculate the vertical direction B as the estimation result by acquiring the point sequence of the converged plot positions and calculating the average of each component plotted in the virtual X, Y, Z axis space. .

  Further, the CPU 33 calculates the degree of dispersion σb as an integrated value indicating how much each point sequence is dispersed with respect to the point sequence of the converged plot positions (step S204).

  Next, the CPU 33 determines that the geomagnetic dispersion σa calculated in step S202 is equal to or less than the threshold value Tha prepared in advance, and the acceleration dispersion σb calculated in step S204 is equal to or less than the threshold value Thb prepared in advance. It is determined whether or not both the geomagnetism and the acceleration are calculated with stable and high accuracy depending on whether or not there is (step S205).

  If it is determined that the two variance values are equal to or less than the corresponding threshold values and both the geomagnetism and the acceleration are calculated with stable and high accuracy (Yes in step S205), the CPU 33 estimates the geomagnetism. As a result, the center axis A obtained in step S202 is determined to be the vertical direction (step S207), and the processing of FIG. Use as an index of data.

  In step S205, when it is determined that both of the two dispersion values are not equal to or less than the corresponding threshold values (No in step S205), the CPU 33 next sets at least the threshold value prepared in advance for the geomagnetic dispersion degree σa. It is determined whether or not Tha or less (step S206).

  Here, when it is determined that the geomagnetic dispersion σa is equal to or less than the threshold value Tha and the vertical direction A estimated from the geomagnetism is calculated with stable high accuracy (Yes in step S206), the estimation result based on the geomagnetism is used. The obtained central axis A is determined to be the vertical direction (step S207), the process of FIG. 6 is terminated, and the obtained vertical direction A is used as an index of other data.

  Furthermore, when it is determined in step S206 that the geomagnetic dispersion σa exceeds the threshold value Tha and the estimation of the vertical direction by the geomagnetism is not calculated with stable high accuracy (No in step S206), Further, the CPU 33 determines whether or not the degree of dispersion σb in acceleration is equal to or less than a threshold value Thb prepared in advance (step S208).

  Here, when the degree of dispersion of acceleration σb is equal to or less than the threshold Thb and it is determined that the vertical direction B estimated from the acceleration is calculated with stable high accuracy (Yes in step S208), the CPU 33 estimates with acceleration. The vertical direction B obtained from the result is determined (step S209), the process of FIG. 6 is terminated, and the obtained vertical direction B is used as an index for other data.

  In step S208, if the CPU 33 determines that the calculated degree of acceleration dispersion σb is greater than the threshold value Thb prepared in advance and the acceleration estimation result does not have the required accuracy, the CPU 33 has an indefinite vertical direction. After that (step S210), the processing of FIG. 6 is terminated, and the vertical directions A and B obtained by the estimation are both discarded and not used as one index for calculating other various data. And

  As described above, the CPU 33 continues the estimation calculation of the vertical direction A by the geomagnetism and the estimation calculation of the vertical direction B by acceleration every predetermined time, and uses the obtained vertical direction that seems to be sufficiently accurate. Use as an index of various data.

  As described above in detail, according to the present embodiment, it is possible to stably detect the vertical direction with high accuracy.

  In the above embodiment, since the vertical direction A estimated by the geomagnetism and the vertical direction B estimated by the acceleration are respectively compared with thresholds prepared in advance and the respective degrees of dispersion, the accuracy is determined. The required accuracy can be easily verified, and the processing load on the CPU 33 can be reduced.

  Further, in the above embodiment, when it is determined that both the vertical direction A estimated by geomagnetism and the vertical direction B estimated by acceleration have sufficient accuracy, the vertical direction A estimated by geomagnetism is As the result is used preferentially, the triaxial geomagnetic sensor 18 is also used even when the user of the portable navigation device 30 is taking a movement in which the change in the output from the triaxial acceleration sensor 19 is relatively large. Can be estimated in a more stable state in the vertical direction.

