JP2020134486A - Positioning device, method for positioning, and computer program - Google Patents

Abstract

To provide a structure which can maintain a desired level of positioning accuracy regardless of whether the device is in a building or outside the building and can prevent increase of power consumption due to the maintenance of the level of accuracy.SOLUTION: The positioning device includes: a camera; a first position specification unit for specifying the position of an own vehicle by calculating a relative position to a reference point in an image taken by the camera; a second position specification unit for specifying the position of the own vehicle on the basis of a positioning signal sent from a plurality of positioning satellites; and a controller for controlling the state of operation of the camera and the second position specification unit so that one of the first and second position specification units will perform positioning according to the movement of the own vehicle in a predetermined position measuring mode.SELECTED DRAWING: Figure 1

Description

The present invention relates to a positioning device, a positioning method and a computer program.

As a method of acquiring the position of a moving object, positioning using satellites (GPS / GNSS positioning), a marker is photographed with a camera to determine a reference point, and the relative position is positioned from the distance the marker moves while being photographed with the camera. , Positioning estimated from the signal strength (RSSI) of radio waves, and the like. Note that GPS and GNSS are abbreviations for Global Positioning System and Global Navigation Satellite System, respectively. RSSI is an abbreviation for Received Signal Strength Indicator.

Such a method is used not only for providing various functions mounted on the moving body and services for the moving body, but also as a method for recording the position of an article such as a business material installed at an arbitrary place. For example, there is a method of acquiring the position of a moving body (vehicle or drone) carrying an article and recording the position of the moving body when the article is installed and the identifier of the article.

Patent Document 1 discloses an example of a positioning device capable of performing positioning using the satellite (GPS / GNSS positioning) and positioning of the signal strength of radio waves, respectively. Specifically, this positioning device includes an identification unit that identifies whether the electronic device is indoors or outdoors by using the optical characteristics detected by the optical characteristic detection unit, and is provided by the indoor positioning unit. The operation of switching between positioning and positioning by the outdoor positioning unit is performed.

Patent Document 2 discloses an example of a position estimation device that uses the camera to determine a position relative to a marker. According to the document, this position estimation device performs position estimation using markers fixed in real space. Then, this position estimation device captures a plurality of markers based on image information of a plurality of markers derived from the peripheral image captured by the imaging device that captures the peripheral image from the imaging position where the relative position with respect to the reference point is determined. Obtain the position information of the marker. Then, the position estimation unit of this position estimation device obtains the position estimation value of the reference point based on the position information of these plurality of markers.

According to Patent Document 3, when the power supply to the communication unit for communicating with the computer on the computer network is not limited, the other, that is, the control to limit the power supply to the reception unit that receives the radio wave from the satellite. A terminal device including a unit is disclosed.

According to Patent Document 4, when it is determined that an electronic device provided with a positioning processing unit that performs positioning using a positioning antenna has lost the intention to use a specific application program, power is supplied to the positioning processing unit. The configuration to be stopped is disclosed.

Japanese Unexamined Patent Publication No. 2013-120131 JP-A-2015-225014 Japanese Unexamined Patent Publication No. 2011-193296 International Publication No. 2008/044416

The following analysis is given by the present invention. The above-mentioned satellite positioning (GPS / GNSS positioning) has an advantage that it can be easily used as long as there is a signal receiver, but has a disadvantage that it cannot receive a signal indoors where the satellite enters a blind spot and does not operate.

On the other hand, the method of using a marker that can be recognized by the camera as a reference point allows the reference point such as a marker to be easily attached to a wall or an object indoors, and can be used indoors for radio wave interference or multipath. It has the advantage of having no effect. On the other hand, the method of using a marker that can be recognized by the camera as a reference point is difficult in terms of the physical environment and work cost that it is difficult to set a reference point so as to cover the area to be positioned outdoors. There are disadvantages that make it difficult.

In addition, while proximity positioning and triangular positioning using radio wave signal strength (RSSI) have the advantage of being able to be used indoors, errors due to interference and the effects of multipath and the installation conditions of the radio are complicated. There are disadvantages.

Considering the above-mentioned advantages and disadvantages, it is possible to eliminate the blind spot of positioning by combining the method of positioning the outdoors with GPS / GNSS positioning and the indoors with a marker recognizable by the camera as a reference point.

