JP2018151195A - Information processing apparatus, information processing method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently execute correction for an error occurring in the process of autonomous navigation.SOLUTION: An information processing apparatus comprises: GPS receiving units 29, 20 turned on when GPS positioning information is acquired and turned off after acquisition; autonomous navigation units 21-23 for obtaining positioning information from movement amount information and movement direction information by autonomous navigation; and a CPU 14 for obtaining correction information, for at least one of the movement amount information and the movement direction information obtained by autonomous navigation, from GPS positioning information and position information, each at a plurality of points of place, that are obtained by the GPS receiving units 29, 20 and the autonomous navigation units 21-23, correcting at least one of the movement amount information and the movement direction information obtained by autonomous navigation on the basis of the correction information, obtaining correction error information in the direction of forward movement on the basis of error amount information for GPS positioning information at two points of place, obtaining position error information for the position information obtained by autonomous navigation, and controlling on/off of the GPS receiving units 29, 20 by at least one of the correction error information and the position error information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information processing apparatus, an information processing method, and a program suitable for, for example, a portable information terminal installed with an application program for performing a navigation operation.

  There has been proposed a technique aimed at correcting the direction in autonomous navigation in real time while reducing the memory capacity used. (For example, Patent Document 1)

Japanese Patent Laid-Open No. 2006-180626

  In the above-mentioned patented technology, an error generated by autonomous navigation is corrected by intermittently performing a reception operation from a GPS satellite at a timing exceeding either one of a preset time and a distance threshold. I was supposed to.

  For this reason, reception operations from GPS satellites, which consume more power than autonomous navigation operations, are performed at regular intervals, for example, if the moving speed of a moving person wearing the device is constant. Thus, the power consumption is constant regardless of the reception environment.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an information processing apparatus and an information processing method capable of efficiently executing correction for errors generated in autonomous navigation processing. And providing a program.

  One aspect of the present invention is a first information acquisition unit that is turned on when GPS positioning information is acquired and turned off after the acquisition, and second information that acquires position information from movement amount information and movement direction information by autonomous navigation. By the second information acquisition unit, the GPS positioning information of the plurality of points acquired by the first information acquisition unit, and the position information of the plurality of points acquired by the second information acquisition unit. Correction information acquisition means for acquiring correction information for at least one of the acquired movement amount information and movement direction information, and the movement amount acquired by the second information acquisition means based on the correction information acquired by the correction information acquisition means Based on error amount information with respect to each GPS positioning information of two points acquired by the correction means for correcting at least one of information and movement direction information and the first information acquisition means, Correction error information acquisition means for acquiring the correction error information, position error information acquisition means for acquiring position error information for the position information acquired by the second information acquisition means, and correction acquired by the correction error information acquisition means Control means for controlling on / off of the operation of the first information acquisition means based on at least one of error information and position error information acquired by the position error information acquisition means.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to perform the correction | amendment with respect to the error which generate | occur | produces by the process of autonomous navigation efficiently.

The block diagram which shows the functional circuit structure of the smart phone which concerns on one Embodiment of this invention. The flowchart which acquires and shows a present position at the time of the navigation operation | movement which concerns on the embodiment, and extracts and shows a processing content. The figure explaining the process at the time of calculating correction amount error beta concerning the embodiment. The figure which shows the timing control which performs GPS positioning which concerns on the same embodiment.

  Hereinafter, an embodiment in the case where the present invention is applied to a smartphone in which an application program for performing a navigation operation is installed will be described with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of a functional circuit of the smartphone according to the present embodiment. In this smartphone 10, 11 is a speaker serving as a receiver, and 12 is a microphone serving as a transmitter, both of which are connected to the sound processing unit 13.

  The voice processing unit 13 digitizes the voice input from the microphone 12 when the telephone call is made by the smartphone 10, performs code data conversion and predetermined data compression, and outputs it to the bus B, while being given from the other party. Digital audio data is received via the bus B, and after being decompressed, an analog audio signal is generated and output to the speaker 11 for sound emission.

  The CPU 14 executes the operation control of the entire smartphone 10 using the main memory 15 and the SSD (Solid State Drive) 16 connected via the bus B.

  The main memory 15 is composed of, for example, SDRAM, and becomes a work memory when the CPU 14 executes a program. The SSD 16 is composed of a non-volatile memory, and stores and stores an OS (operating system), various application programs including application programs necessary for navigation operation, and other various fixed data. The stored contents are necessary. Thus, the data is read out to the main memory 14 by the CPU 13 as appropriate.

