JP2018165701A - Electronic apparatus, position specification system, position specification method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine the suitability of position information while preventing the temporal convergence of processing loads in the device.SOLUTION: A wrist terminal 1 comprises: a position measurement information acquisition part 51; a third filter processing part 56; and a recording control part 59. The position measurement information acquisition part 51 acquires a plurality of pieces of information on a user's position changing through movement. The recording control part 59 stores the information on the user's position acquired by the position measurement information acquisition part 51 in a history data storage part 71. The third filter processing part 56 specifies first position information corresponding to a predetermined time point from the plurality of pieces of position information stored in the history data storage part 71. The third filter processing part 56 specifies second position information acquired at a time point before or after the specified first position information from the plurality of pieces of position information stored in the history data storage part 71. The third filter processing part 56 determines the suitability of the first position information from the first position information and the specified second position information.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an electronic device, a position specifying system, a position specifying method, and a program.

Conventionally, when calculating position information of a user, in an apparatus for sequentially acquiring position information of a user such as a car navigation system, an error circle is calculated from position information and speed information at the previous time of the user in order to eliminate position information including errors. There is a technology to generate.
Such a technique is described in Patent Document 1, for example.

JP 2006-138835 A

In the technique described in Patent Document 1, it is determined whether or not the acquired position information is correct with reference to the position / velocity before the newly acquired position information.
However, in a device having limited calculation capability such as a wearable terminal or a mobile terminal, if the above-described abnormal value removal processing of location information is performed in real time in parallel with the location information positioning, the processing load on the device There was a problem that would be concentrated in time.

  The present invention has been made in view of such a situation, and an object of the present invention is to determine whether or not position information is appropriate without concentrating the processing load on the apparatus over time.

In order to achieve the above object, an electronic device of one embodiment of the present invention includes:
Position information acquisition means for acquiring a plurality of pieces of user position information that change due to movement;
Storage control means for storing the user position information acquired by the position information acquisition means in a storage means;
First specifying means for specifying first position information corresponding to a predetermined time point from a plurality of pieces of position information stored in the storage means;
A second position information that specifies second position information acquired at a time point before or after the first position information specified by the first specifying means from the plurality of position information stored in the storage means. Means for identifying
From the first position information and the second position information specified by the second specifying means, determination means for determining the suitability of the first position information;
It is characterized by providing.

  According to the present invention, it is possible to determine whether or not position information is appropriate without concentrating the processing load on the apparatus in terms of time.

It is an external appearance block diagram of the wrist terminal as one Embodiment of the portable terminal of this invention. It is a block diagram which shows the hardware constitutions of the wrist terminal as one Embodiment of the portable terminal of this invention. It is a functional block diagram which shows the functional structure for performing a position specific process and a parameter control process among the functional structures of the wrist terminal of FIG. It is a schematic diagram which shows the parameter used with an acceleration filter. It is a schematic diagram which shows the parameter used in a defect | deletion extension filter. It is a schematic diagram which shows the parameter used in a positioning context filter. It is a schematic diagram which shows the relationship between the classification of action and the filter used. It is a figure which shows the characteristic of an acceleration filter typically. It is a figure which shows typically the characteristic of a defect extension filter. It is a figure which shows typically the characteristic of a positioning context filter. It is a flowchart explaining the flow of the position specification process which the wrist terminal of FIG. 1B which has the functional structure of FIG. 2 performs. It is a flowchart explaining the flow of an acceleration filter process. It is a flowchart explaining the flow of a defect extension filter process. It is a flowchart explaining the flow of a positioning context filter process. It is a schematic diagram which shows the example which displayed the user's position by the historical data (unprocessed historical data) before the filter process by a position specific process is performed. It is a schematic diagram which shows the example which displayed the user's position by the historical data after the filter process by a position specific process was performed. It is a flowchart explaining the flow of the parameter control process which the wrist terminal of FIG. 1B which has the functional structure of FIG. 2 performs. It is a functional block diagram which shows the functional structure of the wrist terminal for performing a submergence detection filter process. It is a flowchart explaining the flow of a submergence detection filter process.

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

[Hardware configuration]
1A and 1B are diagrams showing a configuration of a wrist terminal 1 as an embodiment of a portable terminal of the present invention, FIG. 1A is an external configuration diagram, and FIG. 1B is a block diagram showing a hardware configuration.
The wrist terminal 1 is a device configured in a wristwatch type and having a function similar to a smartphone.
As shown in FIG. 1B, the wrist terminal 1 includes a control unit 11, a sensor unit 12, an input unit 13, an LCD (Liquid Crystal Display) 14, a clock circuit 15, a ROM (Read Only Memory) 16, A RAM (Random Access Memory) 17, a GPS (Global Positioning System) antenna 18, a GPS module 19, a radio communication antenna 20, a radio communication module 21, and a drive 22 are provided. The wrist terminal 1 can be appropriately provided with other hardware such as an imaging unit.

The control unit 11 includes an arithmetic processing device such as a CPU (Central Processing Unit), and controls the operation of the entire wrist terminal 1. For example, the control unit 11 executes various processes according to a program recorded in the ROM 16 such as a program for position specifying processing (described later).
The sensor unit 12 includes various sensors such as an acceleration sensor, a gyro sensor, an atmospheric pressure sensor, a geomagnetic sensor, or an altitude sensor.
The acceleration sensor detects the acceleration in the triaxial direction in the wrist terminal 1 and outputs information indicating the detected acceleration to the control unit 11.
The gyro sensor detects the angular velocities in the three-axis directions in the wrist terminal 1 and outputs information indicating the detected angular velocities to the control unit 11.
The atmospheric pressure sensor detects the atmospheric pressure in the environment where the wrist terminal 1 is present, and outputs information indicating the detected atmospheric pressure to the control unit 11. The wrist terminal 1 detects the altitude of the wrist terminal 1 based on information output from the atmospheric pressure sensor.

The input unit 13 is composed of various buttons, a capacitance type or resistive film type position input sensor stacked on the display area of the LCD 14, etc., and inputs various types of information in accordance with user instruction operations.
The LCD 14 outputs an image according to an instruction from the control unit 11. For example, the LCD 14 displays various images and a user interface screen. In the present embodiment, the position input sensor of the input unit 13 is arranged on the LCD 14 so as to constitute a touch panel.
The clock circuit 15 generates a time signal from a signal generated by a system clock or an oscillator, and outputs the current time.

The ROM 16 stores information such as a control program executed by the control unit 11.
The RAM 17 provides a work area when the control unit 11 executes various processes.
The GPS antenna 18 receives radio waves transmitted from satellites in GPS and converts them into electrical signals, and outputs the converted electrical signals (hereinafter referred to as “GPS signals”) to the GPS module 19.
The GPS module 19 detects the position (latitude, longitude, altitude) of the wrist terminal 1 and the current time indicated by GPS based on the GPS signal input from the GPS antenna 18. Further, the GPS module 19 outputs information indicating the detected position and the current time to the control unit 11.

