JP3254175B2 - Portable GPS receiver - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a GPS (Global
Positioning System (Global Positioning System) This is a portable GPS receiver that receives signals from satellites and measures the position and speed of the receiver. More specifically, it can be held and worn by a human arm, Human running, walking position,
The present invention relates to a portable GPS receiver for measuring a moving speed and a moving distance.

[0002]

2. Description of the Related Art Conventionally, a GPS system has been developed for three of twenty-four GPS satellites orbiting about 20, 200 km and an inclination of 55 degrees on the earth in about 12 hours.
Receives navigation data necessary for positioning from four or more satellites with a receiver on the earth, and the position of the mobile body equipped with the receiver,
It performs positioning calculation such as moving speed.

[0003] The transmission frequency of a GPS satellite is 1.
57542GHz L1 and frequency is 1.22760GH
There are two L2 of z, and L1 is used for general positioning. L1 is subjected to PSK (phase shift keying) modulation with a pseudo noise code (a composite wave of a C / A code for identifying a satellite and the orbit of the satellite and navigation data such as satellite orbit information and time information), and is spread and spectrum-spread. Sent from.

FIG. 15 is a block diagram showing the configuration of a GPS receiver for receiving the above radio waves. In the figure, 15
01 is an antenna for receiving a radio wave transmitted from a GPS satellite, and 1502 is an L for amplifying the received L band signal.
A band amplification circuit; 1503, a down converter for performing signal conversion described later; 1504, a voltage comparator for digitally converting a signal from the down converter 1503; 1505, a message decoding circuit for obtaining navigation data and carrier phase information corresponding to a pseudo distance; 1506 is a C for generating a C / A code.
A / A code generation circuit 1507 is a positioning calculation unit that calculates positioning data. The above components are organically connected to form a GPS receiver.

Next, the receiving operation of the GPS receiving apparatus configured as described above will be described. Antenna 1501
The signal of 1.57542 GHz received by the L-band amplifier circuit 1502 is amplified by the down-converter 1503,
The signal is converted to a first IF (intermediate frequency) signal of MHz to 200 MHz, and further converted to a second IF signal of about 2 MHz to 5 MHz. This second IF signal is applied to the voltage comparator 150
4 and a voltage comparator 1 with a clock several times the IF signal.
The digital conversion is performed using 504. This output is spread spectrum data.

The message decoding circuit 1505 despreads the digital signal output from the voltage comparator 1504 with the C / A code, which is the same pseudo noise code as that of the satellite generated by the C / A code generation circuit 1506, thereby providing navigation data and data. Obtain carrier phase information corresponding to the pseudorange. This operation is performed for a plurality of satellites, and the positioning calculation unit 1507 normally obtains positioning data from navigation data of four satellites. The positioning data obtained by the positioning calculation unit 1507 is output to a CPU that controls the operation of the entire portable device, or is output to the outside as a digital signal.

Recently, such a GPS receiver is used as a car navigation system. G
A device used as a portable device for reducing the size of a PS receiving device and obtaining the direction of a person and the moving distance during walking is disclosed in, for example, "Receiving Device" in Japanese Patent Application Laid-Open No. 6-118156.

[0008]

When the conventional GPS receiver as described above is used for measuring the moving speed and the moving distance of a human body, for example, in the case of an in-vehicle GPS receiver, a tunnel or a building is used. In places where positioning is difficult such as in valleys, navigation operation can be continued using self-contained navigation means such as map matching. However, if this is used as a small-sized GPS receiver such as an arm, it is extremely difficult to provide map information using a CD-ROM because of its small size.

In the case of a vehicle, the moving distance and the moving speed can be obtained from an in-vehicle instrument. However, in the case of a wrist type, since the moving distance itself is obtained from a GPS satellite, the distance can be measured when the satellite cannot be captured. There is a risk of disappearing. Furthermore, since the direction of movement of a person changes frequently, it is necessary to perform a positioning operation continuously in order to accurately determine the movement distance, and the power consumption of the GPS receiver becomes extremely large. was there.

The present invention has been made in view of the above, and it is possible to measure a moving distance even when a GPS satellite cannot be acquired, to avoid continuous operation of GPS reception, and to suppress power consumption. An object is to provide a portable GPS receiver.

[0011]

To achieve the above object, a portable GPS receiver according to claim 1 receives a signal from a GPS satellite by a GPS receiver,
In a portable GPS receiving apparatus for measuring the position and speed of the own device, a traveling pitch detecting means for detecting a traveling pitch of a human body, and a timer means for determining an operation cycle for intermittently operating a receiving operation from the GPS satellite. A stride calculating means for calculating a running stride in the operation cycle from the received positioning data between two points and a pitch detected by the running pitch detecting means while the positioning data is obtained; and the stride calculation. The running speed and the running distance are calculated from the stride obtained by the means and the pitch detected by the running pitch detecting means in the operation cycle.
And distance calculating means.

That is, a travel stride is determined from a travel distance between two points measured by the GPS receiving means and a travel pitch number obtained between the two points, and a travel distance and a travel speed are determined from the stride. Continuous measurement is possible in places where positioning is difficult, such as in valleys. Further, by calculating the moving distance and the moving speed based on the stride, it is not necessary to continuously perform the positioning of the GPS receiving means.

In the portable GPS receiving apparatus according to the present invention, the GPS receiving means continuously measures the running speed and the running distance until the stride calculating means obtains the running stride after the measurement of the running speed and the running distance is started. This is to execute the positioning operation.

That is, after starting the measurement of the traveling speed and the traveling distance, the positioning operation is continuously performed only until the traveling stride is obtained, thereby minimizing the continuous positioning time of the GPS receiving means.