However, when this method is adopted, there is a problem that wasteful power is consumed when a device unrelated to positioning (camera outdoors, GPS / GNSS indoors) is turned on. In order to suppress unnecessary power consumption, it is necessary to manually control the power ON / OFF of each device, but if it is operated manually, the convenience is impaired.

Further, Patent Document 1 proposes to automate the switching between the positioning by the indoor positioning unit and the outdoor positioning unit, but it is necessary to separately provide an optical characteristic detection unit and an identification unit, which lacks versatility. There is a problem that it ends up.

The present invention is a positioning device that can maintain a desired positioning accuracy regardless of whether the device is indoors or outdoors, and can contribute to the provision of a configuration capable of suppressing an increase in power consumption associated therewith. It is an object of the present invention to provide a positioning method and a computer program.

According to the first viewpoint, the first position specifying unit that identifies the position of the own machine by calculating the relative position between the camera and the reference point captured in the image taken by the camera. And, based on the positioning signals transmitted from the plurality of positioning satellites, the second position specifying unit that specifies the position of the own machine, and the first position according to the movement of the own machine in the predetermined position measurement mode. Provided is a positioning device including a control unit that controls the operating state of the camera and the second position specifying unit so that either the position specifying unit or the second position specifying unit performs positioning. To.

According to the second viewpoint, the first position specifying unit that identifies the position of the own machine by calculating the relative position between the camera and the reference point captured in the image taken by the camera. A positioning device including a second positioning unit that identifies the position of the own aircraft based on positioning signals transmitted from a plurality of positioning satellites moves the own aircraft in a predetermined position measurement mode. A step of controlling the operating state of the camera and the second position specifying unit so that either the first position specifying unit or the second position specifying unit performs positioning according to the above, and the camera. And a positioning method including a step of identifying the position of the own machine by using either the set of the first position specifying unit or the second position specifying unit is provided. This method is linked to a specific machine called a positioning device including the camera and the first and second positioning portions.

According to the third viewpoint, the first position specifying unit that identifies the position of the own machine by calculating the relative position between the camera and the reference point captured in the image taken by the camera. In a predetermined position measurement mode, a computer mounted on a positioning device equipped with a second position specifying unit that identifies the position of the own machine based on positioning signals transmitted from a plurality of positioning satellites. , The operating state of the camera and the second position specifying unit is controlled so that either the first position specifying unit or the second position specifying unit performs positioning according to the movement of the own machine. Processing and
A computer program for executing a process of identifying the position of the own machine by using either the camera and the set of the first position specifying unit or the second position specifying unit is provided. This program is input to a computer device from an input device or from the outside via a communication interface, stored in a storage device, and drives a processor according to a predetermined step or process. In addition, this program can display the processing result including the intermediate state step by step via the display device, or can communicate with the outside via the communication interface, if necessary. Computer devices for this purpose, for example, typically include a processor, a storage device, an input device, a communication interface, and, if necessary, a display device that can be connected to each other by a bus.

According to the present invention, it is possible to maintain the positioning accuracy of the positioning device regardless of whether it is indoors or outdoors, and it is possible to suppress an increase in power consumption associated therewith.

It is a figure which shows the structure of one Embodiment of this invention. It is a figure for demonstrating operation of one Embodiment of this invention. It is a figure for demonstrating operation of one Embodiment of this invention. It is a figure which shows the structure of the positioning apparatus of 1st Embodiment of this invention. It is a figure for demonstrating the positioning function of the positioning apparatus of 1st Embodiment of this invention. It is a flow chart which showed the operation (outdoor-> indoor) of the positioning apparatus of 1st Embodiment of this invention. It is a flow chart which showed the operation (indoor → outdoor) of the positioning apparatus of 1st Embodiment of this invention. It is a figure which shows the structure of the computer which comprises the positioning apparatus of this invention.

First, an outline of one embodiment of the present invention will be described with reference to the drawings. It should be noted that the drawing reference reference numerals added to this outline are added to each element for convenience as an example for assisting understanding, and the present invention is not intended to be limited to the illustrated embodiment. Further, the connecting line between blocks such as drawings referred to in the following description includes both bidirectional and unidirectional. The one-way arrow schematically shows the flow of the main signal (data), and does not exclude interactivity. The program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and, if necessary, a display device. Further, this computer device is configured to be able to communicate with devices inside or outside the device (including a computer) via a communication interface regardless of whether it is wired or wireless. Further, although there are ports or interfaces at the input / output connection points of each block in the figure, they are not shown. Further, in the following description, "A and / or B" is used to mean at least one of A and B.