The radio communication antenna 20 is an antenna capable of receiving radio waves having a frequency corresponding to radio communication used by the radio communication module 21, and is configured by, for example, a loop antenna or a rod antenna. The radio communication antenna 20 transmits the radio communication electric signal input from the radio communication module 21 as an electromagnetic wave, or converts the received electromagnetic wave into an electric signal and outputs the electric signal to the radio communication module 21.
The wireless communication module 21 transmits a signal to another device via the wireless communication antenna 20 in accordance with an instruction from the control unit 11. In addition, the wireless communication module 21 receives a signal transmitted from another device and outputs information indicated by the received signal to the control unit 11.
A removable medium 31 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately attached to the drive 22. The removable medium 31 can store various data such as position and altitude data.

FIG. 2 is a functional block diagram showing a functional configuration for executing the position specifying process and the parameter control process among the functional configurations of the wrist terminal 1 of FIG. 1B.
In the position specifying process, various filters (acceleration filter, loss extension filter, and positioning context filter) described later are applied to position information acquired by the GPS module (hereinafter referred to as “positioning information” as appropriate). This is a series of processes for specifying a position while suppressing inappropriate information from being used.
Also, parameter control processing is to verify whether or not the specified location is appropriate by setting parameters in the location specification processing and performing filter processing, and more appropriately set the parameters according to the verification result. It is a series of processing to update to a correct value.
When the position specifying process and the parameter control process are executed, as shown in FIG. 2, in the control unit 11, a positioning information acquisition unit 51, an action determination unit 52, a filter selection unit 53, and a first filter process are performed. The unit 54, the second filter processing unit 55, the third filter processing unit 56, the parameter control unit 57, and the display control unit 58 function.
In one area of the ROM 16, a history data storage unit 71, a parameter storage unit 72, and a map information storage unit 73 are set.
The history data storage unit 71 stores positioning result history data for each user action (one day worth of activities or one activity). As history data, both unprocessed data in which the position information acquired by the GPS module is stored as original and the position history data specified from the result of applying various filters described later are stored. The
The parameter storage unit 72 stores parameters used in various filters described later.

3A to 3C are schematic diagrams illustrating examples of parameters used in various filters, FIG. 3A is a diagram illustrating parameters used in an acceleration filter, and FIG. 3B is a diagram illustrating parameters used in a defect extension filter. 3C is a diagram showing parameters used in the positioning context filter. In FIGS. 3A to 3C, the set numerical values are omitted as appropriate.
As shown in FIG. 3A, in the acceleration filter, the types of activities are “trekking”, “fishing”, “cycling”, “paddle” (paddling with kayaks), “surfing”, “snow” (skiing or snowboarding). The conversion speed value Va [km / s] and the time interval reference Sa [s] are set for these. The converted speed value Va represents the threshold value of the speed increase (acceleration) between a and b at two points a and b in time series in the history data. The time interval reference Sa is a threshold value determined by an experimental value or an empirical value, and a value adapted to each activity is set.

  As shown in FIG. 3B, in the loss extension filter, the activity types are “daily activity”, “trekking”, “fishing”, “cycling”, “paddle” (paddling with kayaks), “surfing”. , “Snow” (skiing or snowboarding, etc.) is defined, and for these, a defect threshold Se and a defect extension rate X [%] are set. The defect threshold value Se is a threshold value for determining whether or not to apply a defect extension filter. The defect extension rate X indicates the rate of extending the defect period (time).

Also, as shown in FIG. 3C, in the positioning context filter, the activity types are “daily activity”, “trekking”, “phishing”, “cycling”, “paddle” (paddling with kayaks), “snow”. (Ski or snowboard etc.) are defined, and for these, the return radius Rn [m], the converted speed value Vd [km / h], and the time interval reference hd [h] are set as threshold values. The return radius Rn represents the threshold of the distance between the point a which is the time point before the point b of interest and the point c which is the time point after the point b of interest in the time series three points a, b, c in the history data. The converted speed value Vd represents a threshold value of L / h1, where h1 is a time interval between points a and b, and L is a distance between points b and a. The time interval reference hd is a threshold value determined by an experimental value or an experience value, and here, a common Tth1 is set for each activity.
Returning to FIG. 2, the map information storage unit 73 stores map information for displaying the position specified by the position specifying process in a superimposed manner.

The positioning information acquisition unit 51 acquires position information (positioning information) acquired by the GPS module at predetermined intervals (for example, at intervals of 0.1 seconds). Then, the positioning information acquisition unit 51 stores the acquired positioning information in the history data storage unit 71 as history data.
The behavior determination unit 52 determines (selects) the type of behavior that the user of the wrist terminal 1 is performing. At this time, the behavior determination unit 52 determines the behavior from information indicating the type of behavior input by the user (the type of activity specified directly or the type of activity indirectly grasped from an operation such as navigation). It is possible to determine the action by analyzing the positioning information or the measurement result of the sensor unit 12. The behavior determination unit 52 may determine the type of behavior by analyzing the user's behavior pattern.

  The filter selection unit 53 selects a filter to be used and a parameter to be used in the filter to be used among the acceleration filter, the loss extension filter, and the positioning context filter according to the type of the action determined by the action determination unit 52. In the present embodiment, the filter to be used is set in advance according to the type of action. Each filter functions as a determiner that determines the suitability of the positioning information.

FIG. 4 is a schematic diagram showing the relationship between the type of action and the filter used.
As shown in FIG. 4, which of an acceleration filter, a loss extension filter, and a positioning context filter is used is preset for the type of action. Moreover, in this embodiment, the order of each filter when applied is set in the order of an acceleration filter, a loss extension filter, and a positioning context filter according to the characteristics of each filter. As an example, when it is determined that the user's action is cycling, the acceleration filter, the defect extension filter, and the positioning context filter are applied in this order.

When it is determined by the filter selection unit 53 that the acceleration filter is used, the first filter processing unit 54 performs filter processing using the acceleration filter using the parameter selected by the filter selection unit 53.
The acceleration filter is a filter that excludes positioning information that exceeds acceleration that is impossible in reality as an abnormal value (determines that it is an illegal value) based on the acceleration acquired from the positioning information. Note that the positioning information excluded by the acceleration filter is not treated as data loss, and the data before and after the exclusion is treated as adjacent data.

FIG. 5 is a diagram schematically illustrating the characteristics of the acceleration filter.
As shown in FIG. 5, for example, when riding a bicycle, the acceleration in the traveling direction can be estimated to be an abnormal value when exceeding the limit of acceleration by humans (when impossible).

If the GPS reception environment is good, the acceleration filter has limited positioning information to be excluded, has a moderate effect compared to other filters, and mainly uses past data. Therefore, it is a filter with high immediacy. Therefore, in this embodiment, it is set as the first filter for the positioning information.
When the filter selection unit 53 determines that the loss extension filter is used, the second filter processing unit 55 performs filter processing using the loss extension filter using the parameter selected by the filter selection unit 53.
The loss extension filter masks the positioning result for a predetermined time after the actual loss period ends when a relatively long positioning loss period occurs (the positioning result after a certain loss period is set to an incorrect value). It is a filter that suppresses positioning disturbance that occurs immediately after the deficit period. That is, in the loss extension filter, the suitability of the positioning information is determined according to the positioning information acquisition status (the length of the loss period).