In the portable GPS receiver according to the third aspect, after the GPS positioning is performed, whether the difference between the traveling direction at the time of the previous positioning and the current traveling direction is within a certain amount. Is evaluated, and when there is a change in the moving direction, the positioning operation of the GPS receiving means is continuously operated during a predetermined fixed distance.

That is, after the GPS positioning is performed, it is evaluated whether the difference between the traveling direction at the previous positioning and the current traveling direction is within a certain amount, and as a result, there is a change in the moving direction. While traveling a certain distance in GP
If there is a great difference in the moving direction of the positioning point between the two points by continuously operating the positioning operation of the S receiving means, the linear moving distance obtained between the coordinates obtained by the GPS receiving means and the actual Large error occurring between the moving distance of the moving object and the moving distance of the moving object is eliminated.

According to a fourth aspect of the present invention, there is provided a portable GPS receiving apparatus, comprising: a moving direction detecting means for detecting a moving direction of a human body; This controls the positioning operation.

That is, means for detecting the moving direction of the human body is provided, and the positioning operation of the GPS receiving means is controlled based on the detection signal, whereby the coordinates of the two points where the moving direction changes can be recognized without relying on the timer. It is possible to do.

Further, the portable GPS receiver according to the fifth aspect is provided with DGPS receiving means for correcting the received signal from each GPS satellite using the corrected signal of each GPS satellite transmitted from the reception reference station. When the reception is started, the receiving base station is selected from the GPS positioning data, and switching to the DGPS positioning by the DGPS receiving means is performed.

That is, at the start of positioning, the above-mentioned GPS reception operation is executed, and the DGPS
, A receiving base station of the data link receiver is selected, and thereafter, a highly accurate DGPS operation is executed.

In the portable GPS receiver according to the sixth aspect, a receiving base station having the highest receiving sensitivity is selected from a plurality of receiving base stations based on the GPS positioning data, and DGPS positioning is executed. Is what you do.

That is, after the receiving base station of the DGPS data link receiver is automatically tuned to a base station having the best receiving sensitivity, a highly accurate DGPS operation is thereafter performed.

In the portable GPS receiving apparatus according to the present invention, the DGPS receiving means may continuously measure the running speed and the running distance until the stride calculating means obtains the running stride. This is to execute the positioning operation.

That is, after starting the measurement of the traveling speed and the traveling distance, the positioning operation is continuously performed only until the traveling stride is obtained, thereby minimizing the continuous positioning time of the DGPS receiving means.

In the portable GPS receiver according to the eighth aspect, after the DGPS positioning is performed, whether the difference between the traveling direction at the previous positioning and the current traveling direction is within a certain amount. Is evaluated, and when there is a change in the moving direction, the positioning operation of the DGPS receiving means is continuously operated while moving over a predetermined fixed distance.

That is, after the DGPS positioning is performed, it is evaluated whether or not the difference between the traveling direction at the time of the previous positioning and the current traveling direction is within a certain amount, and as a result, there is a change in the moving direction. While traveling a fixed distance in G
By continuously operating the positioning operation of the PS receiving means, when there is a large difference in the moving direction of the positioning points between the two points, the linear moving distance obtained between the coordinates obtained by the GPS receiving means and the actual Large error occurring between the moving distance of the moving object and the moving distance of the moving object is eliminated.

According to a ninth aspect of the present invention, there is provided the portable GPS receiving apparatus, further comprising a moving direction detecting means for detecting a moving direction of the human body, and the DGPS receiving means based on an output signal of the moving direction detecting means. This controls the positioning operation.

That is, means for detecting the moving direction of the human body is provided, and the positioning operation of the DGPS receiving means is controlled based on the detection signal, whereby the coordinates of two points where the moving direction changes can be recognized without relying on a timer. It is possible to do.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A portable GP according to the present invention will be described below.
The S receiving device will be described in detail with reference to the accompanying drawings.

(Embodiment 1) FIG. 1 is a block diagram showing a schematic configuration of a portable GPS receiving apparatus according to Embodiment 1. The operation of this portable GPS receiver is controlled by a running pitch detecting section 101 as running pitch detecting means for detecting the running pitch of a human body and a CPU described later. As shown in FIG. GPS with function of outputting position data to CPU
A GPS receiver 102 as a receiving unit and a CPU 103 which controls the entire apparatus based on a predetermined control program and executes operations such as pitch measurement are provided.

Further, a RAM connected to the CPU 103 serves as a register for data when the CPU 103 operates.
104, a ROM 105 in which an operation program of the CPU 103 is stored, a reference signal generation circuit 106 for generating a reference frequency signal for the operation of the CPU 103, and a switch (not shown) for inputting input signals to the CPU 103. , An input circuit 107 for driving the display panel, and a display panel 109 for displaying the traveling speed and the traveling distance calculated by the CPU 103.

The running pitch detecting section 101 includes a pitch sensor 101 using a piezo element or the like, an amplifying circuit 111 for amplifying an output signal of the pitch sensor 101, a filter 112 for removing a high frequency, and an output of the filter 112. It comprises a rectangular wave conversion circuit 113 for converting a signal into a rectangular wave, and a reference voltage generating circuit 114 for generating a reference voltage for converting the signal into a rectangular wave.

The output of the square wave conversion circuit 113 is CP
It is connected to U103. The CPU 103 has a function as a timer, a function as a stride calculator, and a function as a speed / distance calculator.

Next, the portable G configured as described above
The operation of the PS receiving device will be described using a flowchart. 2 and 3 are flowcharts illustrating a first operation example according to the first embodiment, which is executed by CPU 103. First, it is determined whether a signal from the input circuit 107 is input by a switch (hereinafter, referred to as SW) (S201). Here, when it is determined that an input has been made by the switch, it is further determined whether or not the input signal is a measurement start signal of the traveling distance or the traveling speed (S
202).

