JP4179339B2 - POSITIONING DEVICE, POSITIONING DEVICE CONTROL METHOD, AND PROGRAM - Google Patents

Abstract

A positioning device, which locates a position based on satellite signals which are signals from positioning satellites, includes a position holding section which holds a reference position P, a stationary condition determination section which determines whether or not the reference position P satisfies stationary conditions B, an average position calculation section which averages the reference position P satisfying the stationary conditions B and a present located position Pg calculated by positioning to calculate an average position Pav, a position output section which outputs the average position Pav, and a position storage section which stores the average position Pav in the position holding section as the reference position P.

Description

The present invention relates to a positioning device that uses a signal from a positioning satellite, a positioning device control method, and a program .

Conventionally, a positioning system that measures the current position of a GPS receiver using GPS (Global Positioning System), which is an example of SPS (Satellite Positioning System), has been put into practical use.
For example, the GPS receiver receives signals from three or more GPS satellites, and the difference between the time when the signal is transmitted from each GPS satellite and the time when the signal reaches the GPS receiver (hereinafter referred to as a delay time) The distance between each GPS satellite and the GPS receiver (hereinafter referred to as a pseudorange) is obtained. Then, the positioning calculation of the current position is performed using the satellite orbit information of each GPS satellite carried on the signal received from each GPS satellite and the above-described pseudo distance.
However, if the signal from the GPS satellite is reflected on the building or the like and reaches the GPS receiver, the signal strength is weak, or the GPS satellite in the sky (DOP: Dilution Of Precision) is bad, the positioning position is It may deviate greatly from the true position and the accuracy of the positioning position may deteriorate.
On the other hand, based on the previous positioning position, the current predicted position (hereinafter referred to as “predicted position”) is calculated from the velocity vector and the elapsed time, and the predicted position and the current positioning position are averaged. Has been proposed (for example, Patent Document 1).
JP-A-8-68651 (FIG. 5 etc.)

However, even when the GPS receiver is stationary, the GPS satellite is moving in the satellite orbit, and the reception state of the satellite signal changes from moment to moment. Is not necessarily zero.
For this reason, even if the GPS receiver is stationary, for example, if the elapsed time is 10 seconds (s), the predicted position deviates from the previous position by a distance corresponding to 10 seconds. To do. As a result, there is a problem that the accuracy of the position after the averaging process is degraded, and the output position may deviate from the true position.
In the above-described technique, when the GPS receiver is stationary, the longer the elapsed time from the previous positioning, the more the expected position deviates from the previous position. As a result, the output position is true. There is a problem of deviation from the position.
Furthermore, in the first place, when the previous positioning position deviates from the true position and lacks reliability, there is a problem that the predicted position lacks reliability and the average position also lacks reliability.

The present invention, at the time still has a reliability, and a positioning apparatus capable of outputting an accurate position, and an object thereof is to provide a control method and program for the positioning apparatus.

  According to the first aspect of the present invention, there is provided a positioning apparatus that performs positioning based on a satellite signal that is a signal from a positioning satellite, the position holding means for holding a reference position, and the reference position being in a stationary condition. A stationary condition judging means for judging whether or not the condition is satisfied; the reference position that satisfies the stationary condition; an average position calculating means for calculating an average position by averaging the current positioning position calculated by positioning; and the average position And a position storage means for storing the average position in the position holding means as the reference position.

According to the configuration of the first invention, since the positioning device has the average position calculation means, the average position is calculated by averaging the reference position that satisfies the stationary condition and the current positioning position calculated by positioning. can do. That is, the positioning device does not average (correct) the predicted position estimated from the previous positioning position, the previous velocity vector, and the elapsed time, and the current positioning position. The positioning device calculates an average position by averaging the reference position that satisfies the stationary condition and the current positioning position calculated by positioning. For this reason, in order to correct the current positioning position, it is not affected by the accuracy of the previous velocity vector.
Further, when the positioning device is stationary, the positioning position is continuously indicated by coordinates near the true position. The reference position is positioned closer to the true position because variations in the position of the positioning position are reduced by the averaging. On the other hand, the true position does not always exist in the vicinity of the expected position.
That is, the reference position that satisfies the stationary condition has high reliability. In addition, there may be a plurality of the reference positions that satisfy the stationary condition.
Therefore, by averaging the reference position and the current positioning position and outputting the average position, the output position is much more true than when the average position of the predicted position and the current positioning position is output. Close to the position.
Thereby, it is possible to output a position with high reliability and high accuracy.
A state that satisfies the stationary condition is called a stationary state. This stationary state is a state where the positioning device is stationary, and is determined based on the current positioning position of the positioning device.

  According to a second aspect of the present invention, in the configuration of the first aspect, the stationary condition is a condition that an elapsed time from a time when each of the reference positions is calculated to a current time is within a predetermined time allowable range; A condition that both the moving speed of the positioning device and the current moving speed of the positioning device at the time of calculating each reference position are within a predetermined speed allowable range; and each reference position and the current positioning position. And a condition that the distance is within a predetermined distance tolerance range.

  According to the configuration of the second aspect of the invention, the stationary condition determines whether or not the positioning device is stationary using a plurality of criteria of the elapsed time, the moving speed, and the distance. Can be determined.

  According to a third aspect of the present invention, in the configuration of the first aspect or the second aspect of the invention, the stationary condition is defined in advance by a cumulative distance that is a distance from each reference position to the current positioning position. It is a positioning apparatus characterized by including the condition that it is within the cumulative distance allowable range.

  According to the configuration of the third invention, the stationary condition can also determine the stationary state of the positioning device using the cumulative distance. For this reason, for example, even when moving in a circle at a short distance and the stationary state of the positioning device cannot be determined depending on the distance, the stationary state can be determined based on the accumulated distance.