FIG. 6 is a diagram schematically illustrating the characteristics of the defect extension filter.
As shown in FIG. 6, in GPS positioning information, when a deficit period exceeding a threshold occurs, a deficit extension period is set by extending the deficit period by a predetermined ratio, and the positioning information after the deficit extension period has passed is filtered. Stored as history data after processing. In other words, in this embodiment, the loss extension period is variably set according to the length of the loss period, and the loss extension period is set longer as the loss period is longer. With this configuration, it is possible to solve the problem that the longer the missing period, the larger the positioning error of the position information obtained after the missing period, and the longer it takes to obtain accurate position information. Moreover, you may comprise so that a fixed defect | deletion extension period may be set irrespective of the length of a defect | deletion period. By using a certain loss extension period, it is possible to reduce the amount of processing required for determining the suitability of position information.
In addition, the defect extension filter can hide positioning information that is not suitable for display by simple calculation, so it is effective in electronic devices that do not perform positioning by self-contained navigation but perform power-saving processing that uses only GPS positioning information. Filter.
Since the loss extension filter eliminates positioning information for a relatively long period of time, it may not be appropriate to apply an acceleration filter to the data after filtering by the loss extension filter from the viewpoint of the likelihood for evaluation of positioning information. is there. Therefore, the loss extension filter is set as a filter subsequent to the acceleration filter.

When it is determined by the filter selection unit 53 that the positioning context filter is used, the third filter processing unit 56 performs the filtering process by the positioning context filter using the parameter selected by the filter selection unit 53.
The positioning context filter is a filter that eliminates sudden jumps in positioning results that occur regardless of the situation based on the user's behavior tendency (determines that jumps in sudden positioning results are invalid values). is there.

FIG. 7 is a diagram schematically illustrating the characteristics of the positioning context filter.
As shown in FIG. 7, when a round trip exceeding the action radius is performed in a short time with respect to the action radius set based on the action tendency of the user, it is impossible as the action of the user. It can be estimated to be an abnormal value. In the example shown in FIG. 7, the action radius of the user is set using the positioning information of points a and c, which are the time points before and after the time series, for the positioning information of the point b of interest. It is determined whether or not the positioning information at point b is an abnormal value.
By using the positioning information at the points a and c, which are the time points before and after the time series, in determining whether the positioning information at the point b is an abnormal value, only the positioning information at the time point before the focused positioning information is used. Compared to the case, the abnormal value determination can be performed with high accuracy even when the behavioral state / moving speed largely changes before and after the attention point.
Further, the present invention is not limited to the above processing, and the user's action radius is set using only the positioning information of the point c later in the time series with respect to the positioning information of the point b, and the positioning information of the point b is abnormal. You may comprise so that it may determine whether it is a value.
Since the positioning context filter can adaptively eliminate various errors that cannot be removed by the acceleration filter and the defect extension filter, the positioning context filter is set as the last filter.

The parameter control unit 57 executes the parameter control process, detects an error from the actual position in the result of specifying the position by the position specifying process, and feeds back to the parameter value used for each filter. Thereby, the machine learning of the parameter used in the position specifying process is performed, and the accuracy of the parameter can be improved.
For example, the parameter control unit 57 specifies the position by the position specifying process from the positioning information acquired by the positioning information acquisition unit for the teacher data whose actual position is separately grasped, and the specified position and the correct answer Adjust the filter parameters to reduce the difference from the position. In addition to the case of using teacher data whose actual position is separately grasped, when a position having a certain validity is estimated by map matching (route fitting) or the like, the estimation result and the position specifying process are used. The filter parameters may be adjusted so as to reduce the difference from the specified position.

The parameter control process is executed as a subsequent process for the position specifying process at a timing when the operation rate of the control unit 11 of the wrist terminal 1 is low (for example, midnight). However, when the position specifying process is being performed, the parameter control unit 57 may sequentially update the parameters by executing the parameter control process in parallel.
Based on the filtered history data stored in the history data storage unit 71, the display control unit 58 displays on the LCD 14 a map screen in which the position indicating the movement history is superimposed on the map information.
The recording control unit 59 stores the processing results of the first filter processing unit 54, the second filter processing unit 55, and the third filter processing unit 56 in the history data storage unit 71. The recording control unit 59 retains unprocessed data in which the sensor information acquired in the sensor unit 12 or the position information acquired in the GPS module is stored as it is, and associates it with the unprocessed data. The result of the filtering process is stored in the history data storage unit 71.

[Operation]
Next, the operation of the wrist terminal 1 will be described.
[Location processing]
FIG. 8 is a flowchart for explaining the flow of the position specifying process executed by the wrist terminal 1 of FIG. 1B having the functional configuration of FIG.
The position specifying process is started when an operation for instructing the start of the position specifying process is performed by the user.

In step S1, position information (positioning information) acquired by the GPS module is acquired at predetermined intervals (for example, at intervals of 0.1 seconds).
In step S2, the positioning information acquisition unit 51 stores the acquired positioning information as history data in the history data storage unit 71.
In step S <b> 3, the behavior determination unit 52 determines the type of behavior that the user of the wrist terminal 1 is performing.

In step S4, the filter selection unit 53 determines whether or not the type of action determined by the action determination unit 52 is a target action using the acceleration filter.
When the action type determined by the action determination unit 52 is an action to be used for the acceleration filter, YES is determined in step S4, and the process proceeds to step S5.
On the other hand, when the type of action determined by the action determination unit 52 is not the target action using the acceleration filter, NO is determined in step S4, and the process proceeds to step S7.

In step S <b> 5, the filter selection unit 53 selects a parameter used in the acceleration filter based on the type of action determined by the action determination unit 52.
In step S <b> 6, the first filter processing unit 54 performs filter processing (acceleration filter processing) using an acceleration filter, using the parameters selected by the filter selection unit 53.

In step S <b> 7, the filter selection unit 53 determines whether or not the type of action determined by the action determination unit 52 is a target action using the loss extension filter.
When the action type determined by the action determination unit 52 is the action to be used for using the defect extension filter, YES is determined in step S7, and the process proceeds to step S8.
On the other hand, when the type of action determined by the action determination unit 52 is not the target action using the loss extension filter, NO is determined in step S7, and the process proceeds to step S10.

In step S <b> 8, the filter selection unit 53 selects a parameter to be used in the loss extension filter based on the behavior type determined by the behavior determination unit 52.
In step S <b> 9, the second filter processing unit 55 uses the parameter selected by the filter selection unit 53 to perform filter processing (defect extension filter processing) using the defect extension filter.

In step S <b> 10, the filter selection unit 53 determines whether or not the type of action determined by the action determination unit 52 is a target action using the positioning context filter.
When the action type determined by the action determination unit 52 is an action to be used by the positioning context filter, YES is determined in step S10, and the process proceeds to step S11.
On the other hand, when the type of action determined by the action determination unit 52 is not the target action using the positioning context filter, NO is determined in step S10, and the process proceeds to step S13.