If it is determined in step S202 that the signal is a measurement start signal, GPS reception is started (S203). If the signal is not a measurement start signal, other processing is executed (S22).
4), end this operation. On the other hand, when the GPS reception starts, it is next determined whether or not the measurement of the initial value has been completed (S204). That is, when the measurement is started, GPS reception for positioning the position data of the initial position is started, and the positioning operation is repeatedly performed until the initial position is measured.

If it is determined that the measurement of the initial value has been completed, the measured position data Pn is stored in the RAM 104 as the reference measurement position Pn-1 = Pn for distance measurement (S20).
5). Then, the GPS reception is stopped to suppress power consumption (S206). Next, the running pitch for obtaining the running stride is initialized (Rpn-1 = 0) (S207). Here, since the preparation of the running start is completed by the initialization of the running pitch, a start display for prompting the user to run is displayed on the display panel 109 (S
208).

Then, it is determined whether or not the stopwatch has started (S209), and the start display is performed until it is determined that the stopwatch has started (SWT start). That is, the display operation is continued until the stopwatch is started. Here, when it is determined that the stopwatch has started, it is determined whether or not a pitch signal generated by body movement has occurred (S21).
0). If it is determined that a pitch signal has been generated, a timer for determining the operation cycle of the GPS receiver 102 is started (S211).

Subsequently, after the timer is started, the pitch counter in the RAM 104 is incremented by +1 (R
p = Rp + 1) (S212), and it is determined whether or not a pitch signal generated by body movement has been generated (S213).
If it is determined that a pitch signal has been generated, it is further determined whether or not the time is up (S214). That is, in steps S212 to S214, the pitch signal generated until the timer expires is kept counted by the pitch counter Rp.

If it is determined in step S214 that the timer has expired, the GPS receiver 102
Is resumed, and the current position data Pn is measured (S215). After the current position data is measured, GP
The S receiving device 102 stops the receiving operation again in order to suppress the power consumption (S216).

Next, the number of pitches Bp (= Rp-Rpn-1) generated between the previous positioning and the current positioning is calculated (S217). Further, the stride ST (= (Pn-Pn-1) /) between the two positioning data of the previous positioning and the current positioning position and the number of pitches generated between the positionings is obtained.
BRp) is calculated (S218).

After calculating the above stride, the latest positioning position data Pn is stored as the reference measurement position data Pn-1 for the next stride calculation (S219). Similarly, the latest accumulated pitch number Pn is stored as the previous pitch Rpn-1 for the next stride calculation (S22).
0). Thereafter, the moving distance is calculated from the accumulated pitch and the stride (S221) and displayed on the display panel 109 (S222). Thereafter, the timer that determines the operation cycle of the GPS receiver 102 is restarted again (S22).
3) Then, the process returns to step S213 in the wait state of the next pitch signal, and the same operation is repeatedly executed.

That is, until the calculation of the moving distance and the moving speed is completed by the next SW input, the operations from the pitch count (S212) to the timer start (S223) in the above flowchart are repeatedly executed. As a result, the stride is calculated again at the time-up period of the timer, and the distance and the speed are displayed. In addition,
The reason why the speed calculation step is not shown in FIGS. 2 and 3 is that the calculation can be easily performed if there is distance information and time information.

By the way, the first operation example shown in FIGS. 2 and 3 simplifies the operation in order to make it easy to understand the basic operation of the present invention. for that reason,
Until the timer that determines the operation cycle of the GPS receiver 102 first times up, the distance and speed cannot be displayed, or every time the timer times up, the latest stride data and the cumulative distance from the start Is calculated. Therefore, in the second operation example of the first embodiment, operation control as shown in the flowcharts of FIGS. 4 and 5 described below is executed.

FIGS. 4 and 5 are flowcharts showing a second operation example according to the first embodiment.
Performed by The operation here is initially the first
First, it is determined whether or not the signal from the input circuit 107 has been input by the SW (S401).
Here, when it is determined that an input has been made by the switch, it is further determined whether or not the input signal is a measurement start signal of the traveling distance or the traveling speed (S402).

If it is determined in step S402 that the signal is a measurement start signal, GPS reception is started (S403). If the signal is not a measurement start signal, other processing is executed (S42).
9), this operation ends. On the other hand, when the GPS reception is started, it is next determined whether or not the measurement of the initial value has been completed (S404). That is, when the measurement is started, GPS reception for positioning the position data of the initial position is started, and the positioning operation is repeatedly performed until the initial position is measured.

When it is determined that the measurement of the initial value has been completed, the measured position data Pn is stored in the RAM 104 as the reference measurement position Pn-1 = Pn for distance measurement (S40).
5). Next, the running pitch for obtaining the running stride is initialized (Rpn-1 = 0) (S406). here,
Since the preparation for the running start is completed by the initialization of the running pitch, a start display for prompting the user to run is displayed on the display panel 109 (S407).

Then, it is determined whether or not the stopwatch has started (S408), and start display is performed until it is determined that the stopwatch has started (SWT start). That is, the display operation is continued until the stopwatch is started. Here, when it is determined that the stopwatch has started, it is determined whether or not a pitch signal generated by body movement has occurred (S40).
9).