  According to a fourth aspect of the invention, there is provided the positioning device according to any one of the second and third aspects, wherein the stationary condition is defined according to a reception environment of the satellite signal.

  According to the configuration of the fourth aspect of the invention, the stationary state can be appropriately determined according to the reception environment.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the position storage unit stores the positioning position in the position holding unit until a predetermined number is reached. It is a positioning device characterized by becoming.

  According to the configuration of the fifth aspect of the present invention, even if the position initially stored in the position holding means deviates greatly from the true position, the influence can be reduced early.

  According to a sixth invention, in any one of the first to fifth inventions, the position storage means calculates the average position calculated first in a positioning time constituted by a plurality of positionings. The first calculated average position stored in the position holding means is updated by the average position stored in the position holding means and last calculated in the positioning time. It is a positioning device positioning apparatus in any one of claim | item 1 thru | or 5.

According to the configuration of the sixth invention, since the position storage means stores the first calculated average position in the position holding means, the new position can be set at an early stage without waiting for the end of the positioning time. It can be stored in storage means. Thereby, the subsequent average position can also reflect the new position at an early stage.
In general, when positioning is performed continuously, the subsequent positioning position is more stable and accurate. If the accuracy of the positioning position is high, the accuracy of the average position is also high.
In this respect, since the position storage means is configured to update the average position calculated first by the average position calculated last, when the positioning time is completed, a position with high accuracy is stored in the position. Can be stored in the means.

  A seventh aspect of the invention is a positioning device characterized in that, in the configuration of the sixth aspect of the invention, after the first calculation of the average position, the stationary condition is made stricter.

Once the average position is calculated and held in the position holding means, the position in the position holding means serving as a reference for determining the stationary condition reflects the latest position.
For this reason, according to the structure of 7th invention, after reflecting the newest position, a still state can be judged more correctly by making the said stationary conditions severe.

  According to an eighth aspect of the present invention, in any one of the first to seventh aspects, the average position calculating unit is configured to determine the stationary condition unless the state where the reference position does not satisfy the stationary condition continues. The positioning device is configured to perform the averaging by using the reference position that satisfies.

  According to the configuration of the eighth invention, even if one of the reference positions has a large error and the positioning device erroneously determines that the stationary condition is not satisfied, it is calculated before that. Since the reference position can be used for the averaging, the accuracy of the average position can be improved.

  According to the ninth aspect of the present invention, there is provided a positioning device that performs positioning based on a satellite signal that is a signal from a positioning satellite and has position holding means for holding a reference position, wherein the reference position satisfies a stationary condition. A stationary condition determining step that determines whether or not, and the positioning device calculates the average position by averaging the reference position that satisfies the stationary condition and the current positioning position calculated by positioning, The positioning device includes a position output step for outputting the average position, and a position storing step for the positioning device to store the average position in the position holding means as the reference position. This is achieved by the control method.

  According to the configuration of the ninth invention, similarly to the configuration of the first invention, it is possible to output a highly reliable position with high reliability.

  According to the tenth aspect of the present invention, there is provided a positioning device that includes a position holding unit that performs positioning based on a satellite signal that is a signal from a positioning satellite and holds a reference position on a computer. A stationary condition determining step for determining whether or not a condition is satisfied, and an average position calculation in which the positioning device calculates an average position by averaging the reference position that satisfies the stationary condition and the current positioning position calculated by positioning And a position output step in which the positioning device outputs the average position, and a position storage step in which the positioning device stores the average position in the position holding means as the reference position. This is achieved by a positioning device control program.

  According to the eleventh aspect of the present invention, there is provided a positioning device that includes a position holding unit that performs positioning based on a satellite signal that is a signal from a positioning satellite and holds a reference position. A stationary condition determining step for determining whether or not a condition is satisfied, and an average position calculation in which the positioning device calculates an average position by averaging the reference position that satisfies the stationary condition and the current positioning position calculated by positioning And a position output step in which the positioning device outputs the average position, and a position storage step in which the positioning device stores the average position in the position holding means as the reference position. This is achieved by a computer-readable recording medium that records a control program for the positioning device.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
The embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these embodiments.

FIG. 1 is a schematic diagram showing a terminal 20 and the like according to the embodiment of the present invention.
As shown in FIG. 1, the terminal 20 is held by the user A. The terminal 20 receives signals G1, G2, G3, G4, G5, G6, G7 and G8, which are signals from positioning satellites such as GPS satellites 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h. can do. This signal G1 etc. is an example of a satellite signal. The terminal 20 is an example of a positioning device.

The user A is stationary on the mountain road MR and is waiting for rescue because he has suffered a distress, for example. The terminal 20 is also stationary. The true position of the terminal 20 is the position r1. The terminal 20 can increase the reliability of the rescue of the user A by outputting a position as close as possible to the true position r1 in a state where the terminal 20 is actually stationary.
However, since the GPS satellite 12a and the like move on the satellite orbit, and the reception state of the signal G1 and the like changes every moment, the positioning position also changes every moment. For example, the positioning positions P0, P1, P2, P3, and P4 vary with time.
As described below, when the terminal 20 is in a stationary state, the terminal 20 can output a reliable and highly accurate position even if the positioning position P0 or the like fluctuates. Yes.

The terminal 20 is, for example, a portable car navigation device that can perform a positioning calculation and display acquired position information together with map information.
The terminal 20 is, for example, a mobile phone, but may be a car navigation device, a PHS (Personal Handy-phone System), a PDA (Personal Digital Assistance _), or the like, but is not limited thereto.
Unlike the present embodiment, the number of GPS satellites 12a and the like is not limited to eight, but may be, for example, three or more and seven or less, or nine or more.

