JP5540039B2 - Map creation device, map creation method, map creation program - Google Patents

Description

  The present invention relates to a map creation device, a map creation method, and a map creation program, and more particularly to a map creation device, a map creation method, and a map creation program for creating a map using data using a GNSS satellite.

Currently, in order to create a map, it is necessary to collect information on the roads and buildings in the area to be created (hereinafter referred to as map information) and process the collected map information using a computer. Has been done. An invention of a map creation device that performs such processing is described in Patent Document 1, for example.
The map creation device described in Patent Document 1 downloads map information from a map information site on the Internet or the like. Then, a map is created by drawing roads and buildings in accordance with the downloaded map information.

JP 2010-231118 A

However, in the above-described invention disclosed in Patent Document 1, it is necessary to immediately incorporate newly constructed roads and buildings into map information. For this reason, the administrator of the map information site needs to frequently perform a process of updating the map information database (hereinafter referred to as “maintenance”), which increases the burden on the administrator involved in the maintenance.
6 (a), 6 (b), and 6 (c) are diagrams for explaining such a problem of the prior art. FIG. 6B is a diagram showing the map information accumulated in the database. As shown in FIG. 6B, a large number of shape data representing the shape of the building is accumulated in the database. Then, when a new building is constructed, as shown in FIG. 6C, shape data in which the shape of the building is three-dimensionally drawn is generated.

The generated shape data is combined with existing shape data and data indicating the level of a road or land. As a result of the synthesis, a map three-dimensionally showing the building shown in FIG. 6A is created.
The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to efficiently acquire information indicating the reception status of radio waves, and to easily and quickly change information. It is to provide a map creation device, a map creation method, and a map creation program that can create a map that can be reflected on the map.

In order to solve the above-described problem, the map creation apparatus of the present invention indicates the position of a mobile terminal (for example, the mobile terminal 3 shown in FIG. 3) measured using a satellite (for example, the GNSS satellite g shown in FIG. 1). the positioning result, the positioning result acquisition unit that acquires from each of the plurality of the mobile terminal (e.g., the positioning result receiving unit 202 shown in FIG. 2), the transmitted signal above the threshold strength a predetermined is received by the mobile terminal and the field of view in the satellite information regarding in-field satellite is a satellite, the field of view in the satellite information acquisition unit that acquires from each of the plurality of the mobile terminal (for example, the positioning result receiving unit 202 shown in FIG. 2), the transmission to the mobile terminal orbit information acquiring unit that acquires orbit information about the orbit of the satellite, comprising at least part of the satellite may transmit a signal (e.g., orbit information reception unit 204 shown in FIG. 2), a plurality of the positioning results Based on the in-view satellite information and the orbit information, the out-of-view satellite specifying unit (for example, the figure) that specifies an out-of-view satellite that is a satellite for which a transmission signal having an intensity equal to or greater than the threshold is not received by the mobile terminal 2) and a maximum elevation satellite having a maximum elevation angle with respect to the position indicated by the positioning result among the out-of-view satellites shown in FIG. A plurality of shielded space defining units (for example, the shielded space creating unit 205 shown in FIG. 2) for defining a plurality of shielded spaces , which are spaces having an elevation angle, and a plurality of the shielded spaces defined by the shielded space defining unit are synthesized, and the field of view An obstacle estimation unit (for example, the landmark model estimation unit 206 shown in FIG. 2) that estimates the presence of an obstacle in the transmission signal transmitted from an external satellite to the mobile terminal, and the obstacle estimation unit The obstacle estimated I is combined with the map information, the moving three-dimensional map creation unit that creates a three-dimensional map to be used to know the reception state of radio waves in the terminal (e.g. shape model generation unit 207 shown in FIG. 2 ).
According to such an invention, it is possible to acquire a large amount of data from the mobile terminal and use this data to estimate the size, position, shape, etc. of the obstacle in the transmission signal. For this reason, the presence of an obstacle and its change can be acquired in real time. Moreover, according to such a structure, information required for map creation can be acquired simultaneously with the positioning of the mobile terminal.