In the above, when the user starts running and determines that a pitch signal has been generated, the pitch counter Rp in the RAM 104 is incremented by one (S410).
After counting the pitch +1, the GPS receiving apparatus 102 in the receiving state executes the positioning operation again (S4).
11). After positioning, the moving distance is calculated from the latest positioning data Pn and the reference measurement position data Pn-1 and displayed on the display panel 109 (S412). Then, it is determined whether or not the moving distance has reached a predetermined constant distance X (Pn-P
(n-1 ≧ X) is determined (S413), and if the distance X has not reached the predetermined distance, the operations of steps S409 to S413 are repeatedly executed.

On the other hand, if it is determined that the distance X has reached the predetermined distance X, the running stride is calculated from the moving distance and the cumulative pitch number therebetween (S414). After calculating the stride, the operation of the GPS receiving apparatus 102 is stopped to suppress power consumption (S415). After the operation of the GPS receiver 102 is stopped, the moving distance X up to now is set to the moving distance variable RD (S416). After setting the moving distance, the reference measurement position Pn-1 is stored for the next stride calculation (S417), and the previous pitch Rp is calculated.
n-1 is rewritten (S418). Further, a timer is started (S419), and it is determined whether or not a pitch signal is generated (S420).

When it is determined that a pitch signal has been generated, the pitch counter Rp is incremented by one (S421), and the previously obtained stride is added to the moving distance variable RD (S42).
2). Thereafter, the result of the addition is displayed on the display panel 109 (S423), and it is determined whether or not the time is up (S424).

If it is determined that the time is not up, the waiting state of the pitch signal S420 to the accumulated moving distance display S423
Is repeatedly executed. On the other hand, if it is determined that the time is up, the GPS receiving apparatus 102 will be in the operating state again and perform the positioning operation (S425). After positioning, GPS
The operation of the receiving device 102 is stopped (S426), and the pitch number BRp (= Rp-Rpn-1) between the positioning is calculated (S426).
427). After the number of pitches between the positionings is obtained, a stride ST (= (Pn-Pn-1) / BRp) is calculated (S
428). After calculating the above stride, the variables Pn-1 and Rpn-1 are changed for the next stride (S417, S418), and the timer is started again (S419).

By performing the above operation, the latest stride at the interval set by the timer is obtained, and the running distance and the running speed based on the constantly changing stride can be obtained.

When there is a large difference in the moving direction between the two positioning points, a large error occurs between the linear moving distance obtained between the coordinates obtained by the GPS receiver 102 and the actual moving distance. May be included. For this reason, in the third operation example, the operation of the flowchart shown in FIG. 6 is executed. That is, steps S601 shown in FIGS. 6 and 7 are added to the operations described in FIGS.
To S608 are added. Therefore, the operation of the same reference numeral is the same as that described above, and the same parts as those in FIGS. 4 and 5 are omitted.

That is, the most recent GPS positioning (step S
The operation up to 426) is the same as in FIGS. G
After performing PS positioning, evaluate whether the difference between the traveling direction at the previous positioning and the traveling direction at the current positioning is within a certain amount.
A process in the case where there is a change in the moving direction after the process of determining (S601) is added. Note that the GPS receiving apparatus 102 has a function of outputting traveling direction information.

In step S601, if the evaluation result is within a certain amount (no change), the GPS reception is stopped (S427), and the same operation as described above is executed. On the other hand, if the evaluation result is a certain amount or more (change), the GPS receiving apparatus 102 moves while moving a certain distance from the current position.
Are continuously operated, and the variables Pn-1 and Rpn-1 are changed for the next stride calculation (S602, S60
3). Then, it is determined whether or not a pitch signal has been generated (S604), and the apparatus enters a state of waiting for a pitch signal.

In the above, when it is determined that a pitch signal has been generated, the pitch counter Rp is counted up by +1 (S6).
05), the accumulated moving distance RD (= RD + ST) is obtained from the stride ST (S606), and displayed on the display panel 109 (S607). Then, it is determined whether or not the vehicle has moved to a certain fixed distance X from the previous positioning point (S60).
8) If it has not moved to the fixed distance X, steps S604 to S607 are executed. On the other hand, if it is determined that the movement has been made to the fixed distance X, the process returns to step S601 in FIG. 6, and the subsequent operations are repeatedly executed.

As described above, the GPS receiver 102 continues to operate continuously until the positioning data of two points with a change in the moving direction of a certain amount or less is obtained. As a result, an accurate running stride can be obtained.

Therefore, according to the above-described embodiment, the running stride is calculated from the position information between the two measured points and the number of pitches obtained therebetween, and the moving distance and the moving speed are obtained from the stride and the pitch. By doing
The measurement of distance and speed can be continued even in a place where GPS radio waves cannot be received (for example, in a tunnel or a valley of a building). Further, since the moving distance and the moving speed are calculated based on the automatically determined stride, the distance and the speed can be measured even if the GPS receiving apparatus 102 requiring a large amount of power is operated intermittently.

(Embodiment 2) In this embodiment 2,
An example will be described in which a moving direction detecting means for detecting a moving direction of a human body is provided, and a positioning operation of the GPS receiving apparatus 102 is controlled based on an output signal of the moving direction detecting means.

FIG. 8 shows a portable GPS according to the second embodiment.
FIG. 3 is a block diagram illustrating a configuration of a receiving device. This portable G
The PS receiving apparatus has a configuration in which a moving direction detecting unit 800 as moving direction detecting means for detecting a moving direction of a human body is added to the apparatus shown in FIG. Therefore,
Other components and their functions are the same as those in the first embodiment, and therefore, are denoted by the same reference numerals as in FIG. 1 and description thereof is omitted.