(Main hardware configuration of terminal 20)
FIG. 2 is a schematic diagram showing the main hardware configuration of the terminal 20.
As shown in FIG. 2, the terminal 20 has a computer, and the computer has a bus 22.
The bus 22 is connected to a CPU (Central Processing Unit) 24, a storage device 26, an external storage device 28, and the like. The storage device 26 is, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory). The external storage device 28 is, for example, an HDD (Hard Disk Drive).

  The bus 22 has an input device 30 for inputting various information, a GPS device 32 for receiving a signal G1 and the like from a GPS satellite 12a, a communication device 34, and a display device for displaying various information. 36, a clock 38, and a power supply device 40 are connected.

(About main software configuration of terminal 20)
FIG. 3 is a schematic diagram illustrating a main software configuration of the terminal 20.
As illustrated in FIG. 3, the terminal 20 includes a control unit 100 that controls each unit, a GPS unit 102 that corresponds to the terminal GPS device 32 in FIG.
The terminal 20 also includes a first storage unit 110 that stores various programs and a second storage unit 150 that stores various information.

  As illustrated in FIG. 3, the terminal 20 has a Buff in the second storage unit 150. Buff is a storage area secured in the second storage unit 150.

FIG. 4 is a diagram illustrating an example of Buff.
As shown in FIG. 4, Buff holds positions P (n−1) to P (n−10). The position P (n−1) and the like are collectively referred to as a position P.
The position P (n−1) or the like is a position stored in Buff in past positioning (single positioning or continuous positioning described later).
Further, Buff holds the calculated time t (n−1) and the like corresponding to each position P (n−1) and the like.
In addition, Buff holds the moving speed v (n−1) of the terminal 20 when the positions P (n−1) and the like are calculated.
The position P (n−1) or the like is an example of a reference position. Buff is an example of a position holding unit.

As illustrated in FIG. 3, the terminal 20 stores satellite orbit information 152 in the second storage unit 150. The satellite orbit information 152 includes an almanac 152a and an ephemeris 152b.
The almanac 152a is information indicating an approximate orbit of all the GPS satellites 12a and the like (see FIG. 1). The almanac 152a can be obtained by decoding from the signal G1 or the like of any GPS satellite 12a or the like.
The ephemeris 152b is information indicating a precise orbit of each GPS satellite 12a or the like (see FIG. 1). For example, in order to acquire the ephemeris 152b of the GPS satellite 12a, it is necessary to receive, decode, and acquire the signal G1 from the GPS satellite 12a.
The terminal 20 uses the satellite orbit information 152 for positioning.

As illustrated in FIG. 3, the terminal 20 stores a satellite signal reception program 112 in the first storage unit 110. The satellite signal reception program 112 is a program for the control unit 100 to receive the signal G1 and the like from the GPS satellite 12a and the like.
Specifically, the control unit 100 refers to the almanac 152a, determines the GPS satellites 12a and the like that can be observed at the current time, and receives a signal G1 and the like from the observable GPS satellites 12a and the like. At this time, for example, the previous position P (n−1) held in Buff is used as the reference self-position.

As illustrated in FIG. 3, the terminal 20 stores a positioning program 114 in the first storage unit 110. The positioning program 114 is a program for the control unit 100 to calculate the current positioning position Pg (n) based on the signal G1 received by the GPS unit 102 or the like. The positioning position Pg (n) is an example of the current positioning position.
Specifically, for example, the control unit 100 receives signals G1 and the like from three or more GPS satellites 12a and the like, and the time when the signals G1 and the like are transmitted from the GPS satellites 12a and the like and the time when the terminal 20 is reached. The pseudo distance that is the distance between each GPS satellite 12a and the terminal 20 is obtained by the delay time that is the difference between the two. Then, the position calculation of the current position is performed using the position on the satellite orbit of each GPS satellite 12a and the like calculated using the ephemeris 152b of each GPS satellite 12a and the like and the above-described pseudo distance.
The control unit 100 stores positioning position information 154 indicating the current positioning position Pg (n) in the second storage unit 150. Note that the positioning position Pg (n) at each time is collectively referred to as a positioning position Pg.

FIG. 5 is a diagram showing types of positioning performed based on the positioning program 114.
As the types of positioning, there are single positioning shown in FIG. 5 (a) and continuous positioning shown in FIG. 5 (b).
As shown in FIG. 5A, in the single positioning, the positioning is terminated at any time point when the variation of the positioning position Pg falls within a predetermined convergence range or when the stable position Pst is calculated. This is a positioning mode. Here, the predefined convergence range is, for example, a range in which variation of two or more positioning positions Pg (n) is within 100 meters (m). The stable position Pst is the average position Pav calculated by the terminal 20 first. The average position Pav will be described later. Note that the terminal 20 calculates the average position Pav even during single-point positioning. For example, when it is specified that single-shot positioning is performed 15 times per second (s), if the stationary condition B described later is satisfied, the average position Pav is determined from the first positioning. Calculated.
On the other hand, as shown in FIG. 5 (b), continuous positioning is performed after the time point when the variation in the positioning position Pg falls within a predetermined convergence range or after the stable position Pst is calculated. This is a positioning mode in which positioning is terminated after performing positioning for a specified time or a specified number of times.
As described above, both single and continuous positioning are composed of a plurality of positioning positions. Since a plurality of positionings are performed at a predetermined time that is defined in advance, both single positioning and continuous positioning are performed at a positioning time constituted by a plurality of positionings.
Note that unlike the present embodiment, as the type of positioning, when the variation in the positioning position Pg falls within a predetermined convergence range, or after the stable position Pst is calculated, the user commands to end positioning. You may add the continuous positioning which continues positioning until is input.