In the map creating device of the present invention, in the above invention, the orbit information acquisition unit relates the orbit information from a satellite including at least a part of the satellite capable of transmitting the transmission signal to the mobile terminal. You may make it acquire from the satellite information delivery station (For example, the satellite information delivery station 5 shown in FIG. 1) which collects and distributes information.
According to such a configuration, it is possible to accurately and easily grasp the orbit of a satellite that travels around the earth.
In the map creation device of the present invention, in the above invention, the occluded space defining unit is an out-of-view satellite identified based on the in-view satellite repeatedly detected a predetermined number of times or continuously Only the out-of-view satellite that has been repeatedly detected may be adopted for defining the shielded space .

In the map creation method of the present invention, the map creation device obtains a positioning result indicating the position of the mobile terminal measured using the satellite from each of the plurality of mobile terminals (for example, as shown in FIG. 5). In step S502), in-view satellite information for acquiring in- view satellite information related to the in-view satellite, which is a satellite in which a transmission signal having a strength equal to or greater than a predetermined threshold is received by the mobile terminal, from each of the plurality of mobile terminals. An acquisition step (for example, step S501 shown in FIG. 5) and an orbit information acquisition step (for example, in FIG. 5) for acquiring orbit information about the orbit of the satellite including at least a part of the satellite that can transmit the transmission signal to the mobile terminal. and step S503) shown, a plurality of the positioning results, and the field of view in the satellite information, based on the above orbital information, the threshold intensity above (Step S504 shown in FIG. 5, for example) out-of-view satellite specifying step of specifying the out-of-view satellite is a satellite transmission signal has not been received by the mobile terminal, among the out-of-view satellites, above the positioning result shown identify the maximum elevation satellite with the largest elevation angle with respect to the position, step S505 shown in shielded space definition step (for example, FIG. 5 a plurality defining a shielded space is a space formed below elevation above a maximum elevation with respect to the position ) And a plurality of the shielded spaces defined in the shielded space defining step, and an obstacle estimation step (for example, in FIG. 5) that estimates the obstacle of the transmission signal transmitted from the out-of-view satellite to the mobile terminal. a step S506,507) shown, the obstacle estimated by the obstacle estimating step is combined with the map information, contact to the mobile terminal That a radio wave three-dimensional map generating step of generating a three-dimensional map to be used to know the reception state (for example step S508 shown in FIG. 5), characterized in that the run.

Map program of the present invention causes a computer, a positioning result that indicates the position of the measured mobile terminal using satellite, and positioning results obtaining function for obtaining each of a plurality of the mobile terminals, the above predetermined threshold intensity transmission signal is a satellite received by the mobile terminal field in satellite information regarding in-field satellite transmission and the field in the satellite information acquisition function of acquiring from a plurality of said mobile terminal, said transmission signal to said mobile terminal Based on the orbit information acquisition function for acquiring the orbit information on the satellite orbit including at least a part of the possible satellites, the plurality of positioning results, the in-view satellite information, and the orbit information An out-of-view satellite identifying function for identifying an out-of-view satellite that is a satellite whose intensity transmission signal has not been received by the mobile terminal; Identify the maximum elevation satellite with a maximum elevation with respect to the position where the positioning result indicates a shielded space defined function for a plurality defining a shielded space is a space formed below elevation above a maximum elevation with respect to the position, the shielding A plurality of the shielded spaces defined by the space defining function are combined, an obstacle estimating function for estimating an obstacle of the transmission signal transmitted from the out-of-view satellite to the mobile terminal, and an obstacle estimating function estimated by the obstacle estimating function. The obstacle is synthesized with map information to realize a 3D map creation function for creating a 3D map used to know the reception state of radio waves at the mobile terminal .

  According to the present invention, it is possible to provide a map creation device that can efficiently acquire information indicating the reception status of radio waves and create a reception status map that can easily and quickly reflect changes in information. it can.

It is a figure for demonstrating the system containing the map creation apparatus of one Embodiment of this invention. It is a block diagram for demonstrating the structure of the map creation apparatus shown in FIG. It is a figure for demonstrating the process performed by the shielding space production | generation part shown in FIG. It is a figure for demonstrating the landmark model estimation process performed by the landmark model estimation part shown in FIG. It is a flowchart for demonstrating the map creation method of one Embodiment of this invention. It is a figure for demonstrating the problem of the prior art with respect to this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings referred to in the following description, the same parts as those in the other drawings are denoted by the same reference numerals.
(Embodiment)
System FIG. 1 is a diagram for explaining a system including the map creation device of the present embodiment.
The system shown in FIG. 1 includes a GNSS (Global Navigation Satellite System) satellite g, a terminal device (hereinafter referred to as a mobile terminal) 3 that can be carried and moved, and a map creation device 4. It is configured. The map creation device 4 is a server device that communicates with the mobile terminal 3 via a base station (not shown).