  Note that the direction of magnetic north along the ground surface can be directly detected from the output of the triaxial geomagnetic sensor 18 and is obtained when the ground surface is moved over a predetermined time or the facing direction is changed. Since a series of plot results of the outputs of the triaxial geomagnetic sensor 18 are arranged on the same circumference, an approximate expression of the circle is calculated from the plotted point sequence, and the center of the circle is calculated from the calculated approximate expression of the circle. By estimating the axial direction, a more accurate vertical direction can be estimated.

  In the first embodiment, the case where the present invention is applied to a multi-data logger and the case where the second embodiment is applied to a portable navigation device (PND) has been described with reference to the drawings. However, the present invention is not limited thereto. However, the present invention can be similarly applied to other devices.

  In addition, this invention is not limited to the said embodiment, In the implementation stage, it can change variously in the range which does not deviate from the summary. Further, the embodiments may be implemented in combination as appropriate, and in that case, the combined effect can be obtained. Furthermore, the present invention includes various inventions, and various inventions can be extracted by combinations selected from a plurality of disclosed constituent elements. For example, even if several constituent requirements are deleted from all the constituent requirements shown in the embodiment, if the problem can be solved and an effect can be obtained, the configuration from which the constituent requirements are deleted can be extracted as an invention.

Hereinafter, the invention described in the scope of claims of the present application will be appended.
[Claim 1]
A magnetic sensor;
Data plotting means for plotting in a virtual three-dimensional space magnetic data corresponding to the three-dimensional space output by the magnetic sensor as it moves;
An approximate expression calculating means for calculating an approximate expression of a circle from a sequence of a plurality of magnetic data plotted in a virtual three-dimensional space by the data plotting means;
Vertical direction acquisition means for acquiring the central axis direction of the circle as the vertical direction from the approximate expression of the circle obtained by the approximate expression calculation means;
An information processing apparatus comprising:
[Claim 2]
The information processing apparatus according to claim 1, wherein the approximate expression calculation unit calculates an approximate expression of a circle using a least square method from a plurality of points of magnetic data plotted in a virtual three-dimensional space by the data plotting unit.
[Claim 3]
A magnetic sensor;
First vertical direction estimating means for estimating a vertical direction based on magnetic data output by the magnetic sensor as it moves,
An acceleration sensor;
Second vertical direction estimating means for estimating a vertical direction based on acceleration data output by the acceleration sensor as it moves,
First dispersion degree determination means for determining a plurality of vertical dispersion degrees estimated by the first vertical direction estimation means within a predetermined time;
Second dispersity determining means for determining a plurality of vertical dispersities estimated by the second vertical direction estimating means within a predetermined time;
A vertical direction specifying means for specifying a vertical direction based on a determination result of at least one of the first and second dispersion degree determination means;
An information processing apparatus comprising:
[Claim 4]
The vertical direction specifying means is preset with a plurality of vertical dispersion degrees determined by the first dispersion degree determination means and a plurality of vertical dispersion degrees determined by the second dispersion degree determination means. The information processing apparatus according to claim 3, wherein the vertical direction is specified based on the comparison result.
[Claim 5]
5. The information processing according to claim 3, wherein the vertical direction specifying unit specifies the vertical direction in preference to the determination result of the first dispersity determination unit over the determination result of the second dispersity determination unit. apparatus.
[Claim 6]
The first vertical direction estimating means plots magnetic data corresponding to the three-dimensional space output by the magnetic sensor in accordance with movement in a virtual three-dimensional space, and approximates a circle from a point sequence of the plurality of plotted magnetic data. The information processing apparatus according to claim 3, wherein the information processing apparatus calculates an expression and estimates a central axis direction of the circle from the calculated approximate expression of the circle.
[Claim 7]
An information processing method in an apparatus including a magnetic sensor,
A data plotting step of plotting in the virtual three-dimensional space magnetic data corresponding to the three-dimensional space output by the magnetic sensor along with the movement;
An approximate expression calculating step of calculating an approximate expression of a circle from a sequence of a plurality of magnetic data plotted in a virtual three-dimensional space in the data plotting step;
A vertical direction acquisition step of acquiring the center axis direction of the circle as a vertical direction from the approximate equation of the circle obtained in the approximate equation calculation step;
An information processing method comprising:
[Claim 8]
An information processing method in an apparatus including a magnetic sensor and an acceleration sensor,
A first vertical direction estimating step for estimating a vertical direction based on magnetic data output by the magnetic sensor in accordance with movement;
A second vertical direction estimating step for estimating the vertical direction based on the acceleration data output by the acceleration sensor in accordance with the movement;
A first dispersion degree determination step of determining a plurality of vertical dispersion degrees estimated in the first vertical direction estimation step within a predetermined time;
A second dispersion degree determination step of determining a plurality of vertical dispersion degrees estimated in the second vertical direction estimation step within a predetermined time;
A vertical direction specifying step of specifying a vertical direction based on the determination result of at least one of the first and second dispersion degree determination steps;
An information processing method comprising:
[Claim 9]
A program executed by a computer built in an apparatus including a magnetic sensor, wherein the computer is
Data plotting means for plotting, in a virtual three-dimensional space, magnetic data corresponding to the three-dimensional space output by the magnetic sensor with movement;
An approximate expression calculating means for calculating an approximate expression of a circle from a sequence of a plurality of magnetic data plotted in a virtual three-dimensional space by the data plotting means; and
Vertical direction acquisition means for acquiring the central axis direction of the circle as the vertical direction from the approximate expression of the circle obtained by the approximate expression calculation means,
Program to function as.
[Claim 10]
A program executed by a computer built in a device including a magnetic sensor and an acceleration sensor, wherein the computer is
First vertical direction estimating means for estimating a vertical direction based on magnetic data output by the magnetic sensor as it moves;
Second vertical direction estimating means for estimating a vertical direction based on acceleration data output by the acceleration sensor as the vehicle moves;
First dispersion degree determination means for determining a plurality of vertical dispersion degrees estimated by the first vertical direction estimation means within a predetermined time;
Second dispersion degree determination means for determining a plurality of vertical dispersion degrees estimated by the second vertical direction estimation means within a predetermined time; and
A vertical direction specifying means for specifying a vertical direction based on a determination result of at least one of the first and second dispersion degree determination means;
Program to function as.