In FIG. 8, the moving direction detecting section 800
A vibrating gyroscope 801 for detecting a change in the moving direction of a person at an angular velocity, a differential amplifier circuit 802 for differentially amplifying an output voltage of a detection terminal of the vibrating gyroscope 801, and an oscillation circuit 803 for oscillating the vibrating gyroscope 801. , A synchronous detection circuit 804 for extracting only the Coriolis signal, a DC amplification circuit 805 for DC amplifying the output voltage of the synchronous detection circuit 804, and an A / D for converting the output voltage of the DC amplification circuit 805 into digital data And a conversion circuit 806. When a rotational angular velocity is applied to the vibrating gyroscope 801, a digital numerical signal proportional to the acceleration is output to a CP.
It is configured to output to U103.

Next, the portable G configured as described above
The operation of the PS receiving device will be described using a flowchart. 9 and 10 are flowcharts illustrating an operation example according to the second embodiment, which is executed by the CPU 103, and determines a change in the moving direction in step S925 described later according to the output of the moving direction detecting unit 800. The part that performs the subsequent operations based on the judgment is a feature,
The other parts are basically the same as the operations in FIGS. The details will be described below.

In the figure, first, it is determined whether or not a signal from the input circuit 107 has been input by the SW (S90).
1). Here, when it is determined that an input has been made by the switch, it is further determined whether or not the input signal is a measurement start signal of a traveling distance or a traveling speed (S902).

If it is determined in step S902 that the signal is a measurement start signal, GPS reception is started (S903). If the signal is not a measurement start signal, other processing is executed (S93).
0), this operation ends. When you start GPS reception,
Next, it is determined whether the measurement of the initial value has been completed (S9).
04). That is, when the measurement is started, GPS reception for measuring the position data of the initial position is started, and the positioning operation is repeatedly executed until the initial position is measured.

If it is determined that the measurement of the initial value has been completed, the measured position data Pn is stored in the RAM 104 as the reference measurement position Pn-1 = Pn for distance measurement (S90).
5). Next, the running pitch for obtaining the running stride is initialized (Rpn-1 = 0) (S906). here,
Since the preparation of the running start is completed by the initialization of the running pitch, a start display for prompting the user to run is displayed on the display panel 109 (S907).

Thereafter, it is determined whether or not the stopwatch has started (S908), and the start display is performed until it is determined that the stopwatch has started (SWT start). That is, the display operation is continued until the stopwatch is started. Here, when it is determined that the stopwatch has started, it is determined whether or not a pitch signal generated by body movement has occurred (S90).
9).

In the above, when the user starts running and determines that a pitch signal has been generated, the pitch counter Rp in the RAM 104 is incremented by one (S910).
After counting the pitch by +1, the GPS receiving apparatus 102 in the receiving state executes the positioning operation again (S9).
11). After the positioning, the moving distance is calculated from the latest positioning data Pn and the reference measurement position data Pn-1, and displayed on the display panel 109 (S912). Then, it is determined whether or not the moving distance has reached a predetermined constant distance X (S913). If the moving distance has not reached the predetermined distance X, the operations of steps S909 to S913 are repeatedly executed.

On the other hand, if it is determined that the distance X has reached the predetermined distance X, the travel stride is calculated from the travel distance and the cumulative pitch number therebetween (S914). After calculating the stride, the operation of the GPS receiving apparatus 102 is stopped to suppress power consumption (S915). After the operation of the GPS receiver 102 is stopped, the moving distance X up to now is set to the moving distance variable RD (S916). After setting the moving distance, the reference measurement position Pn-1 is stored for the next stride calculation (S917), and the previous pitch Rpn-1 is rewritten (S918). Further, a timer is started (S919), and it is determined whether or not a pitch signal has been generated (S920).

When it is determined that a pitch signal has been generated, the pitch counter Rp is incremented by one (S921), and the previously obtained stride is added to the moving distance variable RD (S92).
2). Thereafter, the result of the addition is displayed on the display panel 109 (S923), and it is determined whether or not the time is up (S924).

If it is determined that the time is not up, the moving direction detecting section 800 determines whether or not the moving direction has changed (S925). Here, if it is determined that the moving direction has changed, the GPS receiving apparatus 102 is again in the operating state and performs the positioning operation (S926). After positioning, GP
The operation of the S receiving apparatus 102 is stopped (S927), and the pitch number BRp (= Rp-Rpn-1) between the positionings is calculated (S928). After the pitch number between the positionings is obtained, the stride ST (= (Pn-Pn-1) / BRp) is calculated (S929). After calculating the above stride, the variables Pn-1 and Rpn-1 are changed for the next stride (S917, S918), and the timer is started again (S919).

That is, in the above operation, even before the time is up, the moving direction of the human body is detected in step S925. The change in the moving direction is determined by the vibration gyro 801
A / D conversion circuit 80 that changes according to the angular acceleration applied to
Judgment is made based on whether or not the output of No. 6 exceeds a certain threshold.
When a certain threshold is exceeded, it is recognized that the moving direction of the human body has changed. As soon as it is recognized that the moving direction has changed, the timer is reset, and the GPS receiving device 102 performs the positioning operation (S926 to S929). As a result, it is possible to recognize the coordinates of the two points where the moving direction changes without relying on the timer.

In this embodiment, a piezo-type acceleration sensor is used as the pitch sensor and a vibration-type gyro is used as the gyro. However, the object of the present invention can be achieved by using another pitch sensor or gyro. Is what is done.

(Embodiment 3) By the way, ordinary GPS
The system is intentionally placed in a state of reduced accuracy for national defense reasons (SA: Selective Availability).
). As a result, a positional accuracy of only about ± 30 m to about 100 m can be obtained. Therefore, in the third embodiment, D
An example in which the position accuracy is further improved by using the GPS system will be described.