  Although only the GNSS satellite g is shown in FIG. 1, there are naturally many satellites orbiting around the earth in addition to the satellite g. For this reason, in the description of FIGS. 1 and 2, the GNSS satellite will be described without adding the symbol g to prevent the GNSS satellite in the sentence from being limited to the illustrated GNSS satellite g. In FIG. 1, only the mobile terminal 3 is shown, but it goes without saying that the mobile terminals applied to the map creation device 4 exist in the order of several hundreds of thousands in addition to the mobile terminal 3.

  Further, in the configuration indicated by reference numeral 5 in FIG. 1, information indicating the orbit of this satellite is collected and distributed from a satellite including at least a part of the satellite that can transmit a transmission signal to the mobile terminal 3. Indicates a satellite information distribution station. As such a satellite information distribution station 5, a provider called GRN (Global Reference Network) can be applied. GRN receives transmission signals from GNSS satellites that travel around the earth and distributes them to the map creation device 4.

  In the system shown in FIG. 1, a GNSS satellite transmits a transmission signal. The transmission signal in the present embodiment refers to a navigation message, and the navigation message is data necessary for positioning that is constantly transmitted from a GNSS satellite. The transmission signal is composed of 25 sets of, for example, 1,500-bit data including almanac, orbit information, clock correction values, ionospheric correction data, health data, and the like. Of the transmission signal, it takes 30 seconds to acquire only the trajectory information, and 12.5 minutes to receive all the data.

  The mobile terminal 3 receives information d1 necessary for positioning in the transmission signal. In the known GNSS, three or more GNSS satellites are used for positioning of one mobile terminal 3. Then, the mobile terminal 3 measures the position of the mobile terminal 3 (hereinafter referred to as “own terminal” in the present embodiment) using the received information d1, and sends the positioning result obtained by the positioning to the map creation device 4. Send. The “positioning result” is data representing the position of the mobile terminal 3 obtained by positioning by latitude and longitude. This data is referred to as “positioning result data” d3 in the present embodiment.

  The information d1 necessary for positioning includes ID information (hereinafter referred to as satellite number) for identifying the GNSS satellite that has transmitted the transmission signal. The mobile terminal 3 analyzes the information d1 and transmits information including the satellite number of the GNSS satellite that transmitted the transmission signal to the map creation device 4 together with the positioning result data d3. In the present embodiment, information on the GNSS satellite that has transmitted the transmission signal is referred to as “field-of-view satellite information”.

  In the above configuration, the mobile terminal 3 uses only a transmission signal having an intensity equal to or higher than a preset threshold among the transmission signals transmitted from the GNSS satellite for generating the positioning result data. That is, in the present embodiment, the mobile terminal 3 determines that only transmission signals having a threshold value or higher are received as transmission signals, and regards reception of transmission signals whose strengths are less than the threshold value as “unreceivable”.

In this embodiment, the mobile terminal 3 generates the positioning result data d3 using only the GNSS satellite whose transmission signal can receive the transmission signal including the information d1, and only the GNSS satellite that can receive the transmission signal including the information d1. The in-view satellite information is transmitted to the map creation device 4.
Further, the satellite information distribution station 5 acquires all data d2 of the transmission signal from the GNSS satellite. Of these, the GNSS satellite orbit information d4 relating to the orbit of the GNSS satellite is transmitted to the map creation device 4.

Map Making Device FIG. 2 is a block diagram for explaining the configuration of the map making device 4 shown in FIG.
As described above, the mobile terminal 3 transmits the positioning result data to the map creation device 4. The map creation device 4 includes a positioning result receiving unit 202 for receiving positioning result data. In the present embodiment, the in-view satellite information transmitted by the mobile terminal 3 is received by the positioning result receiving unit 202 together with the positioning result data.
Further, the map creation device 4 includes an orbit information receiving unit 204 that receives orbit information from the satellite information distribution station 5. Positioning result data, in-field satellite information, and orbit information are transferred to the information distribution unit 203 and sent from the information distribution unit 203 to the shielded space creation unit 205.