The control unit 100 also calculates a positioning time t (n) that is a time when the positioning position Pg (n) is calculated based on the positioning program 114. This positioning time t (n) is a GPS time calculated in the positioning process.
The control unit 100 stores positioning time information 156 indicating the positioning time t (n) in the second storage unit 150. The positioning time t (n) is also referred to as the current time t (n).

The positioning program 114 is also a program for the control unit 100 to calculate the moving speed of the terminal 20 based on the signal G1 and the like.
Specifically, the control unit 100 calculates the relative speed between the GPS satellites 12a and the like and the terminal 20 based on the Doppler shift of the signals G1 and the like from the plurality of GPS satellites 12a and the like, and the moving speed of the terminal 20 Is calculated (see, for example, paragraphs [0016] to [0018] of JP-A-8-68651).
The control unit 100 stores travel speed information 158 indicating the travel speed v (n) in the second storage unit 150. The moving speed v (n) is also referred to as the current speed v (n).

  As illustrated in FIG. 3, the terminal 20 stores an elapsed time evaluation program 116 in the first storage unit 110.

FIG. 6 is an explanatory diagram of the elapsed time evaluation program 116.
As shown in FIG. 6, the elapsed time evaluation program 116 indicates that the control unit 100 determines whether the elapsed time from each time t (n−1) or the like in Buff to the current time t (n) is equal to or less than the time threshold value α. It is a program for judging. The time threshold value α is defined in advance and is, for example, 180 seconds (s). A time range of 180 seconds (s) or less is an example of a time allowable range.

  As illustrated in FIG. 3, the terminal 20 stores a speed evaluation program 118 in the first storage unit 110.

FIG. 7 is an explanatory diagram of the speed evaluation program 118.
As shown in FIG. 7, the speed evaluation program 118 is for the control unit 100 to determine whether the current speed v (n), each speed v (n−1) in Buff, and the like are equal to or less than the speed threshold β. It is a program. The speed threshold value β is defined in advance, and is, for example, 0.5 meters per second (m / s). A speed range of 0.5 meters per second (m / s) is an example of a speed tolerance range.

  As illustrated in FIG. 3, the terminal 20 stores a distance evaluation program 120 in the first storage unit 110.

FIG. 8 is an explanatory diagram of the distance evaluation program 120.
As shown in FIG. 8, the distance evaluation program 120 determines whether the control unit 100 determines whether the distance between each position P (n−1) or the like in Buff and the current position Pg (n) is equal to or less than the distance threshold γ. It is a program for judging. The distance threshold γ is defined in advance and is, for example, 15 meters (m). A distance range of 15 meters (m) or less is an example of a distance tolerance range.

  As illustrated in FIG. 3, the terminal 20 stores a cumulative distance evaluation program 122 in the first storage unit 110. The cumulative distance evaluation program 122 is such that the control unit 100 determines that the cumulative distance, which is the distance from each position P (n−1) or the like to the current positioning position Pg (n), is equal to or less than a predetermined cumulative distance threshold γs. It is a program for judging whether or not there is.

FIG. 9 is an explanatory diagram of the cumulative distance evaluation program 122.
For example, as shown in FIG. 9A, the true position of the terminal 20 moves from the position P (n-5) to the position P (n-4) and from the position P (n-4) to the position P (n). n-3), the position P (n-3) to the position P (n-2), the position P (n-2) to the position P (n-1), and the position P (n -1) is assumed to have moved to the positioning position Pg (n).
Thus, when the terminal 20 moves in a circle and the positioning position Pg (n) indicates the coordinates of the center of the circle, the positioning position Pg (n) and each position P (n-5) to The distance to P (n−1) can be equal to or less than the distance threshold γ.
For this reason, whether or not the terminal 20 is moving is determined only by the distance between the positioning position Pg (n) and each of the positions P (n-5) to P (n-1) being equal to or less than the distance threshold γ. Cannot judge accurately.

In contrast, as illustrated in FIG. 9B, the control unit 100, for example, has a distance a <b> 1 with the position P (n−1) that is equal to or less than the cumulative distance threshold γs based on the cumulative distance evaluation program 122. Determine whether or not. Subsequently, the control unit 100 determines whether or not the cumulative distance a1 + a2 from the position P (n−2) is equal to or less than the cumulative distance threshold γs. Subsequently, the control unit 100 determines whether or not the cumulative distance a1 + a2 + a3 from the position P (n−3) is equal to or less than the cumulative distance threshold γs.
As described above, the control unit 100 calculates the distance (cumulative distance) from each position P (n−1) or the like to the current positioning position Pg (n), and the accumulated distance is equal to or less than the accumulated distance threshold γs. Determine whether or not. The cumulative distance threshold γs is defined in advance and is, for example, 20 meters (m). The range below the cumulative distance threshold γs is an example of a cumulative distance allowable range.

  As illustrated in FIG. 3, the terminal 20 stores a stationary state determination program 124 in the first storage unit 110. The stationary state determination program 124 is a program for the control unit 100 to determine whether or not each position P (n−1) in Buff satisfies the stationary condition B. The stationary state determination program 124 and the control unit 100 are an example of a stationary condition determination unit.

FIG. 10 is an explanatory diagram of the stationary state determination program 124.
As shown in FIG. 10, the stationary condition B is a state that satisfies all of Condition 1, Condition 2, Condition 3, and Condition 4. The stationary condition B is an example of a stationary condition.
Condition 1 is that both the current speed v (n) and each speed v (n−1) in Buff are equal to or less than the speed threshold value β. In order to satisfy the condition 2, for example, in the relationship between the current speed v (n) and the speed v (n−1), both the current speed v (n) and the speed v (n−1) Must be:
Condition 2 is that the elapsed time is equal to or less than the time threshold value α.
Condition 3 is that the distance between the current positioning position Pg (n) and each position P (n−1) is equal to or less than the distance threshold γ.
Condition 4 is that the accumulated distance is equal to or less than the accumulated distance threshold γs.

