JP5311214B2 - Position detection apparatus and program - Google Patents

Description

The present invention relates to a position detection device and a program for detecting between which station and where a current traveling place is located even when a train is incapable of GPS positioning.

  In-car type car navigation system installed in a vehicle and used for autonomous navigation using a vehicle speed pulse and an angular velocity sensor (gyro sensor) when entering a location where radio waves for positioning from GPS satellites cannot be received, such as a tunnel doing. On the other hand, in a portable navigation system (position detection device), a positioning device receives a positioning signal from a GPS satellite outdoors as in the case of the car navigation system. The relative movement position is detected using an acceleration sensor, an orientation sensor, or the like.

An apparatus that detects a relative movement position using a sensing device (such as an acceleration sensor or an orientation sensor) is disclosed in Patent Document 1, for example. The apparatus disclosed in Patent Document 1 detects a user's movement by an internal sensor composed of a three-dimensional acceleration sensor, a gyro, and the like, and integrates the detected acceleration and angular velocity to determine the direction and distance that the user moves. The position is calculated (position estimation).

  In addition, an acceleration sensor is provided in a mobile terminal device having a mobile communication function such as a mobile phone, and the acceleration is detected as a change in acceleration caused by movement by a transportation facility when acceleration within a predetermined range continues for a predetermined period. Japanese Patent Application Laid-Open No. 2004-228688 also discloses a technique for determining whether the arrival is at the station or the departure from the station by determining whether the wireless base station is within the communication range by referring to the communication state history when the change is detected. It is disclosed.

JP 2005-257644 A Japanese Patent Laid-Open No. 2007-120953

  By the way, when you get on the center of a train or on a subway, you can't receive radio waves from GPS base stations as well as positioning radio waves from mobile stations. There is a problem that it is impossible to detect which station is located between which stations. Further, as in the apparatus disclosed in Patent Document 1, the method of estimating the position by detecting the relative movement amount using a sensing device (acceleration sensor, azimuth sensor, etc.) has a large accumulated error during riding and is practical. There is also a problem that accurate position detection cannot be expected.

The present invention has been made in view of such circumstances, and it is possible to detect between which station and the station where the current traveling is located even when the train is incapable of GPS positioning. An object is to provide a position detection device and a program.

In order to achieve the above object, according to the first aspect of the present invention, there is provided an acceleration detection means for detecting acceleration, a detection means for detecting start / stop of a boarding vehicle based on the acceleration detected by the acceleration detection means, and at least a station name. Route search database means for storing the route name, departure time at each station and distance between each station, and when the detection means detects departure of the boarding vehicle, the route search database means according to the departure time and the boarding station name Search means for searching for a route name of the boarding vehicle from the acquisition means for acquiring the distance between stations for each stop station after the boarding station on the route searched by the search means from the route search database means, and the acceleration detection Based on the acceleration detected by the means, the travel distance after the boarding vehicle leaves the station is calculated, and the calculated travel distance is stored in the search means. The travel distance display means for displaying at the corresponding position on the searched route, and the travel distance from the departure station to the stop station each time the detection means detects a stop after detecting the departure of the boarding vehicle. And correction means for correcting the distance between stations acquired by the acquisition means.

  In the invention according to claim 2 dependent on claim 1, the movement distance calculated by the movement distance display means from when the detection means detects the departure of the boarding vehicle to when the stop is detected, When it is determined by the error determination means that an error of a predetermined value or more is included, an error determination means for determining whether or not the error includes a predetermined error or more with respect to the inter-station distance acquired by the acquisition means. If the sum of the first travel distance calculated according to the departure and stop and the second travel distance calculated according to the next departure and stop falls within an error less than a predetermined value with respect to the inter-station distance. The first moving distance further includes stop determination means for determining that the stop is due to a stop at a place other than the station.

According to a third aspect of the present invention, an acceleration detection step for detecting acceleration, a detection step for detecting start / stop of a boarding vehicle based on the acceleration detected in the acceleration detection step, and a boarding in the detection step. Search that searches the route name of the boarding vehicle from the route search database that stores at least the station name, route name, departure time at each station, and distance between each station according to the departure time and the boarding station name when the departure of the vehicle is detected A step of acquiring the inter-station distance for each stop station after the boarding station on the route searched in the search step from the route search database, and a boarding vehicle based on the acceleration detected by the acceleration detection step Calculates the distance traveled since the departure from the station, and the calculated travel distance was retrieved by the retrieval step. The travel distance display step for displaying at a corresponding position on the line and the travel distance from the departure station to the stop station are acquired by the acquisition step every time the stop is detected after the detection step detects the departure of the boarding vehicle. And a correction step for correcting the distance between stations.