  The bus B further includes a display unit 17, a touch input unit 18, a photographing unit 19, a GPS (Global Positioning System) receiver 20, a 3-axis acceleration sensor 21, a 3-axis geomagnetic sensor 22, a 3-axis gyro. The sensor 23, key operation unit 24, vibrator 25, communication interface (I / F) 26, NFC (Near Field Communication) unit 27, and external device interface (I / F) 28 are connected.

  The display unit 17 is composed of a color liquid crystal panel with a backlight, for example, a size of about 5 inches diagonal, and their drive circuits. A touch input unit 18 using a transparent electrode film is integrally formed with the display unit 17. The touch input unit 18 digitizes time-series coordinate signals corresponding to a user's touch operation including a multi-touch operation and sends the digitized signal to the CPU 14 as a touch operation signal.

  The image capturing unit 19 includes two image capturing units provided on the front and back sides of the housing of the smartphone 10, an image processing unit that compresses image data obtained by image capturing in these image capturing units and generates a data file, and the like. Have

  The GPS receiver 20 receives three-dimensional coordinates of the current position, that is, latitude, longitude, altitude, and current time, based on incoming radio waves from a plurality of GPS satellites (not shown) received by the GPS antenna 29. It is calculated and sent to the CPU 14 via the bus B.

  The GPS antenna 29 and the GPS receiver 20 are connected to a satellite positioning system other than the GPS, such as a GLONASS (GLO NAV Navigation Satellite System) or a quasi-zenith satellite system QZSS (Quasi-Zenith Satellite System) which is a regional navigation satellite system in Japan. Correspondingly, it is also possible to receive incoming radio waves from those satellites and calculate the three-dimensional coordinates of the current position and the current time with higher accuracy.

  In that case, when it is described that GPS positioning is to be performed in the description of the following operation, the positioning operation by the satellite positioning system other than the GPS is also executed.

  The triaxial acceleration sensor 21 detects accelerations in the triaxial directions orthogonal to each other, and can detect the posture of the smartphone 10 based on the direction of gravitational acceleration.

  The triaxial geomagnetic sensor 22 detects geomagnetism in three axial directions orthogonal to each other, and can detect the orientation in which the smartphone 10 is pointed at that time based on the direction of magnetic north.

  The triaxial gyro sensor 23 is composed of a vibration type gyroscope arranged in three axial directions orthogonal to each other. The smartphone 10 is held and worn in combination with the outputs of the triaxial acceleration sensor 21 and the triaxial geomagnetic sensor 22. In cooperation with the three-axis acceleration sensor 21 and the three-axis geomagnetic sensor 22 even in the state where the absolute current position cannot be recognized by the output from the GPS antenna 29 and the GPS receiver 20. Thus, the update operation of the current position by autonomous navigation can be executed.

  The key operation unit 23 includes a number of operation keys including a power key provided in the housing of the smartphone 10, and sends key operation signals corresponding to the key operations to the CPU 14 via the bus B.

  The vibrator 25 is composed of a small motor and a weight eccentrically attached to the rotation shaft of the motor, and generates vibrations that resonate on the entire smartphone 10 when the motor is driven to rotate.

  The communication interface 26 uses antennas 30 to 32 to a fourth-generation mobile phone, a wireless LAN system conforming to IEEE 802.11a / 11b / 11g / 11n, and a short-range wireless communication line such as Bluetooth (registered trademark). Correspondingly, data is transmitted and received by external communication with an external device.

  The NFC unit 27 performs data transmission / reception and power feeding operation in a non-contact manner with an external device at a short distance using the FeliCa (registered trademark) standard and the MIFARE (registered trademark) standard.

  The external device interface 28 can connect or attach, for example, a headphone, an earphone, a USB device, and a memory card via the headphone jack 33, the micro USB terminal 34, and the memory card slot 35, respectively.

Next, the operation of this embodiment will be described.
FIG. 2 shows an autonomous navigation based on (Global Positioning System) positioning by the GPS antenna 29 and the GPS receiver 20, and detection outputs of the 3-axis acceleration sensor 21, the 3-axis geomagnetic sensor 22, and the 3-axis gyro sensor 23. 5 is a flowchart showing the flow of processing when the current position is estimated based on the moving amount and the moving direction (hereinafter referred to as dead reckoning processing).

  This process shows a part of the process in which the CPU 14 develops and executes the navigation application program read from the SSD 16 on the main memory 15.