In one embodiment of the present invention, as shown in FIG. 1, a positioning device including a camera 11, a first position specifying unit 12, a second position specifying unit 13, and a control unit 14. It can be realized at 10.

More specifically, the first position specifying unit 12 has a function of specifying the position of the own machine by calculating the position relative to the reference point captured in the image taken by the camera 11. It has. Further, the second position specifying unit 13 has a function of identifying the position of the own machine based on the positioning signals transmitted from a plurality of positioning satellites. Then, in the predetermined position measurement mode, the control unit 14 causes either one of the first position specifying unit 12 or the second position specifying unit 13 to perform positioning according to the movement of the own machine. It controls the operating state of the camera 11 and the second position specifying unit 13. The predetermined position measurement mode may be an operation mode provided as a basic function of the position positioning device 10, or may be an operation mode started by starting an application program using position information. Good.

For example, when the positioning device 10 is located outdoors, as shown in FIG. 2, the positioning device 10 turns on the power of the second positioning unit 13 and receives a positioning signal from a satellite to perform positioning. .. On the other hand, the positioning device 10 turns off the power of the camera 11 or shifts to the power saving mode. This makes it possible to prevent wasteful power consumption outdoors. Further, at this time, the control unit 14 may also turn off the power of the first position specifying unit 12 or shift to the power saving mode.

Further, for example, when moving from outdoors to indoors, as shown in FIG. 3, the positioning device 10 turns on the power of the pair of the camera 11 and the first positioning unit 12, and starts shooting with the camera 11. To do. Then, the positioning device 10 performs positioning based on the size and shape of the markers P1 and P2 reflected in the image captured by the camera 11. On the other hand, the positioning device 10 turns off the power of the second positioning unit 13 or shifts to the power saving mode. This makes it possible to prevent wasteful power consumption indoors.

When moving from the outdoor to the indoor again from the state of FIG. 3, as shown in FIG. 2, the positioning device 10 turns on the power of the second positioning unit 13 and receives the positioning signal from the satellite. Positioning is carried out. As a method for determining whether the positioning device 10 is located outdoors or indoors, the number of satellites supplemented by the second positioning unit 13 and the positioning accuracy information associated therewith are used. be able to. Further, as another method of determining whether the positioning device 10 is located outdoors or indoors, the position information of the positioning device 10 identified by the second positioning unit 13 is used. You can also.

As described above, regardless of whether the positioning device of the present embodiment is indoors or outdoors, the positioning accuracy of the positioning device can be maintained, and the increase in power consumption associated therewith can be suppressed. It will be possible.

[First Embodiment]
Subsequently, the first embodiment of the present invention will be described in detail with reference to the drawings. FIG. 4 is a diagram showing the configuration of the positioning device 100 according to the first embodiment of the present invention. With reference to FIG. 4, a configuration including a camera unit 110, a satellite positioning unit 111, a display control unit 112, a CPU 102, a ROM 103, a RAM 104, a power supply control unit 105, a display unit 106, an input unit 107, and a wireless control unit 108 is shown. ing. The CPU, ROM, and RAM are abbreviations for Central Processing Unit, Read Only Memory, and Random Access Memory, respectively.

The image taken by the camera unit 110 is temporarily stored in the RAM 104.

In the indoor positioning mode, the CPU 102 reads a positioning program from the ROM 103 and identifies the position of the own machine based on the image of the marker (reference point) captured in the image captured by the camera unit 110. This position is specified by comparing the preset installation position, size and shape of the marker with the position, size and shape of the marker captured in the image taken by the camera unit 110. Can be done. Therefore, the positioning program operated by the CPU 102 functions as the first position specifying unit 12. As a method of specifying the position of the own machine using the image taken by the camera unit 110, the method described in Patent Document 2 can also be used.

Further, when the position information of the absolute coordinate system is required as the position of the own machine, the position positioning device 100 includes a database that holds the position information of the marker, or the position positioning device 100 provides the position information via a network or the like. Access to this type of database is preferred. Thereby, the CPU 102 can specify the position of the own machine based on the position information of the reference point and the relative positional relationship of the own machine with the reference point.

The satellite positioning unit 111 performs satellite positioning (GPS / GNSS positioning). Therefore, the satellite positioning unit 111 corresponds to the second position specifying unit 13 described above.