Based on the stationary state determination program 124, the control unit 100 determines whether or not the stationary condition B is satisfied in the newest order for the position P in Buff.
Specifically, the control unit 100 first determines whether or not the current moving speed v (n) is equal to or lower than the speed threshold value β. Note that if the control unit 100 determines that the current moving speed v (n) is not equal to or less than the speed threshold value β, the control unit 100 determines whether or not the stationary condition B is satisfied for each position P (n−1). And the determination of the stationary condition B is stopped.
When the control unit 100 determines that the current moving speed v (n) is equal to or less than the speed threshold value β, each position P (n−1) has a stationary condition B in relation to the current positioning position Pg (n). It is determined whether or not the above is satisfied. Subsequently, it is determined whether or not the stationary condition B is satisfied for the current positioning position Pg (n) and position P (n-2). As described above, the control unit 100 determines whether or not the stationary condition B is satisfied for the position P (n−1) and the like in the newest order, and determines that the position P (n−1) and the like do not satisfy the stationary condition B. At this point, the determination of the stationary condition B is stopped.

  As illustrated in FIG. 3, the terminal 20 stores an average position calculation program 126 in the first storage unit 110. The average position calculation program 126 calculates the average position Pav by averaging the position P (n−1) that satisfies the stationary condition B and the current positioning position Pg (n) calculated by the positioning. It is a program for. The average position Pav is an example of the average position. The average position calculation program 126 and the control unit 100 are an example of an average position calculation unit.

FIG. 11 is an explanatory diagram of the average position calculation program 126.
As shown in FIG. 11, for example, the position P that satisfies the stationary condition B is positions P (n−1), P (n−2), P (n−3), P (n−4), and P (n In the case of −5), the average position of the positions P (n−1) to P (n-5) and the positioning position Pg (n) is calculated.
As described above, the control unit 100 calculates the average position of all the positions P that satisfy the stationary condition B and the positioning position Pg (n). For example, when all the positions P in Buff satisfy the stationary condition B, the averaging process is performed on 11 positions together with the positioning position Pg (n).
The control unit 100 stores average position information 160 indicating the average position Pav in the second storage unit 150.

As illustrated in FIG. 3, the terminal 20 stores a position output program 128 in the first storage unit 110. The position output program 128 is a program for the control unit 100 to output either the average position Pav or the positioning position Pg (n). The position output program 128 and the control unit 100 are examples of position output means.
Specifically, when there is a position P that satisfies the above-described stationary condition B, the control unit 100 displays the average position Pav on the display device 36 (see FIG. 2).
On the other hand, the control unit 100 displays the positioning position Pg (n) on the display device 36 when there is no position P that satisfies the stationary condition B described above.

As illustrated in FIG. 3, the terminal 20 stores a location storage program 130 in the first storage unit 110. The position storage program 130 is a program for the control unit 100 to store the average position Pav or the positioning position Pg (n) in Buff. The position storage program 130 and the control unit 100 are examples of position storage means.
When the average position Pav is displayed on the display device 36, the control unit 100 stores the average position Pav as a new position P (n-1) in Buff.
On the other hand, when the position Pg (n) is displayed on the display device 36, the control unit 100 stores the position Pg (n) as a new position P (n-1) in Buff.

The terminal 20 is configured as described above.
As described above, the terminal 20 can calculate the average position Pav by averaging the position P (n−1) that satisfies the stationary condition B and the current positioning position Pg (n) calculated by positioning. That is, the terminal 20 does not average (correct) the predicted position estimated from the previous positioning position, the previous velocity vector, and the elapsed time, and the current positioning position Pg (n). The terminal 20 calculates the average position Pav by averaging the position P (n−1) that satisfies the stationary condition B and the current positioning position Pg (n) calculated by positioning. For this reason, in order to correct the current positioning position Pg (n), it is not affected by the accuracy of the previous velocity vector.
Further, when the terminal 20 is stationary, the positioning position Pg (n) is continuously indicated by the coordinates near the true position. The average position Pav is located closer to the true position because the variation is reduced by averaging. On the other hand, the true position does not always exist in the vicinity of the expected position.
That is, the position P that satisfies the stationary condition B has high reliability. Moreover, there may be a plurality of positions P that satisfy the generation condition B.
Therefore, the average position Pav is output by averaging the position P (n-1) and the current positioning position Pg (n), thereby outputting the average position of the predicted position and the current positioning position Pg (n). The output position is much closer to the true position than if
Thereby, it is possible to output a position with high reliability and high accuracy.

In addition, since the stationary condition B determines the stationary state of the terminal 20 using a plurality of criteria such as moving speed, elapsed time, and distance, it can be accurately determined whether or not the terminal 20 is stationary.
Furthermore, since the stationary condition B includes a condition that the accumulated distance is equal to or less than the accumulated distance threshold γs, the terminal 20 is moving in a circle at a short distance, for example, and determines the stationary state of the terminal 20 depending on the distance. Even in the case where it is not possible, the stationary state can be determined based on the accumulated distance.

The above is the configuration of the terminal 20 according to the present embodiment. Hereinafter, an example of the operation will be described mainly using FIG.
FIG. 13 is a schematic flowchart showing an operation example of the terminal 20 according to the present embodiment.
In FIG. 13, the following description will be made assuming that the terminal 20 performs single-point positioning (see FIG. 5A).

First, the terminal 20 performs positioning (step ST1 in FIG. 13).
Subsequently, the terminal 20 determines whether or not the stationary condition B is satisfied for each position P (n-1) in the Buff (step ST2). This step ST2 is an example of a stationary condition determination step.