First, DGPS (Differential Global Po
(sitioning System) The system will be described. GPS
Is a system for military use in the United States, open to the public. However, accuracy has been intentionally reduced for military reasons, and DGPS compensates for the reduced accuracy. DGPS provides a base station whose position on the earth is known, and calculates the position by radio waves from GPS satellites. The error is calculated from the correct position of the base and the calculated position, and the information is notified to the surrounding users.

In Japan, an experiment using so-called FM multiplexing, in which DGPS data is added to FM broadcasting, has been carried out, and practical use is being promoted. The DGPS transmission means includes use of a portable wireless device, use of a telephone line including a mobile phone, use of a dedicated wireless line, beacon radio waves, communication satellites, and navigation satellites.

It should be noted that worldwide D using a navigation satellite
As for the GPS service, a system mainly for ships is already in operation. In this method, reference reception points are arranged in various parts of the world, and pseudo distance correction data is transmitted to users via satellites. In this case, a receiving facility for a navigation satellite (Inmarsat) is required.

FIG. 11 shows a portable GP according to the third embodiment.
It is a block diagram which shows the structure of S receiving device. This portable GPS receiving apparatus has a configuration obtained by adding a DGPS receiving apparatus 1101 as DGPS receiving means to the apparatus shown in FIG. 1 (or FIG. 8). Also, CP
The U103 has an auto-tuning function described later in addition to the functions described in the above embodiment. Therefore, the other components and their functions are the same as those of the first embodiment, and therefore, the same reference numerals are given to those of FIG. 1 and the description thereof is omitted.

FIG. 16 is a block diagram showing the configuration of a DGPS receiving apparatus. The antenna 1 for obtaining DGPS correction data is different from the GPS apparatus shown in FIG.
601, a data link receiver 1602 for receiving the position information of the reference base station, a data formatter 1603 that binary-codes the differential data and arranges it into a predetermined format, and calculates differential correction data. A differential data calculation unit 1604 that outputs to the positioning calculation unit 1507 is added.

In this embodiment, a translocation method DGPS is used as a DGPS positioning method. This system is composed of a reference station (fixed) whose exact position is determined in advance and a receiver on the user side. The reference station receives a signal from each GPS satellite, and detects a clock error, an orbit error, an ionospheric approximation error, and a tropospheric delay error of each GPS satellite. In addition, the reference station broadcasts a pseudo-range error portion of each GPS satellite to the surroundings on a data line using radio waves as a correction value. On the other hand, the receiver on the user side uses the above correction value to correct the received signal from each GPS satellite and obtain an accurate position.

FIG. 12 is a block diagram showing the configuration of the data link receiver in the DGPS receiver. In the figure, reference numeral 1201 denotes a selection high-frequency amplifier for selectively amplifying a carrier frequency of an FM wave to be received. The amplification factor is controlled by an AGC described later, and the frequency is controlled by a CPU. Also, reference numeral 1202 denotes a frequency converter for converting the modulated carrier frequency to a lower frequency by taking the difference between the carrier frequency output from the selected high-frequency amplifier 1201 and the output frequency of a local oscillator described later. And a local oscillator for generating a frequency signal for generating a beat frequency.

Reference numeral 1204 denotes an intermediate frequency amplifier that amplifies the intermediate frequency converted to a low frequency by the frequency converter 1202; 1205, a detector that demodulates the modulated signal; 1206, an intermediate frequency amplifier that demodulates the amplitude of the demodulated modulated data. Frequency amplifier 1204 and selective high frequency amplifier 120
AGC (Auto Gain Control) that varies the amplification factor of No. 1 and controls the amplitude of the output signal of the detector 1205 to be constant.
l), the negative feedback loop for the intermediate frequency amplifier 1204 and the selected high frequency amplifier 1201 can be cut off by the control signal from the CPU 103. Also, 1
A data formatter 207 binary-codes the demodulated differential data and arranges the data into a predetermined format.

First, the operation of automatically changing the receiving base station of the data link receiver using the GPS positioning data will be described.

FIG. 13 shows a first example of the receiving base station automatic selection process.
6 is a flowchart showing an operation example of the above. This tuning operation is performed by the CPU 103. First,
The GPS positioning is executed by the GPS receiver 102 (S1).
301), coordinate data is obtained (S1302). Subsequently, since the data table of the coordinates and the frequency of the FM broadcast station has been written in the ROM 105, a base station coordinate table search process for selecting the FM broadcast station closest to the received coordinate data is executed (S1303). Further, C
The PU 103 sets reception frequency data in a register for controlling the reception frequency of the selected high-frequency amplifier 1201 (S
1304). After setting the above data, DGP
The S operation mode is set (S1305). That is,
In the DGPS operation mode, each operation processing described in the first or second embodiment is executed to calculate the moving distance and the moving speed of the person.

Next, in addition to the above-described operation example, an operation of auto-tuning the receiving base station of the data link receiver to a base station having the best receiving sensitivity will be described. For example,
It is determined whether or not to execute the auto-tuning function from the coordinate data. For example, the frequency of the data link receiver is determined to be 78 MHz unconditionally within a radius of 10 km from the BayFM transmitting station. Hereinafter, the operation procedure will be described using a flowchart.

FIG. 14 shows a second example of the receiving base station automatic selection process.
6 is a flowchart showing an operation example of the above. First, GPS positioning is executed by the GPS receiver 102 (S140).
1) Obtain coordinate data (S1402). Subsequently, the data table of FM broadcast station coordinates and frequency is
Since it is written in M105, base station coordinate table search processing for selecting the FM broadcast station closest to the received coordinate data is executed (S1403). Further, it is determined whether or not a difference (absolute value) between the coordinates of the base station and the coordinates of the receiver is larger than a predetermined value x (S1404).