The power supply control unit 105 controls the on / off of the camera unit 110 and the satellite positioning unit 111 based on the instruction from the CPU 102. The power supply control unit 105 controls the on / off of the camera unit 110 and the satellite positioning unit 111 to perform the same power saving control as the control unit 14 described above.

The configuration of the other positioning device 100 is well known to those skilled in the art, and thus the description thereof will be omitted. However, the hardware configuration shown in FIG. 4 includes a smartphone having a camera and a satellite positioning function, a game terminal, and other wearables. It is known as the general configuration of terminals. Therefore, the positioning device 100 of the present invention has a function of switching between an indoor positioning function based on a marker image and a positioning function accompanied by power control, which will be described later, for smartphones, game terminals, other wearable terminals, etc. having a camera and satellite positioning function. This can be achieved by adding and.

Subsequently, the positioning function of the positioning device 100 of the present embodiment will be described with reference to FIG. As shown in the right figure of FIG. 5, the positioning device 100 of the present embodiment uses the satellite positioning unit 111 outdoors to perform positioning using radio waves received from GPS / GNSS satellites (outdoor positioning mode). ..

On the other hand, indoors, the positioning device 100 performs positioning by using the camera unit 110 and the marker M as shown in the left figure of FIG. 5 (indoor positioning mode).

In determining whether the position of the own machine is outdoors or indoors, the positioning device 100 detects the movement between the outdoors and the indoors by using the positioning function during operation. First, when the positioning device 100 is located outdoors, the movement from the outdoors to the indoors can be determined by using accuracy information indicating the accuracy of satellite positioning. Here, when the accuracy of satellite positioning is low, the positioning device 100 turns on the power of the camera unit 110 and determines that it is indoors based on the information of the marker M photographed by the camera unit 110.

On the other hand, when the positioning device 100 is located indoors, the movement from indoors to outdoors can be determined by whether or not the indoor positioning (positioning using a marker) can be performed.

Further, in a more desirable form, it is also possible to determine the movement of the positioning device 100 to the outside by using the change in the position of the own machine determined from the marker M. Specifically, the positioning device 100 can determine the direction in which the own machine is traveling from the position information of the own machine specified at a certain time point and the next time point. Then, the positioning device 100 can also determine whether or not the own machine has gone outdoors by collating the movement of the own machine with the map information indicating the area to be determined to be indoors. Then, when it is determined that the aircraft has gone outdoors, the positioning device 100 determines that the aircraft has gone outdoors when the satellite positioning unit 111 is turned on and positioning can be performed with a predetermined accuracy.

Subsequently, the operation of the positioning device 100 when the positioning device 100 moves from the outside to the inside and when the positioning device 100 moves from the indoor to the outside will be described in detail with reference to the drawings. FIG. 6 is a flow chart showing the operation (outdoor → indoor) of the positioning device according to the first embodiment of the present invention.

First, in the outdoor positioning mode, the positioning device 100 performs outdoor positioning (satellite positioning) at a predetermined timing (step S001).

Next, the positioning device 100 confirms whether or not the positioning accuracy of the outdoor positioning (satellite positioning) is sufficient (step S002). Whether or not this positioning accuracy is sufficient can be determined by whether or not the value shown in the above accuracy information is less than a predetermined threshold value.

As a result of the determination, when it is determined that the positioning accuracy is sufficient, the positioning device 100 keeps the power of the camera unit off and continues the outdoor positioning (satellite positioning) (step S006).

If it is determined that the positioning accuracy is insufficient as a result of the determination, the positioning device 100 turns on the power of the camera unit 110 (step S003) and attempts indoor positioning (step S004).

When it is determined that positioning is possible as a result of the indoor positioning, the positioning device 100 turns off the power of the satellite positioning unit 111 (step S005).

If the indoor positioning (positioning using a marker) cannot be performed, the positioning device 100 returns to step S001 and continues the outdoor positioning (No in step S004).

Then, the positioning device 100 records the position determined in step S001 or S004 described above as a positioning result (step S007).

FIG. 7 is a flow chart showing the operation (indoor → outdoor) when the positioning device 100 moves from indoors to outdoors.

First, in the indoor positioning mode, the positioning device 100 performs indoor positioning (positioning using a marker) at a predetermined timing (step S101).

Next, the positioning device 100 confirms whether or not the indoor positioning (positioning using a marker) can be performed (step S102). Here, if indoor positioning (positioning using a marker) can be performed, the positioning device 100 keeps the power of the satellite positioning unit 111 off and continues indoor positioning (positioning using a marker) (step S106). ).