Subsequently, the terminal 20 determines whether or not there is a position P (n−1) or the like that satisfies the stationary condition B (step ST3).
If the terminal 20 determines in step ST3 that there is a position P (n-1) or the like that satisfies the stationary condition B, the terminal 20 and all the positions P (n-1) that satisfy the stationary condition B and the positioning positions Pg (n) is averaged to calculate an average position Pav (step ST4). This step ST4 is an example of an average position calculating means.

Subsequently, the terminal 20 outputs the average position Pav (step ST5). This step ST5 is an example of a position output step.
Subsequently, the terminal 20 stores the final average position Pav in the single positioning as the position P (n−1) in Buff (step ST6). This step ST6 is an example of a position storing step.

When the terminal 20 determines that there is no position P (n−1) or the like that satisfies the stationary condition B in step ST3 described above, the current positioning position Pg (n) is output (step ST5A).
If the average position Pav is not calculated in the final positioning in the single positioning, the terminal 20 stores the final positioning position Pg (n) in Buff (step ST6A).

By the above steps, a reliable and highly accurate position can be output when stationary.
Further, since the positioning position Pg (n) is output when the terminal 20 is not stationary, the position corresponding to the moving state can be output.

(Second Embodiment)
Next, a second embodiment will be described. Since the configuration of the terminal 20A (see FIG. 1) in the second embodiment is similar to that of the terminal 20 in the first embodiment, common portions are denoted by the same reference numerals, and the description thereof is omitted. Hereinafter, the difference will be mainly described.

FIG. 14 is a diagram illustrating the speed threshold value β, the distance threshold value γ, and the like of the terminal 20A.
As shown in FIG. 14, in the terminal 20A, the velocity threshold value β is defined as 0.5 meters per second (m / s) in a strong electric field. In the middle electric field, the speed threshold value β is defined as 0.75 meters per second (m / s). In the weak electric field, the speed threshold value β is defined as 2 meters per second (m / s).
The strong electric field is, for example, a signal intensity of minus (−) 135 dBm or more.
The medium electric field has a signal intensity of, for example, minus (−) 150 dBm or more and less than minus (−) 135 dBm.
The weak electric field is, for example, a signal intensity of less than minus (−) 150 dBm.

  In the terminal 20A, the distance threshold γ is defined as 15 meters (m) in a strong electric field. In the middle electric field, the distance threshold γ is defined as 30 meters (m). In the weak electric field, the distance threshold γ is defined as 100 meters (m).

As described above, the speed threshold β and the distance threshold are defined according to the reception environment.
Therefore, the terminal 20A can appropriately determine the stationary state according to the reception environment.
Note that the time threshold value α and the cumulative distance threshold value γs are fixed values.

FIG. 15 is an explanatory diagram of the position storage program 130A (see FIG. 3).
As shown in FIG. 15, the control unit 100 is configured to store the positioning position Pg in the Buff until the position P in the Buff reaches the prescribed number of 5, based on the position storage program 130A. . The prescribed number of 5 is prescribed in advance.
Specifically, as shown in FIGS. 15A to 15E, the control unit 100 stores the positioning position Pg in Buff until the position P in Buff reaches five.
On the other hand, as shown in FIGS. 15F to 15J, when the average position Pav is calculated after the number of the positions P in Buff reaches five, the average position Pav is stored in Buff. To do.

FIG. 16 is a diagram showing a comparative example with the present embodiment.
As shown in FIG. 16 (a), the first positioning position Pg is set to Buff as the first position P (0), and then the position near the true position is measured to calculate the positioning position Pg (1). And In this case, the average position of P (0) and Pg (1) is Pav (1).
Subsequently, as shown in FIG. 16B, Pav (1) is set as P (1) in Buff, and then a position near the true position is measured to calculate a positioning position Pg (2). To do. In this case, the average position of P (0), P (1), and Pg (2) is Pav (2).
As described above, when the average position Pav is stored in Buff in the initial stage of storing the position P in Buff, the initial position P (0) is greatly affected, and the average position Pav does not quickly approach the true position. There is.

FIG. 17 is a diagram illustrating an example of a method for storing a position in a Buff according to the present embodiment.
As shown in FIG. 17A, it is assumed that the positioning position Pg is set to the Buff as the first position P (0), and then the position near the true position is measured to calculate the positioning position Pg (1). . In this case, the average position of P (0) and Pg (1) is Pav (1).
Then, as shown in FIG. 17B, it is assumed that Pg (1) is put into Buff as P (1), and then a position close to the true position is measured to calculate a positioning position Pg (2). . In this case, the average position of P (0), P (1), and Pg (2) is Pav (2A). Pav (2A) is closer to the true position than the average position Pav (2) of the comparative example.
Thus, in the initial stage of storing the position P in Buff, the average position Pav is not stored in Buff, but the positioning position Pg is stored in Buff, thereby reducing the influence of the first position P (0). Thus, the average position Pav can be brought closer to the true position more quickly.

  As described above, even if the position P initially stored in Buff is greatly deviated from the true position, the terminal 20A can quickly reduce the influence.

(Third embodiment)
Next, a third embodiment will be described. The configuration of the terminal 20B (see FIG. 1) in the third embodiment is similar to the configuration of the terminal 20 in the first embodiment, and thus common parts are denoted by the same reference numerals and the description thereof is omitted. Hereinafter, the difference will be mainly described.