  According to the present invention, it is possible to detect which station and which station the current traveling location is located even when a train is incapable of GPS positioning.

It is a block diagram which shows the structure of the position detection apparatus by one Embodiment. It is a flowchart which shows the operation | movement of a positioning process. It is a flowchart which shows the operation | movement of a positioning process. It is a figure which shows an example of the acceleration change during boarding of a train. It is a figure which shows an example of the speed change of a train.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
A. Constitution
FIG. 1 is a block diagram illustrating an overall configuration of a position detection apparatus according to an embodiment. In this figure, the CPU 100 controls each part of the apparatus according to an operation event supplied from the operation unit 103. A characteristic processing operation (positioning process) of the CPU 100 according to the gist of the present invention will be described in detail later. The ROM 101 stores various program data executed by the CPU 100. The various programs referred to here include a positioning process described later.

The RAM 102 includes a work area and a data area. In the work area of the RAM 102, various register / flag data used for the calculation of the CPU 100 are temporarily stored. In the data area of the RAM 102, output data and position information of various sensors described later are temporarily stored. The operation unit 103 includes various operation buttons and operation switches, generates operation events corresponding to the types of buttons and switches to be operated, and supplies them to the CPU 100. Specifically, in addition to a power switch for turning on / off the apparatus power supply, for example, a start point position for inputting a start point position serving as a base point for position detection by autonomous navigation when entering a station premises or a subway entrance where GPS distance measurement is not possible An input switch or the like is disposed on the operation unit 103.

In accordance with the display control signal supplied from the CPU 100, the display unit 104 displays on the screen which station is currently located and between which station. The map database 105 stores and manages map data expressed in a vector format by dividing it into rectangular areas called meshes. The GPS signal reception processing unit 106 receives a ranging signal from a GPS satellite according to an instruction from the CPU 100 and calculates position information including at least the latitude and longitude of the current location. This position information is stored in the data area of the RAM 102.

The triaxial geomagnetic sensor 106 outputs triaxial geomagnetic data representing the triaxial (X, Y, Z) components of the geomagnetism detected using, for example, an MI element whose impedance changes according to the fluctuation of the external magnetic field. The triaxial acceleration sensor 108 detects triaxial acceleration components by a piezoresistive type or capacitance type detection mechanism, and outputs acceleration data for each triaxial component. Note that the triaxial components detected by the triaxial acceleration sensor 109 correspond to the triaxial (X, Y, Z) components of the triaxial geomagnetic sensor 108, respectively.

Under the control of the CPU 100, the movement amount calculation unit 109 calculates the movement direction from the start point position or the previously detected position based on the triaxial geomagnetic data output from the triaxial geomagnetic sensor 106, and the triaxial acceleration. The three-axis acceleration data output from the sensor 108 is integrated to calculate the movement distance from the start point position or the previously detected position. The moving direction and moving distance calculated by the moving amount calculation unit 110 are supplied to the CPU 100.

  The timetable route search database 110 stores and manages the station name, the area name where the station is located, the route name, and the arrival and departure times of the train at each station. The position information processing unit 111 calculates the position of a user who moves in a GPS disabled state in cooperation with the CPU 100 and displays on the display unit 104 which station the calculated user's position is between. .

B. Operation Next, the operation of the positioning process performed by the position detection device having the above-described configuration will be described with reference to FIGS. When the position detection device is powered on, the CPU 100 proceeds to step SA1 of the positioning process shown in FIG. In step SA1, it is determined whether or not the GPS signal reception processing unit 106 is in a power supply state. If the power supply is stopped, the GPS signal reception process is instructed after the power supply state is set. Thereby, the GPS signal reception processing unit 106 executes a GPS signal reception process for receiving a positioning signal from a GPS satellite.

Subsequently, in step SA2, it is determined whether or not GPS positioning is possible, that is, whether or not the GPS signal reception processing unit 106 has received a positioning signal from a GPS satellite. If GPS positioning is possible, that is, if the user carrying this apparatus is outdoors, the determination result in step SA2 is “YES”, and the process proceeds to step SA3. In step SA3, the GPS signal reception processing unit 106 executes a positioning calculation process for generating position information including at least the latitude and longitude of the current location. The position information (current position) obtained by this positioning calculation process is stored in the data area of the RAM 102.