  FIG. 3 is a diagram for explaining processing performed by the shielding space creation unit 205 shown in FIG. As shown in FIG. 3, there are a large number of GNSS satellites g1 to g8 that can transmit a transmission signal to the mobile terminal 3 outside the atmosphere above the positioning position P where the positioning result data is acquired. . At this time, transmission signals of GNSS satellites g <b> 3 to g <b> 6, all of which are transmitted in the space 302, are received at the mobile terminal 3 as signals having an intensity equal to or higher than the threshold. In the present embodiment, the GNSS satellites g3 to g6 within the space 302 are also referred to as in-view satellites.

On the other hand, among the transmitted signals, the transmission signals of the GNSS satellites g1, g2, g7, and g8, at least a part of which are in the space 301a or the space 301b, are received by the mobile terminal 3 as signals having an intensity less than the threshold. The In the present embodiment, the GNSS satellites g1, g2, g7, and g8 within the space 301a and 301b are also referred to as out-of-view satellites.
The shielding space creation unit 205 specifies the positioning position P from the positioning result data. Then, from the orbit information, all GNSS satellites (here, GNSS satellites g1 to g8) that can be in-view satellites are acquired from the orbit information at the positioning position P. Then, from the in-view satellite information transmitted from the mobile terminal 3, the GNSS satellites g3 to g6 that are actually in-view satellites are specified. The shielded space creation unit 205 subtracts the GNSS satellites g3 to g6 specified by the in-view satellite information from all the GNSE satellites g1 to g8 acquired from the orbit information, thereby GNSS satellites g1, g2, and g7 that are out-of-view satellites. , G8 is specified.

Next, for example, in the GNSS satellites g1 and g2, the shielding space creation unit 205 specifies that the GNSS satellite having the maximum elevation angle with respect to the positioning position P is the GNSS satellite g2, and the maximum elevation angle of the GNSS satellite g2 is the elevation angle θ1. Is detected. A space 301a having an elevation angle equal to or less than the elevation angle θ1 with respect to the measurement position P is defined as a shielded space.
In addition, the shielded space creation unit 205 identifies that the GNSS satellite having the maximum elevation angle with respect to the positioning position P in the GNSS satellites g7 and g8 is the GNSS satellite g7, and detects that the maximum elevation angle is the elevation angle θ2. . And space 301b which makes an elevation angle below elevation angle theta 2 to measurement position P is defined as shielding space.

  The shielded space creating unit 205 creates an enormous number of shielded spaces based on the information of out-of-view satellites sent from a large number of mobile terminals. Then, the created shielding space is sequentially transmitted to the landmark model estimation unit 206. The landmark model estimation unit 206 combines the transmitted shielding spaces, and accumulates the landmark model, which is the combined shielding space, in the shape model creation unit 207.

  FIG. 4 is a diagram for explaining the landmark model estimation process performed by the landmark model estimation unit 206 shown in FIG. The landmark model estimation unit 206 reads out the landmark model stored in the shape model creation unit 207 and combines it with the shielding space received from the shielding space creation unit 205. The combined landmark model is stored in the shape model creation unit 207 again. The synthesis of the shielding space is performed as follows.

That is, as shown in FIG. 4, it is assumed that the GNSS satellites g11 to g17 can transmit transmission signals to the mobile terminals at the positioning positions P1 and P2. At this time, at the positioning position P1, GNSS satellites g11 to g13 are out-of-view satellites, and GNSS satellites g14 to g16 are in-view satellites. For this reason, at the positioning position P1, a space having an elevation angle equal to or smaller than the elevation angle of the GNSS satellite g13 is defined as the shielded space 401a.
At the positioning position P2, the GNSS satellites g12 and g13 are out-of-view satellites, and the GNSS satellites g13 and g14 are in-view satellites. For this reason, at the positioning position P2, a space having an elevation angle equal to or smaller than the elevation angle of the GNSS satellite g12 is defined as the shielded space 401b.