In step S <b> 11, the filter selection unit 53 selects a parameter used in the positioning context filter based on the type of action determined by the action determination unit 52.
In step S <b> 12, the third filter processing unit 56 performs filter processing (positioning context filter processing) using the positioning context filter using the parameter selected by the filter selection unit 53.
In step S <b> 13, the recording control unit 59 stores the filter processing result in the history data storage unit 71.

In step S <b> 14, the display control unit 58 displays on the LCD 14 a map screen in which the position indicating the movement history is superimposed on the map information based on the history data after the filtering process stored in the history data storage unit 71.
After step S14, the position specifying process is repeated until the user performs an operation for instructing the end of the position specifying process.

[Acceleration filter processing]
Next, the acceleration filter process executed in step S6 of the position specifying process will be described.
FIG. 9 is a flowchart for explaining the flow of acceleration filter processing.
In step S <b> 21, the first filter processing unit 54 acquires positioning information of two points a and b in time series to be processed.

In step S22, the first filter processing unit 54 determines whether or not the speed at the point b is equal to or less than the first threshold value. The first threshold value is a value of a low speed (for example, 2 km / h) at which it can be estimated that the speed at point b is substantially zero.
When the speed of b point is below a 1st threshold value, it determines with YES in step S22, and a process transfers to step S23.
On the other hand, if the speed at the point b is not less than or equal to the first threshold value, NO is determined in step S22, and the process proceeds to step S24.

In step S23, the first filter processing unit 54 sets the speed at the point b to zero.
After step S23, the positioning information to be processed is shifted to the next two points, and the process proceeds to step S21.
In step S24, the first filter processing unit 54 determines whether or not the time interval between the points a and b is equal to or greater than the time interval reference Sa.
If the time interval between points a and b is not greater than or equal to the time interval reference Sa, NO is determined in step S24, and the process proceeds to step S25.
On the other hand, when the time interval between points a and b is equal to or greater than the time interval reference Sa, YES is determined in step S24, and the process proceeds to step S26.

In step S <b> 25, the first filter processing unit 54 calculates the converted speed difference V as the converted speed difference V = (speed at point b−speed at point a) / S.
In step S <b> 26, the first filter processing unit 54 calculates the converted speed difference V as the converted speed difference V = (speed at point b−0) / S. That is, in step S26, when the positioning deficiency continues for a long time, the speed increase (acceleration) at the point b is evaluated by comparison with zero.

In step S27, the first filter processing unit 54 determines whether or not the converted speed difference V is equal to or greater than the converted speed value Va. The processing in step S27 corresponds to determining whether or not the positioning information at the point b is an incorrect value from the viewpoint of acceleration.
If the converted speed difference V is not greater than or equal to the converted speed value Va, it is determined as NO in Step S27, and the process proceeds to Step S21.
On the other hand, if the converted speed difference V is equal to or greater than the converted speed value Va, it is determined as YES in Step S21, and the process proceeds to Step S28.

In step S28, the first filter processing unit 54 deletes the point b from the history data as a point having an abnormal value.
In step S29, the first filter processing unit 54 determines whether or not the return condition to the position specifying process is satisfied. For example, when the history data stored in the history data storage unit 71 is subsequently processed, the return condition to the position specifying process is the final data to be processed (activity unit or data for one day, etc.) If the positioning information is being processed in real time, the final data to be processed (when processing is performed for each block of data temporarily stored in a buffer of a predetermined size) For example, the end of the block of data stored in the buffer. Further, when positioning information is processed in real time and data is not stored in the buffer (processing is performed every time positioning information is input), a return condition to the position specifying process in step S29. Is determined to be satisfied.
If the return condition to the position specifying process is not satisfied, NO is determined in step S29, the positioning information to be processed is shifted to the next two points, and the process proceeds to step S21.
On the other hand, if the return condition to the position specifying process is satisfied, YES is determined in step S29, and the process returns to the position specifying process.

[Defect extension filter processing]
Next, the defect extension filter process executed in step S9 of the position specifying process will be described.
FIG. 10 is a flowchart for explaining the flow of the defect extension filter processing.
In step S41, the second filter processing unit 55 acquires one piece of positioning information. Here, the positioning information is to be acquired at a predetermined interval (for example, an interval of 0.1 seconds), and in step S41, processing for sequentially acquiring the positioning information to be acquired at the predetermined interval for each loop is performed. Done.

In step S42, the second filter processing unit 55 determines whether or not there is a defect in the acquisition of positioning information.
If there is no defect in the acquisition of positioning information, it is determined as NO in Step S42, and the process proceeds to Step S43.
On the other hand, if there is a defect in the acquisition of positioning information, it is determined as YES in Step S42, and the process proceeds to Step S44.

In step S43, the second filter processing unit 55 stores the acquired positioning information as history data, and the process proceeds to step S50.
In step S44, the second filter processing unit 55 counts up the missing period of the positioning information.

In step S45, the second filter processing unit 55 determines whether or not the missing period has ended.
If the missing period has not ended, NO is determined in step S45, and the process proceeds to step S44.
On the other hand, when the deficient period ends, YES is determined in step S45, and the process proceeds to step S46.

In step S46, the second filter processing unit 55 determines whether or not the length S of the missing period is equal to or greater than the missing threshold Se. The process of step S46 corresponds to determining that the positioning result after a certain loss period is an invalid value.
If the length S of the loss period is not equal to or greater than the loss threshold value Se, NO is determined in step S46, and the process proceeds to step S50.
When the length S of the loss period is equal to or greater than the loss threshold value Se, YES is determined in step S46, and the process proceeds to step S47.
In step S <b> 47, the second filter processing unit 55 sets a loss extension period (= a loss period × a loss extension rate X).

In step S48, the second filter processing unit 55 determines whether or not the loss extension period has elapsed.
If the loss extension period has not elapsed, NO is determined in step S48, and the process proceeds to step S49.
On the other hand, if the loss extension period has elapsed, YES is determined in step S48, and the process proceeds to step S50.

In step S49, the second filter processing unit 55 deletes the positioning information acquired in the loss extension period from the history data, transitions the processing target positioning information to the next point, and the process returns to step S48.
In step S50, the second filter processing unit 55 determines whether the return condition to the position specifying process is satisfied. For example, when the history data stored in the history data storage unit 71 is subsequently processed, the return condition to the position specifying process is the final data to be processed (activity unit or data for one day, etc.) If the positioning information is being processed in real time, the final data to be processed (when processing is performed for each block of data temporarily stored in a buffer of a predetermined size) For example, the end of the block of data stored in the buffer. Further, when positioning information is processed in real time and data is not stored in the buffer (processing is performed every time positioning information is input), a return condition to the position specifying process in step S50. Is determined to be satisfied.
If the return condition to the position specifying process is not satisfied, NO is determined in step S50, the positioning information to be processed is shifted to the next point, and the process proceeds to step S41.
On the other hand, if the return condition for the position specifying process is satisfied, YES is determined in step S50, and the process returns to the position specifying process.