On the other hand, if the indoor positioning (positioning using a marker) cannot be performed as a result of the determination,
The positioning device 100 turns on the power of the satellite positioning unit 111 (step S103) and attempts outdoor positioning (satellite positioning) (step S104).

When sufficient positioning accuracy is obtained as a result of the outdoor positioning (satellite positioning), the positioning device 100 turns off the power of the camera unit 110 (step S105). Further, the positioning device 100 may end the program for identifying the position of the own machine by using the image obtained from the camera unit 110.

Further, if sufficient positioning accuracy is not obtained as a result of the outdoor positioning (satellite positioning), the positioning device 100 returns to step S101 and continues indoor positioning (No in step S104).

Finally, the positioning device 100 records the position determined in step S101 or S104 described above as a positioning result (step S107).

As described above, according to the present embodiment, by turning on / off the satellite positioning unit 111 and the camera unit 110, only the optimum device is turned on according to the position of the positioning device 100, and the other is turned off or the power saving mode. Can be operated with. As a result, the positioning device 100 of the present embodiment can reduce power consumption and seamlessly perform positioning.

Although each embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and further modifications, substitutions, and adjustments are made without departing from the basic technical idea of the present invention. Can be added. For example, the network configuration, the configuration of each element, and the expression form of the message shown in each drawing are examples for assisting the understanding of the present invention, and are not limited to the configurations shown in these drawings.

For example, in the above-described embodiment, the positioning device 100 has been described as specifying the position of the own machine based on the size and shape of the reference point captured in the image captured by the camera unit 110. The method of specifying the position of the own machine using a camera is not limited to this. For example, if a large number of markers can be arranged indoors so that the camera unit 110 of the positioning device 100 can always capture two or more markers, the position is determined from the distance and angle between the two or more markers. It is also possible to adopt a method of identifying.

Further, in another embodiment, a bar code or a two-dimensional code indicating the position or ID of the marker is printed on the marker, and the camera unit 110 of the positioning device 100 prints the bar code or the two-dimensional code. The position or ID of the marker may be specified by reading. This makes it possible to simplify the position identification process in the positioning device 100.

Further, in the above-described embodiment, the on / off control of the camera unit 110 and the satellite positioning unit 111 has been described, but the same can be achieved by changing the operating state of the camera unit 110 and the satellite positioning unit 111 instead of turning the power on / off. Power saving control may be performed.

Further, the procedure shown in the first embodiment described above can be realized by a program that causes a computer (9000 in FIG. 8) that functions as the positioning device 100 to realize the function as the positioning device 100. Such a computer is exemplified in a configuration including a CPU (Central Processing Unit) 9010, a communication interface 9020, a memory 9030, and an auxiliary storage device 9040 in FIG. That is, the CPU 9010 in FIG. 8 may execute an area division program or a position estimation program, and update each calculation parameter held in the auxiliary storage device 9040 or the like.

That is, each part (processing means, function) of the positioning device 100 shown in the first embodiment described above executes each of the above processes by using the hardware of the processor mounted on the positioning device 100. It can be realized by a computer program.

Finally, a preferred embodiment of the present invention is summarized.
[First form]
(Refer to the positioning device from the first viewpoint above)
[Second form]
When the position measurement accuracy of the second position specifying unit deteriorates, the control unit of the positioning device determines that the own machine has moved from outdoors to indoors, and determines that the second position specifying unit has moved. It is possible to adopt a configuration in which the camera is placed in a power saving state and the camera is transitioned to a positioning capable state.
[Third form]
The control unit of the positioning device described above determines that the own machine has moved from indoors to outdoors due to a change in the positional relationship between the reference point and the own machine captured in the image taken by the camera. It is possible to adopt a configuration in which the camera is put into a power saving state and the second position specifying portion is changed to a state where positioning is possible.
[Fourth form]
The control unit of the positioning device described above may adopt a configuration in which the camera and the second position specifying unit are put into a power saving state by turning off the power of the camera and the second position specifying unit. it can.
[Fifth form]
The first positioning unit of the positioning device described above is based on the installation position, size and shape of the reference point and the position, size and shape of the reference point captured in the image taken by the camera. Therefore, it is possible to adopt a configuration that specifies the position of the own machine.
[Sixth form]
The positioning device described above can further access the position information of the reference point captured in the image taken by the camera, and the first position specifying unit is the position information of the reference point and the position information of the reference point. It is possible to adopt a configuration for specifying the position of the own machine based on the relative positional relationship with the reference point.
[7th form]
(Refer to the positioning method from the second viewpoint above)
[8th form]
(Refer to the computer program from the third viewpoint above)
The seventh to eighth forms can be developed into the second to sixth forms in the same manner as the first form.