If it is determined in step S1404 that the difference (absolute value) between the coordinates of the base station and the coordinates of the receiver is equal to or greater than a predetermined value x, the AGC loop is interrupted (S1).
405). Thereafter, the reception frequency of base station candidate 1 among a plurality of base stations is set (S1406), and AGC 1206 is set.
Is stored (S1407). In addition,
The larger the signal demodulated by the detector 1205, the larger the K value. Next, the reception frequency of the base station candidate 2 is set (S1408), and the output value (K2) of the AGC 1206 is stored (S1409). And K1 stored above
Is compared with K2 to determine whether K1> K2 (S1410).

On the other hand, in step S1404,
If the CPU 103 determines that the difference (absolute value) between the coordinates of the base station and the coordinates of the receiver is smaller than a predetermined value x, the CPU 103 sets the reception frequency data in a register for controlling the reception frequency of the selected high-frequency amplifier 1201 ( S1411), the AGC loop that has been interrupted is restored (S1412), and DGP
The S operation mode is set (S1413). That is,
In the DGPS operation mode, each operation processing described in the first or second embodiment is executed to calculate the moving distance and the moving speed of the person. Then, the operation returns.

In step S1410, K1>
If it is not K2, the process returns to step S1411.
If it is determined that K1> K2, the process proceeds to step S1412 described above, executes the same operation, and returns.

In the above embodiment, an FM broadcasting station is taken as an example of a receiving base station, but any other base station may be used as long as it is a known base station, and is not limited to the above. . For example, it is also possible to use a combination of an FM broadcast station and other media, or VICS information provided by car navigation, or INMARSAT information. Further, when the mobile terminal is used in a limited area, it is possible to link to the on-board car navigation and use this as a base station.

In the above embodiment, an example in which the tuning function is executed based on the program of the CPU 103 has been described. In addition, for example, a circuit for performing the tuning operation is provided as hardware,
You may perform similarly.

[0091]

As described above, according to the portable GPS receiver of the present invention (claim 1), the travel distance between two points measured by the GPS receiver and the travel pitch obtained between the two points are determined. By calculating the running stride from the number and the moving distance and moving speed from the stride, it is possible to perform continuous measurement in a location where positioning is difficult such as a tunnel or a valley of a building or when GPS satellites cannot be captured,
In addition, by calculating the moving distance and the moving speed based on the stride, it is not necessary to continuously perform the positioning of the GPS receiving unit, so that the power consumption can be suppressed.

According to the portable GPS receiver according to the present invention (claim 2), the positioning operation is continuously performed only after the start of the measurement of the traveling speed and the traveling distance and until the traveling stride is obtained. , The continuous positioning time of the GPS receiving means is minimized, and power consumption can be suppressed.

Further, according to the portable GPS receiver of the present invention (claim 3), after performing the GPS positioning, the difference between the traveling direction at the time of the previous positioning and the current traveling direction is within a certain amount. Is evaluated, and as a result, when moving in a certain fixed distance when there is a change in the moving direction, G
By continuously operating the positioning operation of the PS receiving means, when there is a large difference in the moving direction of the positioning points between the two points, the linear moving distance obtained between the coordinates obtained by the GPS receiving means and the actual In order to remove a large error generated between the moving stride and the moving distance, it is possible to obtain an accurate running stride.

Further, according to the portable GPS receiver of the present invention (claim 4), means for detecting the moving direction of the human body is provided, and the positioning operation of the GPS receiver is controlled based on the detection signal. Thereby, the coordinates of the two points where the moving directions change are recognized without relying on the timer, and the next operation processing is performed based on the recognition result, so that a quick and accurate running stride can be obtained.

According to the portable GPS receiver of the present invention (claim 5), the above-mentioned GPS receiving operation is executed at the time of starting positioning, and DGP is performed based on the positioning data obtained therefrom.
Since the receiving base station of the data link receiver of S is selected, and thereafter the DGPS operation with high accuracy is performed, a more accurate moving distance and moving speed can be obtained.

According to the portable GPS receiver according to the present invention (claim 6), after the receiving base station of the DGPS data link receiver is automatically tuned to the base station having the best reception sensitivity, the accuracy is thereafter improved. In order to execute the DGPS operation with high accuracy, the moving distance and the moving speed with higher accuracy can be obtained in addition to the effects of the above claims.

According to the portable GPS receiver of the present invention (claim 7), the positioning operation is continuously performed only after the start of the measurement of the traveling speed and the traveling distance until the traveling stride is obtained. Accordingly, the continuous positioning time of the DGPS receiving unit can be minimized, and power consumption can be suppressed.

Further, according to the portable GPS receiver of the present invention (claim 8), after the DGPS positioning is performed, the difference between the traveling direction at the time of the previous positioning and the current traveling direction is within a certain amount. Is evaluated, and as a result, when there is a change in the moving direction, while moving a predetermined fixed distance,
When the positioning direction of the GPS receiving means is continuously operated, when there is a great difference in the moving direction of the positioning point between the two points, the linear moving distance obtained between the coordinates obtained by the GPS receiving means and the actual In order to remove a large error generated between the moving stride and the moving distance, it is possible to obtain an accurate running stride.

Further, according to the portable GPS receiving apparatus of the present invention (claim 9), means for detecting the moving direction of the human body is provided, and the positioning operation of the DGPS receiving means is controlled based on the detection signal. Changes the direction of movement 2
Since the coordinates of the point are recognized without relying on the timer, and the next operation processing is performed based on the recognition result, a quick and accurate running stride can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a portable GPS receiving apparatus according to Embodiment 1 of the present invention.