[Positioning context filter processing]
Next, the positioning context filter process executed in step S12 of the position specifying process will be described.
FIG. 11 is a flowchart for explaining the flow of the positioning context filter process.
In step S61, the third filter processing unit 56 acquires the longitude and latitude and the positioning time for the time series three points a, b, and c to be processed.
In step S62, the third filter processing unit 56 calculates a time interval h1 between the points a and b and a time interval h2 between the points b and c.

In step S63, the third filter processing unit 56 determines that the time interval h1 between the points a and b is equal to or greater than the time interval reference hd, or the time interval h2 between the points b and c is the time. It is determined whether or not it is greater than the interval reference hd.
In step S63, if the time interval h1 between the points a and b is greater than or equal to the time interval reference hd, or the time interval h2 between the points b and c is greater than or equal to the time interval reference hd, In S63, it is determined as YES, and the process proceeds to step S70.
On the other hand, if the time interval h1 between the points a and b is not greater than the time interval reference hd and the time interval h2 between the points b and c is not greater than the time interval reference hd in step S63, In S63, it is determined as NO, and the process proceeds to step S64.

In step S64, the third filter processing unit 56 calculates the return distance R (the distance between the points a and c obtained from the longitude and latitude).
In step S65, the third filter processing unit 56 determines whether or not the return distance R is equal to or less than the return radius Rn.
If the return distance R is not less than or equal to the return radius Rn, NO is determined in step S65, and the process proceeds to step S70.
On the other hand, if the return distance R is less than or equal to the return radius Rn, YES is determined in step S65, and the process proceeds to step S66.

In step S66, the third filter processing unit 56 calculates the adjacent distance L between the points a and b (the distance between the points a and b obtained from the longitude and latitude).
In step S67, the third filter processing unit 56 calculates the adjacent conversion speed Vm (= L / h1). At this time, the adjacent conversion speed Vm is configured to calculate the speed when moving from the point a to the point b, but is configured to calculate the moving speed when moving from the point b to the point c and use it for the determination. May be.
In step S68, the third filter processing unit 56 determines whether or not the converted speed value Vd is equal to or less than Vm. The process of step S68 is equivalent to determining that a sudden jump in the positioning result is an invalid value.
If the converted speed value Vd is not less than or equal to the adjacent converted speed Vm, NO is determined in step S68, and the process proceeds to step S70.
On the other hand, if the converted speed value Vd is not less than or equal to the adjacent converted speed Vm, YES is determined in step S68, and the process proceeds to step S69.

In step S69, the third filter processing unit 56 deletes the point b from the history data as a point having an abnormal value.
That is, according to the determinations in step S63 and step S68, the point b is deleted from the history data when “at high speed” and “returned close”.
In step S70, the third filter processing unit 56 determines whether or not the return condition to the position specifying process is satisfied. For example, when the history data stored in the history data storage unit 71 is subsequently processed, the return condition to the position specifying process is the final data to be processed (activity unit or data for one day, etc.) If the positioning information is being processed in real time, the final data to be processed (when processing is performed for each block of data temporarily stored in a buffer of a predetermined size) For example, the end of the block of data stored in the buffer. Further, when positioning information is processed in real time and data is not stored in the buffer (processing is performed every time positioning information is input), a return condition to the position specifying process in step S70. Is determined to be satisfied.
If the return condition to the position specifying process is not satisfied, NO is determined in step S70, the positioning information to be processed is shifted to the next three points, and the process proceeds to step S61.
On the other hand, if the return condition to the position specifying process is satisfied, YES is determined in step S70, and the process returns to the position specifying process.

By such processing, it is possible to appropriately exclude an abnormal value in GPS positioning information and specify a more accurate position.
FIG. 12 is a schematic diagram illustrating an example in which the user's position is displayed by history data (unprocessed history data) before the filtering process by the position specifying process is performed.
In the example shown in FIG. 12, history data including an abnormal value of acceleration, inaccurate position information acquired after the deficient period, and errors such as movement that cannot be performed by the user is displayed.

FIG. 13 is a schematic diagram illustrating an example in which a user's position is displayed by history data after the filtering process by the position specifying process is performed.
In the example shown in FIG. 13, an error such as an acceleration abnormal value, inaccurate position information acquired after the deficient period, and movement that cannot be taken as a user's action is detected by an acceleration filter, a deficient extension filter, and a positioning context filter. The history data that is appropriately excluded and limited to the more accurate one is displayed.
In addition, the process which excludes the abnormal value in these positioning information refers to the history data stored in the history data storage unit 71 to sufficiently supply power to the wrist terminal 1 (during charging, etc.) It is possible to perform processing in a state where positioning is not performed by dispersing the processing load in terms of time.

[Parameter control processing]
Next, parameter control processing will be described.
FIG. 14 is a flowchart for explaining the flow of parameter control processing executed by the wrist terminal 1 of FIG. 1B having the functional configuration of FIG.
The parameter control process is started when an operation for instructing the start of the parameter control process is performed by the user.

In step S81, the parameter control unit 57 acquires data referred to as a correct answer in the parameter control process. Here, the data referred to as the correct answer is, for example, teacher data in which the actual position is separately grasped, or data in which a position having a certain validity is estimated by map matching (route fitting) or the like.
In step S <b> 82, the parameter control unit 57 acquires the history data after the filtering process by the position specifying process.

In step S83, the parameter control unit 57 calculates an error between the data referred to as the correct answer and the history data after the filtering process.
In step S84, the parameter control unit 57 performs feedback processing on the calculated error and adjusts the parameters in each filter.
In step S85, the parameter control unit 57 stores the adjusted parameter in the parameter storage unit 72.

In step S <b> 86, the parameter control unit 57 performs position specifying processing on the unprocessed data stored in the history data storage unit 71 by using the adjusted parameter in each filter.
After step S86, the parameter control process ends.
Accordingly, the position specifying process can be performed again using a more appropriate parameter that has been adjusted, so that a more accurate position can be specified.

[Modification 1]
In the above-described embodiment, in addition to the acceleration filter process, the defect extension filter process, and the positioning context filter process, the submergence detection filter process for detecting that the wrist terminal 1 is submerged may be executed.
FIG. 15 is a functional block diagram illustrating a functional configuration of the wrist terminal 1 for executing the submergence detection filter process.

The submergence detection filter process is a series of processes for detecting that the wrist terminal 1 is submerged when the user's action is surfing or paddle, and deleting positioning information while submerged from the history data. .
When the submergence detection filter process is executed, the fourth filter processing unit 60 functions in addition to the functional configuration shown in FIG.
When it is determined by the filter selection unit 53 that the submergence detection filter is used, the fourth filter processing unit 60 performs a filter process using the submergence detection filter using the parameter selected by the filter selection unit 53.

The submergence detection filter is a filter that detects that the wrist terminal 1 is submerged by using the fact that the altitude shows an abnormal value before and after the loss period when the wrist terminal 1 is submerged and the positioning information is lost. It is.
FIG. 16 is a flowchart for explaining the flow of the submergence detection filter process.
The submergence detection filter process is executed as the last-stage filter process when it is determined in the position specifying process that the user's action is surfing or paddle.
In step S91, the fourth filter processing unit 60 acquires positioning information.