The disclosures of the above patent documents shall be incorporated into this document by citation. Within the framework of the entire disclosure (including the scope of claims) of the present invention, it is possible to change or adjust the embodiments or examples based on the basic technical idea thereof. Further, within the framework of the disclosure of the present invention, various combinations or selections (parts) of various disclosure elements (including each element of each claim, each element of each embodiment or embodiment, each element of each drawing, etc.) (Including target deletion) is possible. That is, it goes without saying that the present invention includes all disclosure including claims, and various modifications and modifications that can be made by those skilled in the art in accordance with the technical idea. In particular, with respect to the numerical range described in this document, it should be interpreted that any numerical value or small range included in the range is specifically described even if there is no other description.

10, 100 Positioning device 11 Camera 12 First position identification unit 13 Second position identification unit 14 Control unit P1, P2, M Marker 102 CPU
103 ROM
104 RAM
105 Power control unit 106 Display unit 107 Input unit 108 Wireless control unit 110 Camera unit 111 Satellite positioning unit 112 Display control unit 9000 Computer 9010 CPU
9020 Communication interface 9030 Memory 9040 Auxiliary storage

Claims (8)

With the camera
A first position specifying unit that specifies the position of the own machine by calculating the position relative to the reference point captured in the image taken by the camera.
A second position identification unit that identifies the position of the aircraft based on positioning signals transmitted from multiple positioning satellites, and
In a predetermined position measurement mode, the camera and the second position specifying unit so that either the first position specifying unit or the second position specifying unit performs positioning according to the movement of the own machine. Control unit that controls the operating state of
Positioning device equipped with. When the position measurement accuracy of the second position specifying unit deteriorates, the control unit determines that the own machine has moved from outdoors to indoors, puts the second position specifying unit into a power saving state, and puts the second position specifying unit into a power saving state. The positioning device according to claim 1, which shifts the camera to a positioning capable state. The control unit determines that the own machine has moved from indoors to outdoors due to a change in the positional relationship between the reference point and the own machine captured in the image taken by the camera, and saves power to the camera. The positioning device according to claim 1 or 2, which is in a state and transitions the second positioning unit to a positioning capable state. The position of any one of claims 1 to 3 is such that the control unit turns off the power of the camera and the second position specifying unit to put the camera and the second position specifying unit into a power saving state. Positioning device. The first position specifying portion of the own machine is based on the installation position, size and shape of the reference point and the position, size and shape of the reference point captured in the image taken by the camera. A positioning device according to any one of claims 1 to 4, which specifies a position. further,
It is possible to access the position information of the reference point captured in the image taken by the camera.
The first position specifying unit is positioned according to any one of claims 1 to 5 that specifies the position of the own machine based on the position information of the reference point and the relative positional relationship with the reference point. apparatus. By calculating the relative position between the camera and the reference point captured in the image taken by the camera, the first position identification unit that identifies the position of the own aircraft and the transmission from a plurality of positioning satellites. A second position identification unit that identifies the position of the own aircraft based on the positioning signal
Positioning device equipped with
In a predetermined position measurement mode, the camera and the second position specifying unit so that either the first position specifying unit or the second position specifying unit performs positioning according to the movement of the own machine. Steps to control the operating state of
A step of identifying the position of the own machine by using either the camera and the set of the first position specifying part or the second position specifying part.
Positioning method including. By calculating the relative position between the camera and the reference point captured in the image taken by the camera, the first position identification unit that identifies the position of the own aircraft and the transmission from a plurality of positioning satellites. A second position identification unit that identifies the position of the own aircraft based on the positioning signal
To the computer installed in the positioning device equipped with
In a predetermined position measurement mode, the camera and the second position specifying unit so that either the first position specifying unit or the second position specifying unit performs positioning according to the movement of the own machine. And the process of controlling the operating state of
A process of identifying the position of the own machine by using either the camera and the set of the first position specifying unit or the second position specifying unit.
A computer program that runs.

Images