Next, in step SA4, the CPU 100 executes a map data search process for searching the map database 105 for mesh map data including position information stored in the data area of the RAM 102. In step SA5, a display process for displaying the current position specified by the position information on the map indicated by the map data searched in step SA4 is executed, and then the process returns to step SA1. Thereafter, until the GPS signal reception processing unit 106 has lost the positioning signal from the GPS satellite, the above-described steps SA1 to SA5 are repeated to continuously detect the current position.

  In a state where the current position is detected based on GPS positioning, for example, a user carrying this apparatus moves to a station premises or a subway premises, and the GPS signal reception processing unit 106 becomes unable to perform GPS positioning. If it does so, the judgment result of above-mentioned step SA2 will be "NO", and it progresses to step SA6, and CPU100 instruct | indicates a power supply stop with respect to the GPS signal reception process part 106. FIG. The GPS signal reception processing unit 106 turns off its own drive power supply in response to a power supply stop instruction from the CPU 100.

  Subsequently, in step SA7, when the user operates the start point position input switch and inputs the start point position in response to the GPS positioning becoming impossible, the CPU 100 stores the input start point position in the data area of the RAM 102. Store. In the present embodiment, the start point position is input by user operation. However, the present invention is not limited to this, and the position information obtained by GPS positioning is automatically started immediately before the positioning signal from the GPS satellite is lost. It does not matter even if it is set as a point position.

When the start point position of autonomous navigation is set in this way, the process proceeds to step SA8, where the CPU 100 captures a plurality of acceleration data of the three-axis (X, Y, Z) components output from the three-axis acceleration sensor 108 for a certain period. The triaxial acceleration sensor measurement process stored in the data area of the RAM 102 is executed. Further, in this three-axis acceleration sensor measurement process, for example, as shown in FIG. 4, when the acceleration change (acceleration change in the traveling direction of the train) is measured when riding on a traveling train, the boarding flag is set. Set to “1” to indicate that you are on a running train.

Next, in step SA9, a triaxial geomagnetic sensor measurement in which the CPU 100 captures a plurality of geomagnetic data of the three axis (X, Y, Z) components output from the triaxial geomagnetic sensor 107 and stores them in the data area of the RAM 102. Execute the process. In step SA10, it is determined whether or not the user carrying the apparatus is in a stopped state based on the acceleration data of the three-axis (X, Y, Z) components taken in for a certain period in step SA8.

Here, for example, when the user is walking on the premises of the station, the determination result in step SA10 is “NO”, the process proceeds to step SA13 shown in FIG. 3, and the user is on the traveling train. Whether the boarding flag is set to “1” or not. If the user is not on the traveling train, the determination result is “NO”, and the process proceeds to step SA14 to calculate the walking distance of the user.

That is, in step SA14, the CPU 100 instructs the movement amount calculation unit 109 to calculate the movement distance. Then, based on the acceleration data of the three-axis (X, Y, Z) components stored in the data area of the RAM 102 in step SA8, the movement amount calculation unit 109 determines the user's movement distance (from the start point position or the previously detected position). (Movement distance) is calculated and stored in the data area of the RAM 102.

Thereafter, the process proceeds to step SA12 shown in FIG. 2, and the CPU 100 instructs the movement amount calculation unit 109 to execute the direction calculation process. Then, in the movement amount calculation unit 109, the moving direction of the user who walks while carrying this apparatus based on the geomagnetic data of the three-axis (X, Y, Z) components stored in the data area of the RAM 102 in step SA9. Execute direction calculation processing to calculate. The calculated user movement direction is stored in the data area of the RAM 102.

  In step SA12, the CPU 100 instructs the position information processing unit 111 to execute position information calculation processing. Then, the position information processing unit 111 calculates the current position of the user based on the “start position (or previously detected position)” stored in the data area of the RAM 102, the “movement direction”, and the “walking movement distance” of the user. The position information stored in the data area of the RAM 102 is updated.

As described above, when the position information (current position) of the user who walks is updated, the process returns to step SA4 (see FIG. 2) described above, and the mesh map data including the updated position information is obtained. A search is performed from the map database 105, and in the subsequent step SA5, display processing for displaying the current position (boarding station name) specified by the position information on the map indicated by the searched map data is executed.