In step S92, the fourth filter processing unit 60 determines whether or not the altitude initial value A0 has been set.
If the initial altitude value A0 has not been set, NO is determined in step S92, and the process proceeds to step S93.
On the other hand, if the initial altitude value A0 has been set, YES is determined in step S92, and the process proceeds to step S95.

In step S93, the fourth filter processing unit 60 determines whether or not a predetermined number (here, five) of positioning information has been acquired after the positioning is started.
If the predetermined number of positioning information has not been acquired after the positioning is started, NO is determined in step S93, and the process proceeds to step S91.
On the other hand, if a predetermined number of pieces of positioning information has been acquired after the start of positioning, YES is determined in step S93, and the process proceeds to step S94.

In step S94, the fourth filter processing unit 60 sets a reference altitude initial value A0.
When the standard deviation of the predetermined number of positioning information is 15 [m] or more, the initial value A0 of the altitude is an average value obtained by excluding the maximum value and the minimum value from the altitude of the predetermined number of positioning information. . The initial altitude value A0 is an average value of altitudes of the predetermined number of positioning information when the standard deviation of the predetermined number of positioning information is less than 15 [m].
After step S94, the process proceeds to step S91.

In step S95, the fourth filter processing unit 60 calculates the average of the altitudes of a predetermined number (here, 5) of positioning information acquired most recently as the current altitude An.
In step S <b> 96, the fourth filter processing unit 60 determines whether or not the difference between the current altitude An and the initial altitude value A <b> 0 is greater than or equal to an altitude difference threshold (for example, 40 [m]).
If the difference between the current altitude An and the initial altitude value A0 is equal to or greater than the altitude difference threshold, it is determined YES in step S96, and the process proceeds to step S97.
On the other hand, if the difference between the current altitude An and the initial altitude value A0 is not greater than or equal to the altitude difference threshold, it is determined as NO in step S96, and the process proceeds to step S98.

In step S97, the fourth filter processing unit 60 deletes the current positioning information from the history data, assuming that the current altitude An is an abnormal value.
In step S98, the fourth filter processing unit 60 determines whether or not the return condition to the position specifying process is satisfied. For example, when the history data stored in the history data storage unit 71 is subsequently processed, the return condition to the position specifying process is the final data to be processed (activity unit or data for one day, etc.) If the positioning information is being processed in real time, the final data to be processed (when processing is performed for each block of data temporarily stored in a buffer of a predetermined size) For example, the end of the block of data stored in the buffer. Further, when positioning information is processed in real time and data is not stored in the buffer (processing is performed every time positioning information is input), a return condition to the position specifying process in step S98. Is determined to be satisfied.
If the return condition to the position specifying process is not satisfied, NO is determined in step S98, and the process proceeds to step S91.
On the other hand, if it is the final data to be processed, YES is determined in step S98, and the process returns to the position specifying process.
Thereby, the disturbance of the positioning which arises after a submergence period can be suppressed.

[Modification 2]
In the above-described embodiment, when the parameter is updated by the parameter control unit, the position specifying process may be executed again to specify a more appropriate position. For example, in the activity performed on one day, the history data of the position specified by the position specifying process can be stored as temporary history data. Then, by executing the parameter control process at a timing such as midnight and executing the position specifying process with the updated parameters, the position in the activity on the current day can be updated to a more appropriate position. The series of parameter control processing and position specifying processing may be executed by a server or the like to which history data has been uploaded from the wrist terminal 1.

[Modification 3]
In the above-described embodiment, when it is desired to display the position identification result in real time, the result of the acceleration filter processing, the processing of the loss extension filter, the processing result of the positioning context filter is not the result of applying all the filters, but the display mode. It is good also as selecting and displaying either of each step of.

[Modification 4]
In the above-described embodiment, the case where the number of pieces of positioning information to be determined in the positioning context filter is two has been described as an example, but the present invention is not limited to this. That is, the number of pieces of positioning information to be determined in the positioning context filter can be made larger (e.g., eight).
When two pieces of positioning information to be determined in the positioning context filter are used, the information can be displayed with near real time property (sequentiality suppressed by a short delay).
On the other hand, when the number of positioning information to be determined in the positioning context filter is larger, it is possible to perform post-filtering by giving priority to high accuracy regardless of real-time characteristics.
When there are a large number of pieces of positioning information to be determined in the positioning context filter, action radius and statistics are calculated using a predetermined number of positioning information before and after the time series (for example, four before and after) for the positioning information of interest. A range of activities (adjacent activity circles). For example, among the predetermined number of positioning information before and after the time series, the one with the largest mutual distance is set as the diameter, and the adjacent activity circle with the half distance as the action radius is set. Then, when a round trip exceeding the action radius is performed on this adjacent activity circle in a short time (for example, a round trip up to a distance of three times or more of the action radius), it is impossible as a user action. Estimated to be an abnormal value.
In addition, the position information selection mode for positioning information used for setting the adjacent activity circle may be adjusted according to the positioning information display mode. In the case of displaying the position information, the predetermined number before and after the time series with respect to the focused positioning information may be selected, for example, at a ratio of three from the previous time point and one from the later time point. Well, with this configuration, a highly accurate trajectory can be displayed almost in parallel with real-time GPS positioning.
In addition, as the positioning information to be determined used for the determination processing of the focused positioning information, the adjacent activity circle may be set using only the positional information acquired after the focused positioning information.

[Modification 5]
In the above-described embodiment, the setting of the positioning context filter can be adaptively changed according to various conditions.
For example, the number of pieces of positioning information to be determined in the positioning context filter can be changed in accordance with various situations of the user (behavior type, positioning environment, etc.) and various needs (reduction of calculation amount, etc.).
As an example, the number of positioning information to be determined in the positioning context filter can be increased or decreased depending on whether the user is cycling or performing daily activities. In addition, the number of pieces of positioning information to be determined in the positioning context filter can be increased or decreased according to the remaining battery level and processing load of the wrist terminal 1.
In the above-described embodiment, the selection method of the positioning information to be determined in the positioning context filter is changed according to various user situations (behavior type, positioning environment, etc.) and various needs (reduction in calculation amount, etc.). be able to.
Here, the selection method of positioning information means which positioning information before and after the positioning information to be selected is selected. For example, a predetermined number of positioning information before and after is selected or focused. Positioning information selection method such as selecting more positioning information after positioning information than previous positioning information or conversely selecting more positioning information before focused positioning information than later positioning information. Is possible.
Also in this case, as an example, the method for selecting the positioning information to be determined in the positioning context filter can be changed depending on whether the user is cycling or performing daily activities. Moreover, the selection method of the positioning information to be determined in the positioning context filter can be changed according to the remaining battery level and processing load of the wrist terminal 1.

[Modification 6]
In the above-described embodiment, the case where the present invention is applied to GPS positioning information has been described as an example. However, the present invention is not limited to this. That is, the present invention can be applied to a case where position information based on a network location is used in addition to GPS positioning information. For example, when using the network location of a Wi-Fi router, a situation may occur in which the positioning position instantaneously transits to a foreign country and returns, but the effect of the present invention is also obtained in such a situation. be able to.