FIG. 18 is an explanatory diagram of the position storage program 130B (see FIG. 3) stored in the first storage unit 110 by the terminal 20B.
The position storage program 130B functions in continuous positioning (see FIG. 5B).
As shown in FIG. 18A, it is assumed that ten positions P are held in Buff. In this state, when the terminal 20B starts continuous positioning, the control unit 100 stores the average position Pav (stable position Pst) first calculated within the positioning time in Buff based on the position storage program 130B.
Subsequently, at the end of continuous positioning, the control unit 100 updates the stable position Pst with the average position Pav calculated last.
When the average position Pav is not calculated and output last but the positioning position Pg is output, the stable position Pst is updated with the last positioning position Pg.
In the middle of continuous positioning, there may be a point in time when the variation of the positioning position Pg falls within a predefined convergence range, but the terminal 20B does not store the positioning position Pg at that time in Buff, The stable position Pst is stored in Buff to the last. This is because even if the variation in the positioning position Pg falls within the convergence range defined in advance, the positioning position Pg at that time greatly deviates from the true position due to a positioning error (so-called “position skip”). This is because storing such a position in Buff may adversely affect the subsequent averaging.

As described above, since the terminal 20B stores the stable position Pst in Buff, the terminal 20B can store the new position P in Buff at an early stage. Thereby, a new position can be stored in Buff at an early stage without waiting for the end time of continuous positioning. Thereby, the subsequent average position Pav can also reflect the new position at an early stage.
Further, since the terminal 20B is configured to update the stable position Pst with the last calculated average position Pav, a highly accurate position can be stored in Buff when the positioning time is completed.

FIG. 19 is a diagram illustrating the speed threshold value β, the distance threshold value γ, and the like of the terminal 20B.
As shown in FIG. 19, in the terminal 20B, after calculating the stable position Pst, the velocity threshold value β is 0.5 meters per second (m / s) and 0.3 meters per second (m / s) in a strong electric field. Be changed. In the middle electric field, the velocity threshold β is changed from 0.75 meters per second (m / s) to 0.6 meters per second (m / s). In the weak electric field, the speed threshold value β is changed from 2 meters per second (m / s) to 1.2 meters per second (m / s).

  In terminal 20B, after calculation of stable position Pst, distance threshold γ is changed from 15 meters (m) to 10 meters (m) in a strong electric field. In the middle electric field, the distance threshold γ is changed from 30 meters (m) to 20 meters (m). In the weak electric field, the distance threshold γ is changed from 100 meters (m) to 70 meters (m).

  As described above, after the stable position Pst is calculated, the speed threshold value β and the distance threshold value γ are reduced. In other words, after the stable position is calculated, the stationary condition becomes stricter.

Once the average position Pav is calculated and held in Buff, the position in Buff that serves as a reference for determining the stationary condition B reflects the latest position.
Therefore, the terminal 20B can more accurately determine the stationary state by reflecting the latest position and tightening the stationary condition B.

FIG. 20 is an explanatory diagram of the stationary state determination program 124B stored in the first storage unit 110 by the terminal 20B.
As shown in FIGS. 20 (a) and 20 (b), the control unit 100 determines that the new speed in the Buff is based on the stationary state determination program 124B when the current speed v (n) is equal to or lower than the speed threshold value β. From the position P, it is determined whether or not the stationary condition B is satisfied.
Specifically, it is first determined whether or not the stationary condition B is satisfied for the position P (n−1) in Buff (1), and then the position P (n−2) in Buff (2). For example, it is determined whether or not the stationary condition B is satisfied in order from the new position P.

As shown in FIG. 20A, the control unit 100 determines that the Buff (3) position B (n−3) does not satisfy the stationary condition B based on the stationary state determination program 124B. 4) For the position P (n−4) in FIG.
In the example of FIG. 20A, all positions P other than the position P (n-3) in Buff (3) that do not satisfy the stationary condition B are used for calculating the average position Pav. .

On the other hand, as shown in FIG. 20B, the control unit 100 determines that the position P (n-3) of Buff (3) does not satisfy the stationary condition B based on the stationary state determination program 124B, and When the position P (n−4) of the continuous Buff (4) does not satisfy the stationary condition B, the determination as to whether or not the stationary condition B is satisfied is stopped.
The positions P held in Buff (3), Buff (4), Buff (5), etc. are not used for calculating the average position Pav, and Buff (1) and Buff (2) satisfying the stationary condition B are used. Only the position P held in is used for calculating the average position Pav.

As described above, the control unit 100 is configured to perform averaging using the position P that satisfies the stationary condition B unless the state where the position P in the Buff does not satisfy the stationary condition B continues.
Therefore, for example, even if one position (position P of Buff (3) in FIG. 20A) has a large error and it is erroneously determined that the stationary condition B is not satisfied, Since the position P calculated before that can be used for averaging, the number of positions P that can be used for averaging processing can be sufficiently secured, and the accuracy of the average position Pav can be improved. it can.

(About programs and computer-readable recording media)
A positioning apparatus control program for causing a computer to execute the stationary condition determination step, the average position calculation step, the position output step, the position storage step, and the like of the above-described operation example can be provided.
Moreover, it can also be set as the computer-readable recording medium etc. which recorded the control program etc. of such a positioning apparatus.

  A program storage medium used to install the control program of the positioning device in the computer and make it executable by the computer is, for example, a flexible disk such as a floppy (registered trademark), a CD-ROM (Compact Disc Read Only). Semiconductor memory in which programs are temporarily or permanently stored as well as package media such as Memory, CD-R (Compact Disc-Recordable), CD-RW (Compact Disc-Rewritable), DVD (Digital Versatile Disc), etc. It can be realized with a magnetic disk or a magneto-optical disk.

  The present invention is not limited to the embodiments described above. Furthermore, the above-described embodiments may be combined with each other.

It is the schematic which shows the terminal etc. which concern on embodiment of this invention. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main software structures of a terminal. It is a figure which shows an example of Buff. It is explanatory drawing of a positioning program. It is explanatory drawing of an elapsed time evaluation program. It is explanatory drawing of a speed evaluation program. It is explanatory drawing of a distance evaluation program. It is explanatory drawing of a cumulative distance evaluation program. It is explanatory drawing of a stationary state judgment program. It is explanatory drawing of an average position calculation program. It is explanatory drawing of a position storage program. It is a schematic flowchart which shows the operation example of a terminal. It is a figure which shows an example of a speed threshold value etc. It is explanatory drawing of a position storage program. It is a figure which shows a comparative example. It is a figure which shows an example of the position storage method to Buff of this implementation. It is explanatory drawing of a position storage program. It is a figure which shows an example of a speed threshold value etc. It is explanatory drawing of a stationary state judgment program.

Explanation of symbols

  12a, 12b, 12c, 12d, 12e, 12f, 12g, 12h ... GPS satellite, 20 ... terminal, 112 .... satellite signal reception program, 114 ... positioning program, 116 ... elapsed time evaluation program 118 ... Speed evaluation program, 120 ... Distance evaluation program, 122 ... Cumulative distance evaluation program, 124, 124B ... Static state determination program, 126 ... Average position calculation program, 128 ... Position output program, 130, 130A, 130B ... position storage program

Claims (9)

A repeated positioning apparatus based rather positioning satellite signals from positioning satellites,
Position holding means for holding a history of output positions ;
For each output position held by the position holding means, the elapsed time from the time when the output position was calculated is within a predetermined time allowable range, and the movement of the positioning device when the output position is calculated The speed is within a predetermined speed allowable range, the distance between the output position and the current positioning position is within a predetermined distance allowable range, and the distance from the output position to the current positioning position. Whether or not the stationary condition is satisfied as a stationary condition for determining that a certain cumulative distance is within a predetermined cumulative distance allowable range from the time when the output position is calculated until the current positioning. Static condition determining means for determining each of the output positions ;
When there is the still satisfies output position, the out of holding output located position holding unit, the average position wherein the respective stationary condition is satisfied and the determined said output position, by averaging the current positioning location Mean position calculating means for calculating
When there is an output position that satisfies the stationary condition, the average position calculated by the average position calculation means is output, and when there is no output position that satisfies the position output means that outputs the current positioning position ;
Position storage means for storing the position output by the position output means as a new output position in the position holding means;
A positioning device comprising:   The said stationary condition determination means performs the said determination until the output position which does not satisfy | fill the said stationary condition comes out retroactively from the newest output position among the output positions hold | maintained at the said position holding means. Positioning device.   The stationary condition determination unit performs the determination until output positions that do not satisfy the stationary condition continuously come out from the latest output position among the output positions held by the position holding unit. The positioning device according to 1. The positioning device according to any one of claims 1 to 3, further comprising a stationary condition changing unit that changes the stationary condition according to a reception environment of the satellite signal.   The positioning device according to claim 4, wherein the stationary condition changing means increases the speed allowable range by increasing a speed condition threshold value as the received signal strength of the satellite signal is weaker.   The positioning device according to claim 4 or 5, wherein the stationary condition changing means increases the distance allowable range by increasing a distance condition threshold as the received signal strength of the satellite signal is weaker. Wherein the position storage means, to any one of claims 1 to 6 which stores a positioning position in the position holding means until a prescribed number of numbers previously defined output position held by the position holding means The described positioning device. Repeated signals based rather positioning satellite signal is from positioning satellites, the positioning device having a position holding means for holding the history of the output position for each respective output position held in the position holding means, the output The elapsed time from the time at which the position is calculated is within a predetermined time allowable range, the moving speed of the positioning device when the output position is calculated is within a predetermined speed allowable range, the output position The distance between the current positioning position and the current positioning position is within a predetermined distance allowable range, and the cumulative distance that is the distance from the output position to the current positioning position is within the predetermined cumulative distance allowable range. , as a still condition for determining to be stationary until the current positioning from the time of calculating the output position, whether the still satisfy respectively the output position Nitsu A stationary condition determination step of determining Te,
When the positioning device has an output position that satisfies the stationary condition, among the output positions held by the position holding means, each of the output positions determined to satisfy the stationary condition and the current positioning position An average position calculating step for averaging and calculating an average position;
The positioning device outputs an average position calculated in the average position calculation step when there is an output position that satisfies the stationary condition, and outputs a current positioning position when there is no output position that satisfies the output position. When,
A position storing step in which the positioning device stores the position output in the position output step in the position holding means as a new output position ;
A method for controlling a positioning device, comprising: A program for causing a computer built in a positioning device having a position holding means for holding a history of output positions to repeatedly perform positioning based on a satellite signal that is a signal from a positioning satellite,
For each output position held by the position holding means, the elapsed time from the time when the output position was calculated is within a predetermined time allowable range, and the movement of the positioning device when the output position is calculated The speed is within a predetermined speed allowable range, the distance between the output position and the current positioning position is within a predetermined distance allowable range, and the distance from the output position to the current positioning position. Whether or not the stationary condition is satisfied as a stationary condition for determining that a certain cumulative distance is within a predetermined cumulative distance allowable range from the time when the output position is calculated until the current positioning. A stationary condition determination step for determining each of the output positions ;
When there is the still satisfies output position, the out of holding output located position holding unit, the average position wherein the respective stationary condition is satisfied and the determined said output position, by averaging the current positioning location An average position calculating step for calculating
When there is an output position that satisfies the stationary condition, the average position calculated in the average position calculation step is output, and when there is no output position that satisfies the position, a position output step that outputs the current positioning position ;
A position storing step of storing the position output in the position output step in the position holding means as a new output position ;
Program for causing the computer to perform the.

Images