After that, it is assumed that the user who has been walking on the station yard gets on the train stopped at the home and is seated. Then, since the vehicle is stopped, the determination result in step SA10 described above is “YES”, the process proceeds to step SA11, and whether or not the vehicle is on the traveling train, that is, the boarding flag is set to “1”. Determine whether or not. In this case, since the train is stopped at the platform, the determination result is “NO”, and the flow proceeds to Step SA12.

When the user is on or seated on a stopped train, in step SA12, the movement amount calculation unit 109 stores the geomagnetism of the three-axis (X, Y, Z) components stored in the work area of the RAM 102 in step SA9. Measure which direction is northward based on the data. This is because the geomagnetism may be disturbed by the driving of the train motor when getting on the train, so it is determined which direction is north facing while the vehicle is stopped.

On the other hand, when the boarded train departs, the determination result in step SA10 is “NO”, and the process proceeds to step SA13 (see FIG. 3). When the train departs, in step SA8 described above, an acceleration change (acceleration change in the train traveling direction) while riding on the running train is measured, and thereby the boarding flag is set to "1". When the boarding flag is set to “1”, the determination result in step SA13 is “YES”, and the process proceeds to step SA15 to calculate the travel distance of the train on which the user gets.

That is, in step SA15, the name of the train on the boarding train is first searched with reference to the timetable route search database 110 based on the departure time and the boarding station name specified at the time of walking. Next, the CPU 100 instructs the movement amount calculation unit 109 to calculate the movement distance. Then, based on the acceleration data of the three-axis (X, Y, Z) components stored in the data area of the RAM 102 in step SA8, the travel distance of the train on which the user gets on (the travel distance from the station) Is calculated and stored in the data area of the RAM 102.

In step SA15, the CPU 100 instructs the position information processing unit 111 to execute position information calculation processing. Then, the position information processing unit 111 calculates the current position of the user based on the travel distance from the boarding station stored in the data area of the RAM 102, and updates the position information stored in the data area of the RAM 102.

Thus, when the position information (current position) of the user who gets on the train is updated, the process returns to step SA4 (see FIG. 2), and the mesh map data including the updated position information is obtained. A search is performed from the map database 105, and in the subsequent step SA5, display processing for displaying the current position on the route searched with reference to the timetable route search database 110 on the map indicated by the searched map data is executed. To do.

Now, as shown in the example shown in FIG. 5, the train that departs from the boarding station starts to decelerate as it approaches the stop station after accelerating until it reaches a certain speed and starts to decelerate. Stop at position. When the vehicle stops at the stop station, the determination result in step SA10 is “YES”, and the process proceeds to step SA11. In this case, since the train is on board, the judgment result at step SA11 is “YES”, and the routine proceeds to step SA16 shown in FIG. In step SA16, the route name of the train being boarded is searched with reference to the timetable route search database 110 based on the departure time and the boarding station name specified at the time of walking, and the station from the boarding station to the next stop station on the relevant route. Calculate the distance.

  Subsequently, in step SA17, the travel distance is calculated based on the departure time, the stop time, and the acceleration data measured in step SA8. Next, in step SA18, the travel distance calculated in step SA17 is compared with the inter-station distance acquired in step SA16, and whether the calculated travel distance includes an error of 10% or more with respect to the inter-station distance. Determine whether. If the calculated travel distance is an error of less than 10% with respect to the distance between stations, the determination result is “NO”, the process proceeds to step SA19, the calculated travel distance is discarded, and the distance from the departure station to the stop station is determined as the time. After executing the stop station main correction that maintains the position detection accuracy by rewriting the distance between stations obtained from the table route search database 110, the process proceeds to step SA4.

On the other hand, if the calculated travel distance includes an error of 10% or more with respect to the distance between stations, the determination result in step SA18 is “YES”, the process proceeds to step SA20, and the stop station temporary correction is performed. The temporary stop station correction is a correction to rewrite the distance from the departure station to the stop station with the inter-station distance obtained from the timetable route search database 110 as in step SA19, but without discarding the calculated travel distance. The difference is that the data is stored in the RAM 102.