[Modification 7]
In the above-described embodiment, the positioning information on the activities of a large number of users is aggregated in the server, and in the map information for which no route is set, a substantial route (virtual route) is set, and map matching (route fitting) is performed. It can be carried out. For example, a virtual route can be set for a lift route at a ski resort, map matching (route fitting) can be performed, and the position can be specified with higher accuracy. Further, the parameter of the filter can be adjusted by executing the parameter control process using the virtual route information.

The wrist terminal 1 configured as described above includes a positioning information acquisition unit 51, a third filter processing unit 56, and a recording control unit 59.
The positioning information acquisition unit 51 acquires a plurality of pieces of user position information that change due to movement.
The recording control unit 59 stores the user position information acquired by the positioning information acquisition unit 51 in the history data storage unit 71.
The third filter processing unit 56 specifies first position information corresponding to a predetermined time point from a plurality of pieces of position information stored in the history data storage unit 71.
The third filter processing unit 56 specifies the second position information acquired at a time point before or after the specified first position information from the plurality of position information stored in the history data storage unit 71.
The third filter processing unit 56 determines suitability of the first position information from the first position information and the identified second position information.
Thereby, it is possible to execute the process of excluding abnormal values in the position information at a timing when the wrist terminal 1 is not positioning with reference to the stored position information.
Therefore, it is possible to determine the suitability of the position information without concentrating the processing load on the apparatus in terms of time.

The third filter processing unit 56 further acquires third position information acquired at a time point before the specified first position information.
The third filter processing unit 56 determines suitability of the first position information from the specified second position information and third position information.
Thereby, the abnormal value in position information can be appropriately excluded using past position information for the first position information.

The third filter processing unit 56 specifies one or a plurality of second position information and third position information acquired at a time point before and after the specified first position information from the plurality of position information. .
Thereby, since the suitability of the first position information can be determined from one or a plurality of position information before and after the first position information, the suitability determination of the user's position information can be performed with higher accuracy.

The third filter processing unit 56 specifies different numbers of second position information and third position information, respectively, at a time point before and after the first position information.
Thereby, since different numbers of position information can be referred to before and after the first position information, it is possible to determine the suitability of the position information of the user with higher accuracy depending on the situation.

The third filter processing unit 56 changes the number of second position information and third position information to be specified according to a preset condition.
Thereby, since the position information before and after the first position information can be referred adaptively, it is possible to determine the suitability of the position information of the user with higher accuracy.

The third filter processing unit 56 determines suitability of the first position information based on the distance of the first position information with respect to the range in which the specified second position information and third position information are located.
Thereby, it is possible to determine the suitability of the position information of the user with higher accuracy by referring to the tendency of the positions close in time.

In addition, this invention is not limited to the above-mentioned embodiment, The deformation | transformation in the range which can achieve the objective of this invention, improvement, etc. are included in this invention.
For example, in the above-described embodiment, when the positioning information is deleted from the history data by each filter, the data can be deleted, the data can be invalidated, and the like.
In the above-described embodiment, the case where the loss threshold Se is set for each type of activity in the loss extension filter has been described as an example. However, the loss threshold Se may be changed according to the position and time. .
Further, in the above-described embodiment, the determination device that determines the suitability of the positioning information is configured by various filter processes executed by the control unit 11 of the wrist terminal 1, but is not limited thereto. That is, determination devices corresponding to various filters may be configured by hardware, and the wrist terminal 1 may perform processing using the output results of these determination devices.

  Further, in the above-described embodiment, in the loss extension filter processing, as the positioning information acquisition status, a portion where the positioning information is missing (missing portion) can be referred from various viewpoints. That is, as a missing portion, it is possible to refer to the number of times positioning information is not acquired in addition to referring to the time when positioning information is not acquired (length of missing time). Correspondingly, when deleting the positioning information from the history data, it is possible to set the number of missing extensions in addition to setting the missing extension period (time).

In the above-described embodiment, the wrist terminal is described as an example of the electronic device to which the present invention is applied. However, the present invention is not particularly limited thereto.
For example, the present invention can be applied to general electronic devices having a function of measuring a position. Specifically, for example, the present invention can be applied to a notebook personal computer, a tablet terminal, a video camera, a portable navigation device, a mobile phone, a smartphone, a portable game machine, and the like.

In the above-described embodiment, the control unit 11 inside the wrist terminal 1 controls the operations shown in the flowcharts of FIGS. 8 to 11 and 14, but sends data to a smartphone or the like via the wireless communication module 21. The calculation processing can be performed by a smartphone, and the result can be returned to the wrist terminal 1 and displayed on the LCD 14.
In the above-described embodiment, various data is recorded in the RAM 17 or the removable medium 31 in the wrist terminal 1. However, the data is transmitted to the smartphone or the like via the wireless communication module 21 and is recorded in the smartphone or the like. It may be.
That is, a location specifying system can be configured by distributing and implementing the functions of the wrist terminal 1 described above in a plurality of electronic devices. In this case, a function corresponding to the wrist terminal 1 that executes the position specifying process can be realized by the cooperation of the electronic devices having various functions.

The series of processes described above can be executed by hardware or can be executed by software.
In other words, the functional configuration of FIG. 2 is merely an example and is not particularly limited. That is, it is sufficient that the wrist terminal 1 has a function capable of executing the above-described series of processing as a whole, and what functional blocks are used to realize this function is not particularly limited to the example of FIG.
In addition, one functional block may be constituted by hardware alone, software alone, or a combination thereof.
The functional configuration in the present embodiment is realized by a processor that executes arithmetic processing, and the processor that can be used in the present embodiment is configured by various processing devices such as a single processor, a multiprocessor, and a multicore processor. In addition to the above, these various processing apparatuses and a combination of processing circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field-Programmable Gate Array) are included.

When a series of processing is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer incorporated in dedicated hardware. The computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose personal computer.

  The recording medium including such a program is not only constituted by the removable medium 31 of FIG. 1 distributed separately from the apparatus main body in order to provide the program to the user, but also in a state of being incorporated in the apparatus main body in advance. The recording medium etc. provided in The removable medium 31 is composed of, for example, a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. The optical disc is composed of, for example, a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), a Blu-ray (registered trademark) Disc (Blu-ray Disc), and the like. The magneto-optical disk is configured by MD (Mini-Disc) or the like. Further, the recording medium provided to the user in a state of being preinstalled in the apparatus main body is configured by the ROM 16 of FIG. 1 in which a program is recorded, for example.

  In the present specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in chronological order according to the order, but is not necessarily performed in chronological order, either in parallel or individually. The process to be executed is also included.

  As mentioned above, although several embodiment of this invention was described, these embodiment is only an illustration and does not limit the technical scope of this invention. The present invention can take various other embodiments, and various modifications such as omission and replacement can be made without departing from the gist of the present invention. These embodiments and modifications thereof are included in the scope and gist of the invention described in this specification and the like, and are included in the invention described in the claims and the equivalents thereof.