10 ... multi-data logger 11 ... GPS antenna 12 ... GPS receiver 13 ... CPU
14 ... Main memory 15 ... SSD
DESCRIPTION OF SYMBOLS 16 ... Display part 17 ... Speaker 18 ... 3-axis geomagnetic sensor 19 ... 3-axis acceleration sensor 20 ... 3-axis gyro sensor 21 ... Key operation part 22 ... External device interface (I / F)
23 ... Headphone jack 24 ... Micro USB terminal 25 ... Memory card slot 30 ... Portable navigation device (PND)
31 ... GPS antenna 32 ... GPS receiver 33 ... CPU
34 ... Main memory 35 ... SSD
35A ... Map data 36 ... Display unit 37 ... Touch input unit 38 ... Audio processing unit 39 ... 3-axis geomagnetic sensor 40 ... 3-axis acceleration sensor 41 ... 3-axis gyro sensor 42 ... Barometric pressure sensor 43 ... Key operation unit 44 ... Short-range wireless Communication unit 45 ... External device interface (I / F)
46 ... Speaker 47 ... Short-range communication antenna 48 ... Headphone jack 49 ... Micro USB terminal 50 ... Memory card slot B1, B2 ... Bus PS ... Wearer TM ... Geomagnetic vector VT ... Vertical direction

Claims (10)