FIG. 2 is a flowchart illustrating a first operation example according to the first embodiment of the present invention.

FIG. 3 is a flowchart illustrating a first operation example according to the first embodiment of the present invention;

FIG. 4 is a flowchart illustrating a second operation example according to the first embodiment of the present invention.

FIG. 5 is a flowchart illustrating a second operation example according to the first embodiment of the present invention.

FIG. 6 is a flowchart illustrating a third operation example according to the first embodiment of the present invention.

FIG. 7 is a flowchart illustrating a third operation example according to the first embodiment of the present invention.

FIG. 8 is a block diagram showing a schematic configuration of a portable GPS receiving apparatus according to Embodiment 2 of the present invention.

FIG. 9 is a flowchart illustrating an operation example according to the second embodiment of the present invention;

FIG. 10 is a flowchart illustrating an operation example according to the second embodiment of the present invention.

FIG. 11 is a portable GPS according to a third embodiment of the present invention.
FIG. 3 is a block diagram illustrating a schematic configuration of a receiving device.

FIG. 12 is a block diagram showing a schematic configuration of a data link receiver according to Embodiment 3 of the present invention.

FIG. 13 is a flowchart illustrating a first operation example of a receiving base station automatic selection process according to Embodiment 3 of the present invention.

FIG. 14 is a flowchart illustrating a second operation example of the receiving base station automatic selection process according to Embodiment 3 of the present invention.

FIG. 15 is a block diagram illustrating a schematic configuration of a GPS receiver.

FIG. 16 is a block diagram illustrating a schematic configuration of a DGPS receiver.

[Explanation of symbols]

 101 running pitch detecting unit 102 GPS receiving device 103 CPU 109 display panel 800 moving direction detecting unit 1101 DGPS receiving device 1201 selecting high frequency amplifier 1202 frequency converter 1203 local oscillator 1204 intermediate frequency amplifier 1205 detector 1206 AGC 1207 data formatter 1601 data link receiving Machine

────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-9-89584 (JP, A) JP-A-9-152355 (JP, A) JP-A-4-370778 (JP, A) 118156 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 21/00 G01C 22/00 G08G 1/005

Claims (7)

(57) [Claims] 1. A portable GPS receiver for receiving a signal from a GPS satellite by a GPS receiver and measuring a position and a speed of the own device, a traveling pitch detector for detecting a traveling pitch of a human body, and a timer being operated. The timer means for stopping the reception of the GPS receiving means, the positioning data between the received two points, and the running stride from the pitch detected by the running pitch detecting means while the positioning data is obtained, A stride calculating means for calculating in the operating cycle, a running speed and a running distance from the stride obtained by the stride calculating means and the pitch detected by the running pitch detecting means, a speed / distance calculating means for calculating in the operating cycle; the a, after performing the GPS positioning, the traveling direction and current at the time of previous positioning
Evaluate whether the difference from the direction of travel is within a certain amount
If there is a change in the direction of movement, a certain fixed
While moving a distance, the positioning operation of the GPS receiver is linked.
A portable GPS receiver characterized by being operated continuously . 2. A portable G which receives a signal from a GPS satellite by GPS receiving means and measures a position and a speed of its own device.
In the PS receiver, traveling pitch detecting means for detecting a traveling pitch of a human body, timer means for stopping reception of the GPS receiving means while a timer is operating, positioning data between the two received points, and the positioning data are obtained. A stride calculating means for calculating a running stride from the pitch detected by the running pitch detecting means during the operation cycle, and a stride obtained by the stride calculating means and a pitch detected by the running pitch detecting means. And speed / distance calculating means for calculating the running speed and running distance in the operation cycle from the above, and comprising moving direction detecting means for detecting the moving direction of the human body,
The GPS reception is performed based on the output signal of the moving direction detecting means.
Portable G for controlling positioning operation of communication means
PS receiver. 3. A portable GPS receiver for receiving a signal from a GPS satellite by a GPS receiver and measuring a position and a speed of the own device, a running pitch detecting means for detecting a running pitch of a human body, and a timer being operated. The timer means for stopping the reception of the GPS receiving means, the positioning data between the received two points, and the running stride from the pitch detected by the running pitch detecting means while the positioning data is obtained, A stride calculating means for calculating in the operating cycle, a running speed and a running distance from the stride obtained by the stride calculating means and the pitch detected by the running pitch detecting means, a speed / distance calculating means for calculating in the operating cycle; , And uses the correction signal of each GPS satellite transmitted from the receiving base station.
DGPS reception to correct the received signal from each GPS satellite
Communication means, at the start of reception, from the GPS positioning data
Select a receiving base station, and use the DGPS
A portable GPS receiver characterized by switching to positioning . 4. Based on GPS positioning data, a plurality of
Select the receiving base station with the highest receiving sensitivity among the receiving base stations
And performing DGPS positioning.
A portable GPS receiver according to claim 1. 5. The DGPS receiving means according to claim 1, further comprising :
And after starting the measurement of the mileage, the stride calculation means
Until a running stride is requested, the positioning operation is continuously performed.
The portable GPS receiving device according to claim 3 or 4 , wherein the portable GPS receiving device is executed . 6. After performing DGPS positioning, the previous measurement is performed.
The difference between the traveling direction at the time of
Is evaluated, and if there is a change in the moving direction,
Receiving the DGPS while traveling a predetermined distance
Characterized in that the positioning operation of the means is operated continuously
The portable GPS receiver according to claim 3 . 7. A moving direction detector for detecting a moving direction of a human body.
Output means, based on an output signal of the moving direction detection means.
Controlling the positioning operation of the DGPS receiving means.
The portable GPS receiving device according to claim 3 or 4 , wherein: