JP4200327B2 - Positioning device and position information system using the same - Google Patents

Description

  The present invention includes an external radio wave receiving means such as a GPS positioning means, and a radio wave using positioning means that obtains the current position by calculation from the reception result, and performs autonomous positioning by integrating the moving direction and moving amount from the initial position. Further, the present invention relates to a positioning device that includes autonomous positioning means that uses the current position data instead of when the positioning by the radio wave using positioning means is impossible or when an error is enlarged, and a position information system using the positioning apparatus.

  Conventionally, in addition to positioning by using radio waves from GPS (Global Positioning System) satellites, various positioning sensors are used in an auxiliary manner in preparation for a situation in which radio waves from the GPS satellites cannot be received. Thus, a positioning device of a type that performs autonomous positioning has been proposed.

  As a typical prior art of this type of portable positioning device, for example, Patent Documents 1 and 2 can be cited. These conventional technologies are configured to include a GPS receiver and a sensor, and perform GPS positioning when radio waves can be received from GPS satellites. In locations where GPS positioning is not possible, such as in buildings, towns, and forests. Using the sensor, the moving distance is detected by the calculation of “step length × number of steps”, the moving direction is detected using a geomagnetic sensor, and the current position is measured.

Further, Patent Document 3 shows that GPS positioning and autonomous positioning are used in combination, and the operation state of the vehicle is judged, and the positioning results are combined to improve the positioning accuracy. .
Japanese Patent Laid-Open No. 11-194033 JP 2000-97722 A JP 2002-48589 A

  In each of the above-described prior arts, it has been shown that all positioning means are always operated and the positioning results are fused to improve positioning accuracy. However, the power consumption of the positioning device held by the user is indicated. Has not been shown to reduce battery life and extend battery life.

  An object of the present invention is to provide a positioning apparatus that can reduce power consumption and extend battery life without impairing positioning performance, and a position information system using the positioning apparatus.

The positioning device of the present invention is a positioning device possessed by a user, which receives external radio waves and counts the number of steps by the user's walking or running by using radio wave positioning means for obtaining the current position by calculation from the reception result. Autonomous positioning means that obtains the current position by multiplying the initial position by obtaining the amount of movement by multiplying the stride, and adding the movement direction from the initial position and the amount of movement, and vibration detection for detecting the vibration state of the positioning device And a value obtained by merging the positioning result of the one that is estimated to be more accurate from the positioning results of the radio wave positioning means and the autonomous positioning means or the positioning results of two kinds of positioning means, and the number of steps is When it is not counted and positioning by the autonomous positioning means becomes impossible, the vibration detection means performs state detection processing and determines that the vehicle is moving by a vehicle. If that is the, the first period of predetermined stopping the operation of telecommunications positioning means and the autonomous positioning means repeating the state detection processing, by operating the telecommunications positioning means and movement by the vehicle is completed Control means for determining a current position and repeating positioning by the autonomous positioning means at a predetermined second cycle shorter than the first cycle when it is determined that the vehicle is not in the state detection process. It is characterized by that.

  According to the above configuration, radio wave-based positioning that can be carried by a user, such as being incorporated into a mobile phone terminal device or a portable information terminal, can receive external radio waves, and can absolutely position the current position by calculation from the reception results. And the autonomous positioning means that calculates the current position by adding the moving direction and amount of movement from the initial position to the initial position, and the control means is estimated to be more accurate from those positioning results. In a positioning device capable of displaying or reporting to the outside as a current position a value obtained by fusing the positioning results of the above or positioning results of two types of positioning means, vibration detecting means for detecting the vibration state of the positioning device is provided. The control means determines from the detection result of the vibration detection means whether the vehicle is on the vehicle or not (walking, running, etc.), and the determination result In response, it controls the operating state of the telecommunications positioning means and the autonomous navigation unit.

  Therefore, power consumption can be reduced and battery life can be extended without impairing the positioning performance of the positioning device possessed by the user.

  Preferably, the radio wave using positioning means receives radio waves from a plurality of GPS satellites, receives radio waves from a plurality of mobile phones, or receives a plurality of TV radio waves, and from these received signals, by calculation, The distance from a plurality of satellites or base stations or transmitting stations is obtained, and the current position is absolutely measured.

  Preferably, the vibration detection means detects the vehicle / non-vehicle from a power value in an output time waveform of a uniaxial, biaxial or triaxial acceleration sensor or a gain peak value in an output spectrum of the acceleration sensor. The vehicle / non-vehicle is detected from the moving speed of the GPS positioning result, or the vehicle / non-vehicle is detected based on each correlation function of the three-axis acceleration sensor.

  In the positioning device of the present invention, when the vibration detecting unit detects a vibration corresponding to the user's walking or running, the control unit detects the positioning result of the radio wave using positioning unit and the autonomous positioning unit. Then, the positioning result that is estimated to be more accurate based on the error determination criterion that is predetermined for each is updated as the initial position in the autonomous positioning means.

  According to the above configuration, when updating (setting) the initial position in the autonomous positioning means, the control means first determines whether or not vibration corresponding to the user's walking or running is detected by the vibration detection means, and accordingly It is determined whether or not the autonomous positioning means is performing a certain degree of reliable positioning, and if the vibration is detected, and thus is reliable to some extent, the positioning result of the autonomous positioning means and the radio wave using positioning Among the positioning results of the means, a predetermined error judgment standard is applied to each of them to compare them, and the positioning result that is estimated to be more accurate is adopted as the initial position.

  Therefore, the initial position for autonomous positioning can be appropriately updated (set).

  Furthermore, the positioning device of the present invention further includes a notification unit, and the control unit performs positioning by the autonomous positioning unit in a state where vibration corresponding to a user's walking or running is detected by the vibration detection unit. If the positioning result by the radio wave using positioning unit is out of a predetermined range with respect to the result, the notifying unit is notified of an abnormality of the radio wave using positioning unit.

  According to the above configuration, in the state in which vibration corresponding to the walking or running of the user is detected by the vibration detecting means, the positioning result by the autonomous positioning means can be trusted to some extent, and the walking or The range that can be moved within a predetermined time by traveling is limited, and if the positioning result by the radio wave using positioning means deviates greatly from that range, the radio wave using positioning means can receive fewer satellites or base stations, It is considered that a factor causing an error such as a path has occurred, and the information is notified from the notification means.

  Therefore, it is possible to prevent the positioning result of the radio wave using positioning means from being adopted while the positioning result remains abnormal.

  Further, the position information system of the present invention further includes a wireless communication means capable of transmitting a positioning result via a wireless communication network in the positioning device, and transmits a command to the positioning device, and in response thereto A wireless communication means for receiving the returned positioning result, a storage means for storing the received positioning result, and a center device comprising a display means for displaying the received positioning result is further provided. And

  According to the above configuration, a position information system that can confirm the current position of the user as needed from the center device side or periodically transmit the current position to confirm the movement route is realized. be able to.

  Furthermore, in the position information system of the present invention, in response to the transmission request of the positioning result from the center device, the control means, when the positioning by the radio wave using positioning means is successful, the positioning result to the positioning In the case of failure, the positioning result of the autonomous positioning unit is transmitted only when it is determined from the detection result of the vibration detecting unit that the vehicle is not moving.

  According to said structure, when a positioning result must be transmitted according to the request | requirement from the center apparatus side, only the positioning result which can ensure a certain amount of precision can be transmitted.

  Further, in the position information system of the present invention, the radio wave using positioning means obtains distances from the plurality of satellites by calculation from GPS receiving means for receiving radio waves from the plurality of GPS satellites and the received signals, GPS positioning means for absolute positioning of the current position, portable radio wave receiving means for receiving radio waves from a plurality of mobile phones, and their received signals are used to calculate distances from a plurality of base stations, respectively. In response to the positioning result transmission request from the center device, the control means transmits the positioning result when the positioning by the GPS positioning means is successful, and the positioning fails. In this case, the portable radio wave receiving means and the portable radio wave positioning means are caused to perform positioning.

  According to the above configuration, the GPS receiving unit and the GPS positioning unit, and the portable radio wave receiving unit and the portable radio positioning unit are used in combination as the radio wave using positioning unit, and the GPS receiving unit and the GPS positioning unit with relatively high accuracy are used. The means is prioritized and the portable radio wave receiving means and the portable radio wave positioning means are activated when positioning by the means cannot be performed.

  Therefore, portable radio wave positioning as a backup can be realized with minimum power consumption while giving priority to accuracy by GPS reception.

  As described above, the positioning device of the present invention is carried by a user by being incorporated in a mobile phone terminal device or a portable information terminal, receives external radio waves, and calculates the current position by calculation from the reception result. The radio wave-based positioning means that can perform positioning and the autonomous positioning means that obtains the current position by adding the moving direction and amount of movement from the initial position to the initial position are used together, and the control means is more accurate from the positioning results. In a positioning device that can display or report to the outside as a current position a value obtained by merging the estimated positioning result or positioning results from two types of positioning means, detect the vibration state of the positioning device Vibration detecting means is provided, and the control means determines from the detection result of the vibration detecting means whether the vehicle is riding or not (walking, running, etc.). According to the determination result, it controls the operating state of the telecommunications positioning means and the autonomous navigation unit.

  Therefore, the power consumption can be reduced and the battery life can be extended without impairing the positioning performance of the positioning device possessed by the user.

  In addition, as described above, the position information system of the present invention further includes wireless communication means capable of transmitting a positioning result via a wireless communication network in the positioning device, and transmits a command to the positioning device. A wireless communication means for receiving a positioning result returned in response thereto, a storage means for storing the received positioning result, and a center device configured to include a display means for displaying the received positioning result. It consists of

  Therefore, it is possible to realize a position information system that can confirm the current position of the user as needed from the center apparatus side or periodically transmit the current position to confirm the movement route.

[Embodiment 1]
FIG. 1 is a diagram showing an outline of a location information system using a security terminal 1 according to the first embodiment of the present invention. This location information system is roughly a positioning device that includes one or a plurality of security terminals 1, a communication network 2 including a wireless communication network, and a center device connected to the security terminal 1 via the communication network 2. 3.

  The security terminal 1 is configured to be incorporated into a mobile phone terminal device or a portable information terminal, and is carried by the user 4 and is used in a predetermined cycle or a positioning instruction (search instruction) from the center device 3. In response, radio waves from a plurality of GPS satellites are received and GPS positioning is performed and / or autonomous positioning is performed as will be described later, and the positioning result (position information) is set to a predetermined cycle or the center device 3. In response to a transmission request (search instruction) from the center device 3.

  The center device 3 is realized by a server computer or the like installed in a management center of a location information service provider, and in response to an instruction from an administrator or a guardian personal computer connected via the communication network 2. The positioning and the transmission instruction of the result are transmitted to the security terminal 1, and the position information such as the current position and the movement route received from the security terminal 1 is transmitted to the personal computer on the manager or guardian side. Through such operations, it is possible to track the theft of valuables and vehicles, and to confirm the whereabouts of children and the elderly.

  FIG. 2 is a block diagram showing an electrical configuration of the configuration shown in FIG. The security terminal 1 includes a GPS receiving unit 11 that receives radio waves from the GPS satellite, a GPS positioning unit 12 that performs a positioning calculation on the reception result, and can absolutely measure the current position, and a moving direction and movement from the initial position. Autonomous positioning means 13 for accumulating the amount to obtain the current position, wireless communication means 14 for communicating with the center device 3 via the communication network 2, the GPS receiving means 11, the GPS positioning means 12, the autonomous positioning The control means 15 for controlling the means 13 and the wireless communication means 14, the storage means 16 for storing the current position and the movement route obtained as described later, and the current position and the movement route are displayed. And display input means 17 for performing an input operation such as an emergency call.

  The communication network 2 is constructed from mobile phone base stations 21 to 23 or a fixed communication network in which a so-called Internet protocol group is used for communication. The center device 3 is transmitted from the security terminal 1, wireless communication means 31 for communicating with the security terminal 1 via the communication network 2, control means 32 for giving the instruction to the security terminal 1, and The storage means 33 for storing the current position and movement route, the current position and the movement route, etc. are displayed, and a search request for position information, settings for each security terminal 1 and the like can be input. Display input means 34 capable of being configured.

  In the position information system configured as described above, the GPS receiving means 11 and the GPS positioning means 12 which are radio wave using positioning means are set in advance every time a predetermined period, for example, an accumulated value of error due to autonomous positioning becomes a predetermined threshold value or more. Or, in response to a search instruction from the center device 3, the current position is measured by GPS. In this GPS positioning, an absolute position can be detected, and when the satellite arrangement and the radio wave condition are good and not affected by multipath, accurate position detection is possible.

  On the other hand, the autonomous positioning means 13 also autonomously positions the current position in response to a predetermined cycle, for example, every second, or in response to a search instruction from the center device 3. The autonomous positioning means 13 integrates a vertical motion acceleration sensor and a vibration sensor that count the number of steps by walking of the user 4, a geomagnetic sensor that detects a traveling direction, and a moving direction and a moving amount based on outputs from these sensors at an initial position. Thus, it is provided with calculation means for obtaining the current position, and using the step length of the user 4 set in advance, the movement distance is calculated by calculating the step length × step count from the step count by the vertical motion acceleration sensor or the vibration sensor. In addition, the absolute azimuth is calculated by the geomagnetic sensor, and the amount of movement based on the movement distance and the absolute azimuth is added to the initial position to perform positioning. This autonomous positioning means 13 cannot measure the absolute position and is not so high in accuracy, but is power-saving and can be used regardless of location as long as the user 4 is walking or running (radio wave). Positioning is possible even in an environment that does not reach.

  The step length does not necessarily have to be registered in advance, and is automatically acquired on the autonomous positioning means 13 side from the GPS positioning result and the number of steps counted during that time, or from the output level and the number of steps of the acceleration sensor. (Learning) may be performed, and it may be changed dynamically. Accordingly, even the same user 4 can adapt to the road surface condition (inclination, unevenness, etc.), physical condition, presence / absence of luggage.

  It should be noted that in the present invention, when the security terminal 1 is in a steady operation after the power is turned on and waiting for a search instruction from the center device 3, the control means 15 receives the GPS signal at a predetermined cycle as will be described later. The positioning command is outputted to the means 11 and the GPS positioning means 12 to perform the GPS positioning, and the autonomous positioning means 13 is also outputted to perform the autonomous positioning, and it is estimated that the positioning result is more accurate. Whether the vehicle is on the vehicle based on the detection result of the vertical acceleration sensor or the vibration sensor in the autonomous positioning means 13 as a current position. Or whether it is not on board (walking, running, etc.), and depending on the determination result, the GPS receiving means 11 and the GPS positioning means 2, it is to control the operating state of the autonomous positioning means 13.

  Specifically, the detection output of the vertical motion acceleration sensor or the vibration sensor, which is a vibration detection means, varies as shown in FIG. 3 depending on a stationary state, a walking state, and a state of getting on a vehicle. The signal processing circuit in the autonomous positioning means 13 processes the waveform, counts the number of steps for autonomous positioning as described above, and sends a signal representing the operation state as shown in FIG. Output to. In response to this, the control means 15 has a large error in the positioning result by the autonomous positioning means 13 in the state of getting on the vehicle (a sensor for detecting a direction such as a geomagnetic sensor or a gyro sensor is relatively accurate. Even if it can be detected, the accuracy of the sensor for detecting the distance such as a pedometer or acceleration sensor is low), or when the movement distance is obtained from the number of steps, etc., the positioning itself becomes impossible, so as shown in FIG. Positioning by the autonomous positioning means 13 is stopped, while autonomous positioning is performed every second in the non-riding state.

  Also, the GPS receiving means 11 and the GPS positioning means 12 may be disabled due to getting on the vehicle, or the movement route may be specified to some extent, so the positioning interval may be thinned out or stopped. In FIG. 4 and the following description, it is assumed to be stopped. In a state where autonomous positioning is stopped, the vibration detection means is activated to perform an operation state detection process every predetermined period, for example, every 10 minutes, and when it is determined that the vehicle has got off the vehicle, GPS positioning and autonomous Resume positioning.

  3 and 4 show an example of a uniaxial acceleration sensor as the vibration detection means, and an example of detecting a vehicle / non-vehicle from a power value in an output time waveform. Specifically, with respect to the acceleration sensor signal, the average signal power processing in the time domain as shown in Equation (1) or a specific frequency band (a ≦ f ≦ b (Hz) as shown in Equation (2) The average signal power processing is performed in (), and if the average signal power is greater than or equal to a threshold value, the vehicle (train, car, etc.) on which the vehicle is traveling is moving, and if the average signal power is less than the threshold value, it is determined that the other is not.

  The vibration detection means may be a biaxial or triaxial acceleration sensor, and may detect the vehicle / non-vehicle from the peak value of gain in the output spectrum thereof. FIG. 5 shows an example of the output spectrum of the acceleration sensor when the vehicle is stationary, walking, or riding a vehicle.

  Furthermore, the vehicle / non-vehicle may be detected from the movement speed of the GPS positioning result as the vibration detection means. Alternatively, the vehicle / non-vehicle detection may be performed based on each correlation function of the three-axis acceleration sensor. FIG. 6 shows an example of the correlation between the acceleration signals in the X- and Z-axis directions in the three-axis acceleration sensor at rest and when the vehicle is on.

  In the case of the three-axis acceleration sensor, the correlation function processing between the respective axes shown in the equation (3) is performed in the time domain for each signal around the X, Y, and Z axes, and a certain time shown in the equation (4). If the average correlation value in the area is equal to or greater than a certain threshold value, the vehicle (train, car, etc.) on which the user is on board is moving, and if the average correlation value is less than the threshold value, it is determined that it is other than that.

  Furthermore, the wireless communication means 14 is another radio wave using positioning means, which constitutes a mobile radio wave receiving means and a mobile radio wave positioning means, and in response to a positioning instruction from the control means 15, a plurality of mobile phone bases. A radio wave is received from the station, the distance from each base station is obtained from the reception result, and the current position is absolute measured by calculation. Although this portable radio wave positioning has a lower positioning accuracy than the GPS positioning, the possibility of positioning (positioning opportunity) is high. For positioning using this portable radio wave, it is necessary to receive radio waves from three or more base stations whose positions are known, and the PDC (Personal Digital Cellular) system in which the wireless communication means 14 communicates with one base station. In the case of a mobile phone terminal, it is necessary to provide a portable radio wave receiving means and a portable radio wave positioning means in addition to the wireless communication means 14, but CDMA (Code Division) capable of communicating with three or more base stations. In the case of a mobile phone terminal of a multiple access system, they may be omitted by measuring the current position with the wireless communication means 14.

  FIG. 7 is a flowchart for explaining an operation in a steady state in which the control unit 15 is in a standby state for a search instruction from the center device 3. When the power switch of the security terminal 1 is turned on and the operation is started in step S1, first, a boarding flag indicating that the vehicle is being boarded is reset (not boarding) in step S2. Next, in step S3, positioning by GPS radio waves is performed using the GPS receiving means 11 and the GPS positioning means 12, and in step S4, it is determined whether or not the accuracy of the positioning result has reached a predetermined level. If the GPS positioning has not been performed or if the positioning has not been performed, the process returns to step S3 to continue the GPS positioning. When a GPS positioning result with a predetermined accuracy is obtained, the process proceeds to step S5, where the positioning position is set as the initial position of the autonomous positioning means 13. Is done. Thus, when the initial initial position is obtained, GPS positioning is performed every time, for example, every second until an accurate absolute position is obtained.

  Subsequently, in step S6, it is determined whether or not the number of steps can be detected by the vibration detecting means in the autonomous positioning means 13, and if so, autonomous positioning is performed every second in step S7. In step S8, it is determined whether or not the estimated value of the accumulated error due to the autonomous positioning is greater than or equal to a predetermined threshold value. If so, the process returns to step S3 to perform GPS positioning to eliminate the error. If not, the process returns to step S6 to continue the autonomous positioning. Thus, the accumulated error is counted in the autonomous positioning every second, and when it exceeds the threshold value, the autonomous positioning is stopped, GPS positioning is performed until an accurate absolute position is obtained, and the initial position of the autonomous positioning is obtained again. Until the error is accumulated in the threshold value, power-saving autonomous positioning is performed, and when an error exceeding the threshold value is accumulated, GPS positioning with high power consumption is performed, thereby achieving both positioning accuracy and low power consumption. can do.

  On the other hand, if it is impossible to detect the number of steps in step S6, the process proceeds to step S9 to detect the vehicle / non-vehicle state. From the state in which the vehicle is not being ridden, that is, from FIG. 3 and FIG. 4, when the vehicle is stationary, the process returns to step S6, and when the vehicle is being ridden, the process proceeds to step S10. In step S11, both the GPS positioning and the autonomous positioning are stopped.

  Thereafter, in step S12, the vehicle / non-vehicle state is detected again. If the vehicle is still in the vehicle, it waits until a predetermined time, for example, 10 minutes elapses in steps S13 and S14. Returning to, state detection is performed again. On the other hand, when the vehicle is getting off from the vehicle in step S12, the process returns from step S15 to step S3, and the process is restarted from the GPS positioning.

  FIG. 8 is a flowchart for explaining a response operation when a search instruction is received from the center device 3 by the control means 15. When a guardian or an administrator issues a search instruction for the security terminal 1 to the center apparatus 3, and the security terminal 1 receives the search instruction from the center apparatus 3 in step S21, first, in step S22, the GPS receiving means 11 and the GPS positioning means. 12 is used to perform positioning by GPS radio waves. In step S23, it is determined whether or not the GPS positioning is possible. If so, the GPS positioning result is transmitted to the center device 3 in step S24. To finish the operation.

  On the other hand, if GPS positioning is not possible in step S23, the process proceeds to step S25, the riding flag is checked, and if the vehicle is not on the vehicle, the process proceeds to step S26, where the autonomous positioning means 13 Along with the positioning result of, the fact that GPS positioning is impossible is transmitted to the center device 3 and the operation is terminated.

  If the vehicle is in step S25, the process proceeds to step S27, where portable radio wave positioning is performed using the wireless communication means 14. In step S28, GPS positioning is impossible together with the positioning result. It is transmitted to the center device 3 that the vehicle has been in the vehicle and the vehicle is in the vehicle, and the operation is terminated.

  When the positioning result of the step S24, S26 or S28 is received, the center device 3 displays the position according to the map screen, and transmits similar display data to the personal computer of the guardian or the manager.

  With this configuration, in the security terminal 1 in which the autonomous positioning means 13 is used in combination with the GPS receiving means 11 and the GPS positioning means 12, the vibration detection means in the autonomous positioning means 13 is the vibration state of the security terminal 1. From the detection result of the vibration detection means, the control means 15 determines whether the vehicle is on the vehicle or is not on the vehicle (walking, running, etc.), and the GPS is determined according to the determination result. Since the operating states of the receiving means 11, the GPS positioning means 12, and the autonomous positioning means 13 are controlled, the power consumption is reduced and the battery life is extended without impairing the positioning performance of the security terminal 1 possessed by the user 4. be able to. In particular, when it is determined that the vehicle is moving, it is effective to stop the autonomous positioning means 13 where the positioning result error is large or the positioning itself cannot be performed without impairing the positioning performance. .

  Further, when the positioning by the autonomous positioning unit 13 is impossible, the control unit 15 further performs state detection, so that even if the same autonomous positioning is impossible, whether the vehicle is stationary or is in a vehicle. The GPS receiving means 11, the GPS positioning means 12, and the autonomous positioning means 13 can be controlled more appropriately.

  Further, the security terminal 1 is further provided with wireless communication means 14 capable of transmitting the positioning result via the communication network 2, and a search request is transmitted to the security terminal 1 and returned in response thereto. By configuring the system by including the center device 3 including the wireless communication unit 31 that receives the position information, the storage unit 33 that stores the received positioning result, and the display input unit 34 that displays the received positioning result, It is possible to realize a position information system capable of confirming the current position of the user 4 from the center device 3 side as needed, or transmitting the current position periodically to confirm the movement route.

  Further, in the position information system of the present invention, in response to the search request from the center device 3, the control means 15 has failed in positioning if the positioning by the GPS positioning means 12 is successful. In this case, the positioning result of the autonomous positioning unit 13 is transmitted only when it is determined from the detection result of the vibration detecting unit that the vehicle is not moving by the vehicle, so positioning is performed in response to a search request from the center device 3 side. When the result must be transmitted, only the positioning result that can ensure a certain degree of accuracy can be transmitted.

  Furthermore, in the position information system of the present invention, the GPS receiving means 11 and the GPS positioning means 12 that perform GPS positioning and the wireless communication means 14 that performs portable radio positioning are used in combination as radio wave using positioning means. Since the GPS receiving means 11 and the GPS positioning means 12 with higher accuracy are used preferentially, and the positioning by the wireless communication means 14 is impossible when positioning is impossible, priority is given to the accuracy due to GPS reception. Therefore, portable radio positioning as a backup can be realized with minimum power consumption.

[Embodiment 2]
FIG. 9 is a diagram for explaining the operation of the security terminal according to the second embodiment of the present invention. This security terminal can use the configuration of the security terminal 1 described above, and the operation program of the control means 15 is different only in the following FIG. 10 and FIG. It should be noted that in this security terminal, when the initial position of the autonomous positioning means 13 is updated, the control means 15 determines the positioning results of the GPS positioning means 12 and the autonomous positioning means 13 as shown in Table 1. 9, based on the error value judgment criterion set in advance, as shown in FIG. 9, the positioning result that is estimated to be more accurate is obtained from the initial position of the autonomous positioning means 13 for each positioning of the GPS positioning means 12. Is to set the position.

  The error value judgment criterion is, for example, the lowest error dispersion value of the GPS radio wave used for positioning in the GPS positioning means 12, while the autonomous positioning means 13 is composed of the number of steps × step length × predetermined error rate. This is the estimated error value (m). The predetermined error rate is selected to be 5%, for example.

  FIG. 10 is a flowchart for explaining the above-described operation by the control means 15. The same operations as those shown in FIG. 7 are denoted by the same step numbers, and the description thereof is omitted. In the present embodiment, in step S5, after the GPS positioning result is set to the initial position of autonomous positioning, the process proceeds to step S9, where it is detected whether or not the vehicle has been boarded. If YES in step S10, the flow advances to processing from step S10. If not, the flow advances to parallel processing in steps S31 and S32. In step S31, GPS positioning is performed in a predetermined cycle, for example, intermittently every 5 minutes. On the other hand, in step S32, autonomous positioning is performed in a predetermined cycle, for example, every second.

  From Steps S31 and S32, the process proceeds to Step S33, and the accuracy by GPS positioning is evaluated from the error variance value. When the accuracy is greater than 0 and less than or equal to the predetermined value a1, the process proceeds to Step S34 and is greater than the value a1. In that case, the process proceeds to step S35. In step S34, the estimated error value is evaluated. If the estimated error value is greater than 0 and less than or equal to the predetermined value b1, that is, if the GPS radio wave reception status is preferable and the error in autonomous positioning is relatively small, step S36 is performed. Then, the positioning result of the GPS positioning means 12 or the autonomous positioning means 13 is set to the initial position of the autonomous positioning means 13, and the process returns to step S9. On the other hand, if the estimated error value is larger than the value b1 in step S34, that is, if the GPS radio wave reception condition is preferable and the error in autonomous positioning is relatively large, the process proceeds to step S37, where the GPS positioning means 12 The positioning result is set as the initial position of the autonomous positioning means 13, and the process returns to step S9.

  Similarly, in step S35, the estimated error value is evaluated, and when the estimated error value is larger than 0 and equal to or smaller than the predetermined value b1, that is, when the reception state of the GPS radio wave is not preferable and the error in autonomous positioning is relatively small. In step S38, the positioning result of the autonomous positioning means 13 is set to the initial position for the next positioning of the autonomous positioning means 13, and the process returns to step S9. On the other hand, if the estimated error value is larger than the value b1 in step S35, that is, if the GPS radio wave reception status is not very favorable and the error in autonomous positioning is relatively large, the process proceeds to step S39, where GPS positioning is performed. The positioning result of the means 12 or the autonomous positioning means 13 is set to the initial position of the autonomous positioning means 13, and the process returns to step S9.

  In steps S36 and S39, whether to use the positioning result of the GPS positioning means 12 or the positioning result of the autonomous positioning means 13 as the initial position of the autonomous positioning means 13 is set by further setting conditions. Any selection may be made.

  As described above, in updating (setting) the initial position in the autonomous positioning means 13, the GPS positioning result and the autonomous positioning result are compared in the steps S33 and S34, and the error value judgment criteria set in advance are respectively set. Based on this, since the positioning result that is estimated to be more accurate is adopted as the initial position of the autonomous positioning means 13, the initial position for autonomous positioning can be appropriately updated (set).

[Embodiment 3]
FIG. 11 is a diagram for explaining the operation of the security terminal according to the third embodiment of the present invention. This security terminal can also use the configuration of the security terminal 1 described above, and the operation program of the control means 15 is different only in FIG. 11 and FIG. 8 described above. It should be noted that in this security terminal, when transmitting the position information in response to the search instruction from the center device 3, the control means 15 includes the GPS positioning means 12 and the autonomous positioning means as shown in Table 1 above. From the thirteen positioning results, a positioning result that is estimated to be more accurate is transmitted based on an error value judgment criterion set in advance.

  That is, the search instruction from the center device 3 is received in step S21, GPS positioning is performed in step S22, and if the GPS positioning is possible, the process proceeds to step S43, and the accuracy by GPS positioning is determined from the error variance value. If it is greater than 0 and less than or equal to the predetermined value a1, the process proceeds to step S44, and if greater than the value a1, the process proceeds to step S45. In step S44, the estimated error value is evaluated. If the estimated error value is greater than 0 and less than or equal to the predetermined value b1, that is, if the GPS radio wave reception status is preferable and the error in autonomous positioning is relatively small, step S46 is performed. Then, the positioning result of the GPS positioning means 12 or the autonomous positioning means 13 is transmitted to the center device 3. On the other hand, if the estimated error value is larger than the value b1 in step S44, that is, if the GPS radio wave reception status is preferable and the error in autonomous positioning is relatively large, the process proceeds to step S47, where the GPS positioning means 12 The positioning result is transmitted to the center device 3.

  Similarly, in step S45, the estimated error value is evaluated, and when the estimated error value is greater than 0 and less than or equal to the predetermined value b1, that is, the GPS radio wave reception status is not very favorable, and the error in autonomous positioning is relatively small. In step S48, the positioning result of the autonomous positioning means 13 is transmitted to the center device 3. On the other hand, if the estimated error value is larger than the value b1 in step S45, that is, if the GPS signal reception status is not very favorable and the error in autonomous positioning is relatively large, the process proceeds to step S49, where GPS positioning is performed. The positioning result of the means 12 or the autonomous positioning means 13 is transmitted to the center device 3.

  With this configuration, it is possible to transmit the positioning result that is estimated to be more accurate, out of the GPS positioning result and the autonomous positioning result, in response to the search instruction from the center device 3.

[Embodiment 4]
FIG. 12 is a diagram for explaining the operation of the security terminal according to the fourth embodiment of the present invention. This security terminal can also use the configuration of the security terminal 1 described above, and the operation program of the control means 15 is different only in the following FIG. 13 and FIG. It should be noted that in this security terminal, as shown in FIG. 12, the control means 15 is configured to detect the vibration corresponding to the walking or running of the user by the vibration detection means. When the positioning result by the GPS positioning means 12 is out of the predetermined range α with respect to the positioning result by 13, the display input means 17 which is a notification means to the user 4 and / or the wireless communication means 14 to the center. Informing the device 3 of an abnormality in GPS positioning.

  That is, in the state in which vibration corresponding to the walking or running of the user 4 is detected by the vibration detecting means, the positioning result by the autonomous positioning means 13 can be trusted to some extent, whereas the positioning result is If the positioning result by the GPS positioning means 12 is outside the predetermined range, it is considered that the GPS positioning means 12 has received a factor that causes a decrease in the number of satellites that can be received or an error such as multipath, Notification.

  Referring to FIG. 13, when a search instruction from center device 3 is received in step S21, GPS positioning and autonomous positioning are performed in step S52. If the GPS positioning is impossible in step S23, the step is performed. The processing of S25 to S28 is performed, and if possible, the process proceeds to step S53, and the GPS positioning position is evaluated. As a result, if the position is within the range α from the autonomous positioning position, the process proceeds to step S24, and the GPS positioning position is transmitted to the center device 3. If the position is outside the range α, the process proceeds to step S54, and the autonomous positioning position and the GPS positioning are determined. Abnormality is notified to the center device 3.

  By configuring in this way, it is possible to prevent the positioning result of the GPS positioning means 12 from being adopted while the positioning result remains abnormal.

It is a figure which shows the outline | summary of the positional information system using the security terminal which concerns on the 1st Embodiment of this invention. FIG. 2 is a block diagram showing an electrical configuration of the configuration shown in FIG. 1. It is a graph which shows the example of an output of the uniaxial acceleration sensor as a vibration detection means. It is a graph which shows the example of an output of the uniaxial acceleration sensor as a vibration detection means. It is a graph which shows an example of the output spectrum of an acceleration sensor. It is a graph which shows the example of the correlation at the time of stationary of the acceleration signal of the X-axis direction in a 3-axis acceleration sensor, and vehicle riding. It is a flowchart for demonstrating the operation | movement at the time of the steady state which is a standby state of the search instruction | indication from a center apparatus. It is a flowchart for demonstrating the response operation | movement at the time of receiving the search instruction | indication from a center apparatus. It is a figure for demonstrating operation | movement of the security terminal which concerns on the 2nd Embodiment of this invention. It is a flowchart for demonstrating the operation | movement shown in FIG. It is a figure for demonstrating operation | movement of the security terminal which concerns on the 3rd Embodiment of this invention. It is a figure for demonstrating operation | movement of the security terminal which concerns on the 4th Embodiment of this invention. It is a flowchart for demonstrating the operation | movement shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Security terminal 2 Communication network 3 Center apparatus 4 User 11 GPS receiving means 12 GPS positioning means 13 Autonomous positioning means 14 Wireless communication means 15 Control means 16 Storage means 17 Display input means 21-23 Base station 31 Wireless communication means 32 Control means 33 Storage means 34 Display input means

Claims (6)

In the positioning device possessed by the user,
Radio wave positioning means that receives external radio waves and obtains the current position from the reception result by calculation,
Autonomous positioning means that counts the number of steps by the user's walking or running, calculates the amount of movement by multiplying the stride, and calculates the current position by adding the moving direction from the initial position and the amount of movement to the initial position;
Vibration detecting means for detecting a vibration state of the positioning device;
Based on the positioning results of the radio wave positioning means and the autonomous positioning means, the current position is a value obtained by merging the positioning result that is estimated to be more accurate or the positioning results by two types of positioning means, and the number of steps is not counted. If the state detection processing is performed by the vibration detection means at the time when positioning by the autonomous positioning means becomes impossible and it is determined that the vehicle is moving by the vehicle , the operation of the radio wave positioning means and the autonomous positioning means And the state detection process is repeated at a predetermined first cycle, and when the movement by the vehicle is finished, the radio wave using positioning means is operated to obtain the current position, and the vehicle is not boarded by the state detection process. when determination is especially to include a control means for repeating the positioning by the first of the autonomous positioning means in a second period to determine shorter advance than the period And the positioning device. When the vibration detection unit detects a vibration corresponding to a user's walking or running, the control unit determines a predetermined error determination standard for each of the positioning results of the radio wave use positioning unit and the autonomous positioning unit. from a more accurate and a positioning result of the person to be estimated, according to claim 1 Symbol mounting of the positioning apparatus is characterized in that is updated as the initial position in the autonomous positioning means. Further comprising a notification means,
The control means is a range in which a positioning result by the radio wave using positioning means is predetermined with respect to a positioning result by the autonomous positioning means in a state in which vibration corresponding to a user's walking or running is detected by the vibration detecting means. If that is the outer, claim 1 Symbol mounting of the positioning apparatus is characterized in that to inform the abnormality of Telecommunications positioning means to the notification means. The positioning device according to any one of claims 1 to 3 , further comprising wireless communication means capable of transmitting a positioning result via a wireless communication network,
Wireless communication means for transmitting a command to the positioning device and receiving a positioning result returned in response thereto, storage means for storing the received positioning result, and display means for displaying the received positioning result A position information system, further comprising a configured center device. In response to the transmission request for the positioning result from the center device, the control means detects the positioning result when the positioning by the radio wave using positioning means is successful, and the detection by the vibration detection means when the positioning fails. 5. The position information system according to claim 4 , wherein the positioning result of the autonomous positioning means is transmitted only when it is determined from the result that the vehicle is not moving. The radio wave using positioning means includes a GPS receiving means for receiving radio waves from a plurality of GPS satellites, and a GPS positioning means for obtaining distances from the plurality of satellites by calculation from the received signals and absolute positioning of the current position. Mobile radio wave receiving means for receiving radio waves of a plurality of mobile phones, and mobile radio wave positioning means for determining the distance from the plurality of base stations by calculation from the received signals, and for absolute positioning of the current position,
In response to a positioning result transmission request from the center device, the control means transmits the positioning result when positioning by the GPS positioning means is successful, and the portable radio wave receiving means when positioning fails, and 5. The position information system according to claim 4, wherein the portable radio wave positioning means performs positioning.