  This is because, for example, when the train is temporarily stopped at a place other than the station, an error occurs because the arrival position differs between the distance data obtained from the map database 105 and the calculated travel distance. It cannot be distinguished whether the stop position is an actual station or a temporary stop on the way. Therefore, the distance between the stations is calculated by adding the distance traveled (previously calculated distance traveled) stored in the RAM 102 without discarding and the distance traveled (current distance calculated this time) calculated according to the next departure and stop. If the added value is less than 10% of the distance between the stations, it is determined that the vehicle has stopped at a place other than the station due to an emergency stop or the like. Then, the sum of the travel distance calculated last time and the travel distance calculated this time is corrected to the travel distance from the departure station to the stop station, and the process proceeds to step SA4.

  As described above, in the present embodiment, when a train on which a user carrying the apparatus rides departs, the route name of the train being boarded is obtained by referring to the timetable route search database 110 based on the departure time and the boarding station name. Along with the search, the inter-station distance for each stop station after the boarding station on the searched route is acquired. The travel distance of the train on which the user rides (the travel distance from the station) is calculated based on the acceleration data measured during travel and displayed on a map. Whenever the train that departs stops at the station, the train stops at the departure station. The position detection error is corrected by rewriting the distance to the station to the distance between stations obtained from the timetable route search database 110. Therefore, even when the train is incapable of GPS positioning, the station where the current driving is and which station It can be detected whether it is located in between.

  In addition, although embodiment mentioned above mentioned the aspect which performs the position detection at the time of a train boarding, if the summary of this invention is used, the time required from a boarding station to a boarding station, the number of stations to a boarding station, etc. will be displayed. It goes without saying that the navigation of train movement can be implemented.

100 CPU
101 ROM
102 RAM
DESCRIPTION OF SYMBOLS 103 Operation part 104 Display part 105 Map database 106 GPS signal reception process part 107 3-axis geomagnetic sensor 108 3-axis acceleration sensor 109 Movement amount calculation part 110 Timetable path search database 111 Position information processing part

Claims (3)

Acceleration detecting means for detecting acceleration;
Detection means for detecting the start and stop of the boarding vehicle based on the acceleration detected by the acceleration detection means;
Route search database means for storing at least the station name, route name, departure time at each station, and distance between each station;
When the detection means detects departure of the boarding vehicle, search means for searching the route name of the boarding vehicle from the route search database means according to the departure time and the boarding station name;
An acquisition means for acquiring the distance between stations for each stop station after the boarding station on the route searched by the search means from the route search database means;
Based on the acceleration detected by the acceleration detection means, the distance traveled after the boarding vehicle leaves the station is calculated, and the calculated travel distance is displayed at a corresponding position on the route searched by the search means. Display means;
Correction means for correcting the travel distance from the departure station to the stop station to the inter-station distance acquired by the acquisition means each time the detection means detects a stop after detecting the departure of the boarding vehicle. A position detection device characterized by the above. The movement distance calculated by the movement distance display means between the detection means detecting the departure of the boarding vehicle and the stoppage is greater than or equal to a predetermined distance from the inter-station distance acquired by the acquisition means. Error determination means for determining whether or not an error is included;
When it is determined by the error determination means that an error greater than or equal to a predetermined value is included, a first movement distance calculated according to the previous departure and stop and a second distance calculated according to the next departure and stop The vehicle further comprises stop determination means for determining that the first travel distance is due to a stop at a place other than the station if the sum of the travel distance falls within an error less than a predetermined value with respect to the distance between stations. The position detection device according to claim 1. On the computer,
An acceleration detection step for detecting acceleration;
A detection step of detecting the start and stop of the boarding vehicle based on the acceleration detected in the acceleration detection step;
When the departure of the boarding vehicle is detected in the detection step, the route of the boarding vehicle from the route search database in which at least the station name, the route name, the departure time at each station, and the distance between each station are stored according to the departure time and the boarding station name. A search step to search for a name;
An acquisition step of acquiring, from the route search database, the inter-station distance for each stop station after the boarding station on the route searched in the search step;
Based on the acceleration detected in the acceleration detection step, the travel distance from when the boarding vehicle leaves the station is calculated, and the calculated travel distance is displayed at the corresponding position on the route searched in the search step. A display step;
Each time the detection step detects the departure of the boarding vehicle and detects a stop, the correction step of correcting the travel distance from the departure station to the stop station to the inter-station distance acquired by the acquisition step is executed. A featured program.

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