The invention described in the scope of claims at the beginning of the filing of the present application will be appended.
[Appendix 1]
Position information acquisition means for acquiring a plurality of pieces of user position information that change due to movement;
Storage control means for storing the user position information acquired by the position information acquisition means in a storage means;
First specifying means for specifying first position information corresponding to a predetermined time point from a plurality of pieces of position information stored in the storage means;
A second position information that specifies second position information acquired at a time point before or after the first position information specified by the first specifying means from the plurality of position information stored in the storage means. Means for identifying
From the first position information and the second position information specified by the second specifying means, determination means for determining the suitability of the first position information;
An electronic device comprising:
[Appendix 2]
The second specifying means further acquires third position information acquired at a time point earlier than the first position information specified by the first specifying means,
The determination unit determines whether or not the first position information is appropriate based on the second position information and the third position information specified by the second specifying unit. Electronics.
[Appendix 3]
The second specifying means includes one or a plurality of the second position information and the third position information acquired before and after the first position information specified by the first specifying means. The electronic apparatus according to appendix 2, wherein position information is specified from the plurality of position information.
[Appendix 4]
The second specifying means specifies a different number of the second position information and the third position information before and after the first position information, respectively. 3. The electronic device according to 3.
[Appendix 5]
Any one of Supplementary notes 2 to 4, wherein the second specifying means changes the number of the second position information and the third position information to be specified according to a preset condition. Electronic equipment described in one.
[Appendix 6]
The determination means determines suitability of the first position information based on a distance of the first position information with respect to a range in which the second position information and the third position information are specified. The electronic device according to any one of appendices 2 to 5, characterized by:
[Appendix 7]
Including a first electronic device and a second electronic device,
At least one of the first electronic device and the second electronic device,
Position information acquisition means for acquiring a plurality of pieces of user position information that change due to movement;
Storage control means for storing the user position information acquired by the position information acquisition means in a storage means;
First specifying means for specifying first position information corresponding to a predetermined time point from a plurality of pieces of position information stored in the storage means;
A second position information that specifies second position information acquired at a time point before or after the first position information specified by the first specifying means from the plurality of position information stored in the storage means. Means for identifying
From the first position information and the second position information specified by the second specifying means, determination means for determining the suitability of the first position information;
A position specifying system comprising:
[Appendix 8]
A location method performed by an electronic device,
A position information acquisition step of acquiring a plurality of user position information that changes due to movement;
A storage control step of storing in the storage means the location information of the user acquired in the location information acquisition step;
A first specifying step of specifying first position information corresponding to a predetermined time point from a plurality of position information stored in the storage unit;
A second position information that identifies second position information acquired at a time point before or after the first position information specified in the first specifying step from the plurality of position information stored in the storage means. Specific steps of
A determination step of determining suitability of the first position information from the first position information and the second position information specified in the second specifying step;
The position specifying method characterized by including.
[Appendix 9]
On the computer,
A position information acquisition function for acquiring a plurality of user position information that changes due to movement;
A storage control function for storing the position information of the user acquired by the position information acquisition function in a storage unit;
A first specifying function for specifying first position information corresponding to a predetermined time point from a plurality of position information stored in the storage unit;
A second position information that specifies second position information acquired at a time point before or after the first position information specified by the first specifying function from the plurality of position information stored in the storage means. Specific features of
A determination function for determining the suitability of the first position information from the first position information and the second position information specified by the second specifying function;
A program characterized by realizing.

  DESCRIPTION OF SYMBOLS 1 ... Wrist terminal, 11 ... Control part, 12 ... Sensor unit, 13 ... Input part, 14 ... LCD, 15 ... Clock circuit, 16 ... ROM, 17 ... · RAM, 18 ··· GPS antenna, 19 · · · GPS module, 20 · · · wireless communication antenna, 21 · · · wireless communication module, 22 · · · drive, 31 · · · removable media, 51 · · · Positioning information acquisition unit, 52 ... Behavior determination unit, 53 ... Filter selection unit, 54 ... First filter processing unit, 55 ... Second filter processing unit, 56 ... Third filter processing , 57... Parameter control unit, 58... Display control unit, 59... Recording control unit, 60... Fourth filter processing unit, 71. Storage unit, 73 ... Map information storage

Claims (9)

Position information acquisition means for acquiring a plurality of pieces of user position information that change due to movement;
Storage control means for storing the user position information acquired by the position information acquisition means in a storage means;
First specifying means for specifying first position information corresponding to a predetermined time point from a plurality of pieces of position information stored in the storage means;
A second position information that specifies second position information acquired at a time point before or after the first position information specified by the first specifying means from the plurality of position information stored in the storage means. Means for identifying
From the first position information and the second position information specified by the second specifying means, determination means for determining the suitability of the first position information;
An electronic device comprising: The second specifying means further acquires third position information acquired at a time point earlier than the first position information specified by the first specifying means,
2. The determination unit according to claim 1, wherein the determination unit determines whether the first position information is appropriate based on the second position information and the third position information specified by the second specifying unit. Electronic equipment.   The second specifying means includes one or a plurality of the second position information and the third position information acquired before and after the first position information specified by the first specifying means. The electronic apparatus according to claim 2, wherein position information is specified from the plurality of position information.   The second specifying means specifies a different number of the second position information and the third position information before and after the first position information, respectively. Or the electronic device of 3.   5. The device according to claim 2, wherein the second specifying unit changes the number of the second position information and the third position information to be specified according to a preset condition. Item 1. An electronic device according to item 1.   The determination means determines suitability of the first position information based on a distance of the first position information with respect to a range in which the second position information and the third position information are specified. The electronic device according to claim 2, wherein: Including a first electronic device and a second electronic device,
At least one of the first electronic device and the second electronic device,
Position information acquisition means for acquiring a plurality of pieces of user position information that change due to movement;
Storage control means for storing the user position information acquired by the position information acquisition means in a storage means;
First specifying means for specifying first position information corresponding to a predetermined time point from a plurality of pieces of position information stored in the storage means;
A second position information that specifies second position information acquired at a time point before or after the first position information specified by the first specifying means from the plurality of position information stored in the storage means. Means for identifying
From the first position information and the second position information specified by the second specifying means, determination means for determining the suitability of the first position information;
A position specifying system comprising: A location method performed by an electronic device,
A position information acquisition step of acquiring a plurality of user position information that changes due to movement;
A storage control step of storing in the storage means the location information of the user acquired in the location information acquisition step;
A first specifying step of specifying first position information corresponding to a predetermined time point from a plurality of position information stored in the storage unit;
A second position information that identifies second position information acquired at a time point before or after the first position information specified in the first specifying step from the plurality of position information stored in the storage means. Specific steps of
A determination step of determining suitability of the first position information from the first position information and the second position information specified in the second specifying step;
The position specifying method characterized by including. On the computer,
A position information acquisition function for acquiring a plurality of user position information that changes due to movement;
A storage control function for storing the position information of the user acquired by the position information acquisition function in a storage unit;
A first specifying function for specifying first position information corresponding to a predetermined time point from a plurality of position information stored in the storage unit;
A second position information that specifies second position information acquired at a time point before or after the first position information specified by the first specifying function from the plurality of position information stored in the storage means. Specific features of
A determination function for determining the suitability of the first position information from the first position information and the second position information specified by the second specifying function;
A program characterized by realizing.

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