A magnetic sensor;
Data plotting means for plotting in a virtual three-dimensional space magnetic data corresponding to the three-dimensional space output by the magnetic sensor as it moves;
An approximate expression calculating means for calculating an approximate expression of a circle from a sequence of a plurality of magnetic data plotted in a virtual three-dimensional space by the data plotting means;
Vertical direction acquisition means for acquiring the central axis direction of the circle as the vertical direction from the approximate expression of the circle obtained by the approximate expression calculation means;
An information processing apparatus comprising:   The information processing apparatus according to claim 1, wherein the approximate expression calculation unit calculates an approximate expression of a circle using a least square method from a plurality of points of magnetic data plotted in a virtual three-dimensional space by the data plotting unit. A magnetic sensor;
First vertical direction estimating means for estimating a vertical direction based on magnetic data output by the magnetic sensor as it moves,
An acceleration sensor;
Second vertical direction estimating means for estimating a vertical direction based on acceleration data output by the acceleration sensor as it moves,
First dispersion degree determination means for determining a plurality of vertical dispersion degrees estimated by the first vertical direction estimation means within a predetermined time;
Second dispersity determining means for determining a plurality of vertical dispersities estimated by the second vertical direction estimating means within a predetermined time;
A vertical direction specifying means for specifying a vertical direction based on a determination result of at least one of the first and second dispersion degree determination means;
An information processing apparatus comprising:   The vertical direction specifying means is preset with a plurality of vertical dispersion degrees determined by the first dispersion degree determination means and a plurality of vertical dispersion degrees determined by the second dispersion degree determination means. The information processing apparatus according to claim 3, wherein the vertical direction is specified based on the comparison result.   5. The information processing according to claim 3, wherein the vertical direction specifying unit specifies the vertical direction in preference to the determination result of the first dispersity determination unit over the determination result of the second dispersity determination unit. apparatus.   The first vertical direction estimating means plots magnetic data corresponding to the three-dimensional space output by the magnetic sensor in accordance with movement in a virtual three-dimensional space, and approximates a circle from a point sequence of the plurality of plotted magnetic data. The information processing apparatus according to claim 3, wherein the information processing apparatus calculates an expression and estimates a central axis direction of the circle from the calculated approximate expression of the circle. An information processing method in an apparatus including a magnetic sensor,
A data plotting step of plotting in the virtual three-dimensional space magnetic data corresponding to the three-dimensional space output by the magnetic sensor along with the movement;
An approximate expression calculating step of calculating an approximate expression of a circle from a sequence of a plurality of magnetic data plotted in a virtual three-dimensional space in the data plotting step;
A vertical direction acquisition step of acquiring the center axis direction of the circle as a vertical direction from the approximate equation of the circle obtained in the approximate equation calculation step;
An information processing method comprising: An information processing method in an apparatus including a magnetic sensor and an acceleration sensor,
A first vertical direction estimating step for estimating a vertical direction based on magnetic data output by the magnetic sensor in accordance with movement;
A second vertical direction estimating step for estimating the vertical direction based on the acceleration data output by the acceleration sensor in accordance with the movement;
A first dispersion degree determination step of determining a plurality of vertical dispersion degrees estimated in the first vertical direction estimation step within a predetermined time;
A second dispersion degree determination step of determining a plurality of vertical dispersion degrees estimated in the second vertical direction estimation step within a predetermined time;
A vertical direction specifying step of specifying a vertical direction based on the determination result of at least one of the first and second dispersion degree determination steps;
An information processing method comprising: A program executed by a computer built in an apparatus including a magnetic sensor, wherein the computer is
Data plotting means for plotting, in a virtual three-dimensional space, magnetic data corresponding to the three-dimensional space output by the magnetic sensor with movement;
An approximate expression calculating means for calculating an approximate expression of a circle from a sequence of a plurality of magnetic data plotted in a virtual three-dimensional space by the data plotting means, and a central axis of the circle from the approximate expression of the circle obtained by the approximate expression calculating means Vertical direction acquisition means for acquiring the direction as the vertical direction;
Program to function as. A program executed by a computer built in a device including a magnetic sensor and an acceleration sensor, wherein the computer is
First vertical direction estimating means for estimating a vertical direction based on magnetic data output by the magnetic sensor as it moves;
Second vertical direction estimating means for estimating a vertical direction based on acceleration data output by the acceleration sensor as the vehicle moves;
First dispersion degree determination means for determining a plurality of vertical dispersion degrees estimated by the first vertical direction estimation means within a predetermined time;
Determination of at least one of the first and second degree-of-dispersion determination means; second degree-of-dispersion determination means for determining a plurality of vertical direction dispersion degrees estimated by the second vertical direction estimation means within a predetermined time; Vertical direction specifying means for specifying the vertical direction based on the result,
Program to function as.