  At the beginning of the process, the CPU 14 substitutes an initial value “1” for a variable n for counting points for GPS positioning (step S101). Subsequently, the CPU 14 temporarily turns on the power supply to the GPS receiver 20, acquires the three-dimensional coordinate information of the first point by the GPS antenna 29 and the GPS receiver 20, and then supplies the power to the GPS receiver 20. Disconnect (step S102).

  Thereafter, the CPU 14 executes dead reckoning (autonomous navigation) processing using the detection outputs of the three-axis acceleration sensor 21, the three-axis geomagnetic sensor 22, and the three-axis gyro sensor 23, and moves and moves. The direction is detected and added to the position information obtained by the previous GPS positioning, thereby calculating the estimated current position information (step S103).

  The distance between this estimated current position and the position information obtained by the first GPS positioning is calculated, and is the calculated distance an initial value of a preset distance threshold D, for example, 100 [m] or more? It is determined whether or not (step S104).

  If it is determined that the distance is less than D (No in step S104), the process returns to the side step S103 and the dead reckoning process is continued.

  When the processes of steps S103 and S104 are repeatedly executed and the current position is determined to be more than the distance D from the previous GPS positioning by the dead reckoning process (Yes in step S104), the value of the variable n is set to “ +1 ”is updated and set to“ 2 ”.

  According to the value of this variable n, the power supply to the GPS receiver 20 is temporarily turned on, and the three-dimensional coordinate information of the nth point by the GPS antenna 29 and the GPS receiver 20 is acquired. Supply is cut | disconnected (step S106).

  Subsequently, the travel amount (distance) and each correction amount in the traveling direction are calculated from the positional information on the current position estimated by the dead reckoning process and the positional information obtained by GPS positioning, and the traveling direction A correction amount error β is calculated (step S107).

  FIG. 3 is a diagram for explaining a process for calculating the correction amount error β. Let T1 be a trajectory that connects a straight line from the first point P1 where GPS positioning is performed to the second point P2 where GPS positioning is also performed.

  Angle correction is not performed when T2 is a trajectory connecting the estimated position P2 'by the dead reckoning process when GPS positioning is performed at the second point from the first point P1. Let the offset angle in the state be θ. The CPU 14 calculates the offset angle θ together with the error in the movement amount (distance) between the first point P1 and the second point P2 when GPS positioning is performed at the second point P2, and in FIG. As shown by a locus T3, angle correction is performed in the subsequent dead reckoning process (step S108).

Further, a correction amount error β is calculated in preparation for dead reckoning processing after the second point P2. Here, the correction amount error β is _expressed by the following equation when the error in GPS positioning at each point n is “σ _{GPS_n} ”.
β = arctan ((σ _{GPS_n−1} + σ _{GPS_n} ) / D) (1)
It is represented by
The error “σ _{GPS_n} ” in GPS positioning can be obtained by a known technique using an accuracy index such as a C / N value, DOP (Division Of Precision), or the number of satellites.

At this point, since n = 2, the above formula (1) is
β = arctan ((σ _{GPS_1} + σ _{GPS_n2} ) / D)
It becomes.

  The correction amount error β can be regarded as an offset error that continues until the positional information is acquired by the next GPS positioning and the correction amount in the traveling direction is updated. Therefore, after calculating the correction amount error β, whether the “positional deviation possibility range” that accumulates and expands as the dead reckoning process is continued exceeds the preset “positional deviation allowable range”. No is used as a criterion for determining whether or not it is time to perform GPS positioning next (step S109).

  FIG. 4 illustrates timing control for performing this GPS positioning. From the timing t1 at which the previous GPS positioning was performed, the correction amount error β for each of the upper and lower correction amounts is set as a positional deviation possibility range PR on the basis of the trajectory T3 after the angle correction by the dead reckoning process.

  On the other hand, by setting a distance value as the positional deviation allowable range AR in advance, whether or not the positional deviation possibility range PR at the current time point exceeds the positional deviation allowable range AR with reference to the trajectory T3. To determine the timing t2 at which GPS positioning should be performed next.

  The above-mentioned “positional deviation allowable range” is a map function used as a basic function of a navigation program, for example, in a map matching function that performs matching when the current position obtained by GPS positioning does not match the road position on the map data. The limit distance of matching may be used.

  If it is determined that the misalignment possibility range PR at the current time point does not exceed the misalignment allowable range AR (No in step S109), the CPU 14 returns to the process from step S108 and continues the depth reckoning process.

  In this way, the processes of steps S108 and S109 are repeatedly executed, and when it is determined that the positional deviation possibility range PR at the current time exceeds the positional deviation allowable range AR (Yes in step S109), the CPU 14 performs the next GPS positioning. In order to carry out, the processing from step S105 is executed.

  As described above, by continuously executing the processing from step S105 to step S109, it is possible to execute dead GPS positioning while executing intermittent GPS positioning at a necessary timing in consideration of the correction amount error β based on the error generated in GPS positioning. The navigation operation can be continued by efficiently executing the correction for the error generated in the reckoning process.

(Modification)
In the present embodiment described above, a correction amount error β derived from “σ _{GPS_n} ” as an error in GPS positioning is obtained, and thereafter, the accumulated error increases as the dead reckoning process is continued. Whether or not the “range” exceeds the preset “positional deviation allowable range” was used as a criterion for determining whether or not the next GPS positioning was performed, but in this modification, it is obtained by GPS positioning. Depending on the difference between the received position information and the current position information by the dead reckoning process, the length of the power supply disconnection period for the GPS receiver 20 until the next GPS positioning may be varied.
For example, the smaller the difference between the position P2 obtained by the GPS positioning in FIG. 3 and the current position P2 ′ due to the dead reckoning process, the longer the power supply disconnection period for the GPS receiver 20 is set. The length of the power supply disconnection period for the receiver 20 is set short. By controlling in this way, when the accuracy of the current position estimation by the dead reckoning process is high, the power supply cut-off period for the GPS receiver 20 can be lengthened, and the correction for the error occurring in the dead reckoning process can be efficiently performed. Yes, you can continue navigation.
Furthermore, you may perform control which used this embodiment and this modification together.

  As described above in detail, according to the present embodiment, it is possible to efficiently execute correction for errors generated in the autonomous navigation processing.

  In the above embodiment, the correction amount error β is calculated according to the positioning error of each of the position information of the two points by the GPS positioning and the distance between the two points as shown in the equation (1). Therefore, by reflecting the positioning error at that time obtained when actually performing GPS positioning, the navigation operation can always be executed within a certain error, and the user can use it with peace of mind.

  Further, in the above embodiment, since the GPS positioning operation in the GPS receiver 20 is intermittently performed, the GPS receiver 20 is temporarily supplied with power only at a necessary timing, so that the operation of the autonomous navigation is performed. Compared to the above, it is possible to suppress the power consumption by minimizing the GPS positioning operation that consumes a larger amount of power.

  In this case, when absolute position information obtained by GPS positioning is obtained, the relative position information obtained by autonomous navigation is replaced and used, so that an error generated by autonomous navigation is performed every time GPS positioning is performed. By resetting, accumulation of errors can be avoided.

  In particular, in the above-described embodiment, the position information obtained by the GPS positioning is within a range in which the error range assumed to be obtained by the position information acquired by the autonomous navigation does not exceed the allowable error range used in the process of map matching or the like in advance. Therefore, it is possible to reliably prevent erroneous processing in navigation operations.

  In addition, at the point acquired by autonomous navigation, the smaller the error between the position information obtained by GPS positioning and the position information obtained by autonomous navigation, the longer the period during which GPS positioning is turned off, Power consumption can be suppressed.

  In the above embodiment, the case where the present invention is applied to a smartphone in which an application program for performing a navigation operation is installed has been described. However, the present invention is not limited to this, and a wearable device and an information terminal device such as a smartphone are used in combination. The present invention can be similarly applied to a case where a wearable device or the like capable of performing a navigation operation is used alone.

  In addition, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention in the implementation stage. 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 first information acquisition means that is turned on when GPS positioning information is acquired and is turned off after the acquisition;
A second information acquisition means for acquiring position information from movement amount information and movement direction information by autonomous navigation;
The movement amount information acquired by the second information acquisition unit based on the GPS positioning information of the plurality of points acquired by the first information acquisition unit and the position information of the plurality of points acquired by the second information acquisition unit, and Correction information acquisition means for acquiring correction information for at least one of the movement direction information;
Correction means for correcting at least one of the movement amount information and the movement direction information acquired by the second information acquisition means based on the correction information acquired by the correction information acquisition means;
Correction error information acquisition means for acquiring correction error information in the traveling direction based on error amount information for each GPS positioning information at the two points acquired by the first information acquisition means;
Position error information acquisition means for acquiring position error information for the position information acquired by the second information acquisition means;
Based on at least one of the correction error information acquired by the correction error information acquisition unit and the position error information acquired by the position error information acquisition unit, on / off of the operation of the first information acquisition unit is controlled. Control means;
An information processing apparatus comprising:
[Claim 2]
The correction information acquisition means is determined by the autonomous navigation from the GPS positioning information acquired by the first information acquisition means at one point and the position information acquired by the second information acquisition means from the one point. The correction information is acquired based on the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points determined to have moved by the movement amount of And
The correction error information acquisition means includes error amount information for the GPS positioning information acquired at the one point, error amount information for the GPS positioning information acquired at the two points, and the one point and the two points. Based on the amount of movement between the two points, the correction error information is acquired,
The position error information acquisition means acquires, as the position error information, a difference between the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points.
The information processing apparatus according to claim 1.
[Claim 3]
The range of possibility of deviation between the position information calculated from the movement amount information and the movement direction information acquired by the second information acquisition means at a point different from the point and the position information of the different point. Further comprising a misregistration possibility range acquiring means for acquiring based on the correction error information acquired by the correction error information acquiring means,
The control means turns on the operation of the first information acquisition means to acquire GPS positioning information when the positional deviation possibility range exceeds a preset positional deviation allowable range,
The information processing apparatus according to claim 2.
[Claim 4]
The control means has a smaller difference between the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points acquired by the position error information acquisition means. The information processing apparatus according to claim 2, wherein a period during which the operation of the first information acquisition unit is off is lengthened.
[Claim 5]
A position matching means for matching the position information acquired by the second information acquisition means with the GPS positioning information acquired by the first information acquisition means;
The position matching means matches the position information acquired by the second information acquisition means at the one point with the GPS positioning information acquired by the first information acquisition means at the one point.
The information processing apparatus according to claim 2.
[Claim 6]
Information processing method in an apparatus including a GPS receiving unit that is turned on when GPS positioning information is acquired and is turned off after the acquisition, and an autonomous navigation unit that acquires position information from movement amount information and movement direction information by autonomous navigation Because
Correction information for at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the GPS positioning information of the plurality of points acquired by the GPS receiving unit and the position information of the plurality of points acquired by the autonomous navigation unit. Correction information acquisition step of acquiring
Based on the correction information acquired in the correction information acquisition step, a correction step of correcting at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit,
A correction error information acquisition step of acquiring correction error information in the traveling direction based on error amount information for each GPS positioning information of the two points acquired by the GPS receiver;
A position error information acquisition step for acquiring position error information for the position information acquired by the autonomous navigation unit;
A control step for controlling on / off of the operation of the GPS receiver based on at least one of the correction error information acquired in the correction error information acquisition step and the position error information acquired in the position error information acquisition step; ,
An information processing method comprising:
[Claim 7]
A computer having a built-in apparatus including a GPS receiving unit that is turned on when GPS positioning information is acquired and turned off after the acquisition, and an autonomous navigation unit that acquires position information from movement amount information and movement direction information by autonomous navigation A program to be executed, wherein the computer is
Correction information for at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the GPS positioning information of the plurality of points acquired by the GPS receiving unit and the position information of the plurality of points acquired by the autonomous navigation unit. Correction information acquisition means for acquiring
Correction means for correcting at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the correction information acquired by the correction information acquisition means,
Correction error information acquisition means for acquiring correction error information in the traveling direction based on error amount information for each GPS positioning information at the two points acquired by the GPS receiver,
Position error information acquisition means for acquiring position error information for the position information acquired by the autonomous navigation unit, correction error information acquired by the correction error information acquisition means, and position error information acquired by the position error information acquisition means. Control means for controlling on / off of the operation of the GPS receiver based on at least one;
Program to function as.

DESCRIPTION OF SYMBOLS 10 ... Smartphone 11 ... Speaker 12 ... Microphone 13 ... Audio | voice processing part 14 ... CPU
15 ... Main memory 16 ... SSD
DESCRIPTION OF SYMBOLS 17 ... Display part 18 ... Touch input part 19 ... Image pick-up part 20 ... GPS receiver 21 ... 3-axis acceleration sensor 22 ... 3-axis geomagnetic sensor 23 ... 3-axis gyro sensor 24 ... Key operation part 25 ... Vibrator 26 ... Communication interface (I / F)
27 ... NFC unit 28 ... External device interface (I / F)
29 ... GPS antennas 30 to 32 ... antenna 33 ... headphone jack 34 ... micro USB terminal 35 ... memory card slot B ... bus

Claims (7)

A first information acquisition means that is turned on when GPS positioning information is acquired and is turned off after the acquisition;
A second information acquisition means for acquiring position information from movement amount information and movement direction information by autonomous navigation;
The movement amount information acquired by the second information acquisition unit based on the GPS positioning information of the plurality of points acquired by the first information acquisition unit and the position information of the plurality of points acquired by the second information acquisition unit, and Correction information acquisition means for acquiring correction information for at least one of the movement direction information;
Correction means for correcting at least one of the movement amount information and the movement direction information acquired by the second information acquisition means based on the correction information acquired by the correction information acquisition means;
Correction error information acquisition means for acquiring correction error information in the traveling direction based on error amount information for each GPS positioning information at the two points acquired by the first information acquisition means;
Position error information acquisition means for acquiring position error information for the position information acquired by the second information acquisition means;
Based on at least one of the correction error information acquired by the correction error information acquisition unit and the position error information acquired by the position error information acquisition unit, on / off of the operation of the first information acquisition unit is controlled. Control means;
An information processing apparatus comprising: The correction information acquisition means is determined by the autonomous navigation from the GPS positioning information acquired by the first information acquisition means at one point and the position information acquired by the second information acquisition means from the one point. The correction information is acquired based on the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points determined to have moved by the movement amount of And
The correction error information acquisition means includes error amount information for the GPS positioning information acquired at the one point, error amount information for the GPS positioning information acquired at the two points, and the one point and the two points. Based on the amount of movement between the two points, the correction error information is acquired,
The position error information acquisition means acquires, as the position error information, a difference between the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points.
The information processing apparatus according to claim 1. The range of possibility of deviation between the position information calculated from the movement amount information and the movement direction information acquired by the second information acquisition means at a point different from the point and the position information of the different point. Further comprising a misregistration possibility range acquiring means for acquiring based on the correction error information acquired by the correction error information acquiring means,
The control means turns on the operation of the first information acquisition means to acquire GPS positioning information when the positional deviation possibility range exceeds a preset positional deviation allowable range,
The information processing apparatus according to claim 2.   The control means has a smaller difference between the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points acquired by the position error information acquisition means. The information processing apparatus according to claim 2, wherein a period during which the operation of the first information acquisition unit is off is lengthened. A position matching means for matching the position information acquired by the second information acquisition means with the GPS positioning information acquired by the first information acquisition means;
The position matching means matches the position information acquired by the second information acquisition means at the one point with the GPS positioning information acquired by the first information acquisition means at the one point.
The information processing apparatus according to claim 2. Information processing method in an apparatus including a GPS receiving unit that is turned on when GPS positioning information is acquired and is turned off after the acquisition, and an autonomous navigation unit that acquires position information from movement amount information and movement direction information by autonomous navigation Because
Correction information for at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the GPS positioning information of the plurality of points acquired by the GPS receiving unit and the position information of the plurality of points acquired by the autonomous navigation unit. Correction information acquisition step of acquiring
Based on the correction information acquired in the correction information acquisition step, a correction step of correcting at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit,
A correction error information acquisition step of acquiring correction error information in the traveling direction based on error amount information for each GPS positioning information of the two points acquired by the GPS receiver;
A position error information acquisition step for acquiring position error information for the position information acquired by the autonomous navigation unit;
A control step for controlling on / off of the operation of the GPS receiver based on at least one of the correction error information acquired in the correction error information acquisition step and the position error information acquired in the position error information acquisition step; ,
An information processing method comprising: A computer having a built-in apparatus including a GPS receiving unit that is turned on when GPS positioning information is acquired and turned off after the acquisition, and an autonomous navigation unit that acquires position information from movement amount information and movement direction information by autonomous navigation A program to be executed, wherein the computer is
Correction information for at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the GPS positioning information of the plurality of points acquired by the GPS receiving unit and the position information of the plurality of points acquired by the autonomous navigation unit. Correction information acquisition means for acquiring
Correction means for correcting at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the correction information acquired by the correction information acquisition means,
Correction error information acquisition means for acquiring correction error information in the traveling direction based on error amount information for each GPS positioning information at the two points acquired by the GPS receiver,
Position error information acquisition means for acquiring position error information for the position information acquired by the autonomous navigation unit, correction error information acquired by the correction error information acquisition means, and position error information acquired by the position error information acquisition means. Control means for controlling on / off of the operation of the GPS receiver based on at least one;
Program to function as.