  The landmark model estimation unit 206 first receives the shielding space 401 a at the positioning position P <b> 1 from the shielding space creation unit 205 and accumulates it in the shape model creation unit 207. Next, the shielded space 401b at the positioning position P2 is received from the shielded space creating unit 205 and combined with the shielded space 401a accumulated in the shape model creating unit 207. By the synthesis, a space 401c in which the shielded space 401a and the shielded space 401b overlap is formed. The space 401 c is accumulated in the shape model creation unit 207. In the present embodiment, the shielded space 401c is a “landmark model” estimated to be a shield. The accuracy of the position, size, and shape of the landmark model increases as the number of synthesized shielding spaces increases.

Further, in order to improve the accuracy of the landmark model, for example, only the in-view satellite or the out-of-view satellite that has been repeatedly detected a predetermined number of times in succession may be adopted for the definition of the shielding space. In this way, it is possible to prevent the range of the shielding space from being erroneously defined due to disturbance such as weather.
The new landmark model is combined with the map information in the shape model creation unit 207. The map information is a three-dimensional map in which an existing landmark model is three-dimensionally drawn. By synthesizing a new landmark model with the map information, the three-dimensional map is updated to indicate the latest information.

Map Creation Method FIG. 5 is a flowchart for explaining the map creation method performed in the map creation device described above.
1 and 2 repeatedly receives satellite information in the visual field and positioning result data from the mobile terminal (steps S501 and S502). Further, the map creating device repeatedly receives orbit information from the satellite information distribution station 5 (step S503). The reception of the in-view satellite information and the positioning result data and the reception of the orbit information are performed simultaneously or at separate timings.

  In the shielded space creating unit 205 shown in FIG. 2, the out-of-view satellite at each positioning position is specified using the in-view satellite information, the positioning result data, and the orbit information (step S504). Further, a shielded space is created from the position of the out-of-view satellite (step S505). In the landmark model estimation unit 206, the created shielding spaces are sequentially synthesized (step S506). The combined landmark model is stored in the shape model creation unit 207 (step S507). The landmark model is combined with the map information of the three-dimensional map in the shape model creation unit 207 (step S508).

Map creation program The map creation program of this embodiment is a positioning result reception unit 202, an information distribution unit 203, a trajectory information reception unit 204, a shielded space creation unit 205, and a landmark model estimation of the map creation device 4 shown in FIG. This is realized by the unit 206 and the shape model creation unit 207. Each component has a positioning result acquisition function for acquiring a positioning result indicating the position of the mobile terminal measured using a satellite from the mobile terminal, and a transmission signal having a strength equal to or higher than a predetermined threshold. Field-of-view satellite information acquisition function for acquiring field-of-view satellite information related to a field-of-view satellite, which is a satellite received by the mobile terminal, from the mobile terminal, and at least a part of the satellites capable of transmitting the transmission signal to the mobile terminal Based on the orbit information acquisition function for acquiring the orbit information related to the orbit of the satellite including the positioning result, the in-view satellite information, and the orbit information, a transmission signal having an intensity equal to or higher than the threshold is transmitted by the mobile terminal. An out-of-view satellite identifying function that identifies an out-of-view satellite that has not been received, and a maximum elevation angle with respect to the position indicated by the positioning result among the out-of-view satellites. Two maximum elevation satellites, and a space defining function for defining a space having an elevation angle equal to or lower than the maximum elevation angle with respect to the position as a shielded space, and a plurality of the shielded spaces defined by the space defining function are combined, The obstacle estimation function for estimating the obstacle of the transmission signal transmitted from the out-of-view satellite to the mobile terminal and the obstacle estimated by the obstacle estimation function are combined with map information to create a three-dimensional map 3D map creation function.

  Note that the map creation program of the present embodiment described above is a file in an installable or executable format and is a computer-readable recording medium such as a CD-ROM, floppy (registered trademark) disk (FD), or DVD. It may be recorded and provided. The map creation program of this embodiment may be recorded and provided in a memory device such as a computer-readable ROM, flash memory, memory card, or USB-connected flash memory. Furthermore, the map creation program of the present embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network.

(Summary)
As described above, according to the map creation device, map creation method, and map creation program of the present invention, a large number of data can be acquired from the mobile terminal. That is, when using the GNSS function, the mobile terminal receives data necessary for positioning of the transmission signal from the GNSS satellite. The data necessary for positioning includes the satellite number of the GNSS satellite that transmitted the transmission signal. For this reason, the mobile terminal can acquire in-view satellite information simultaneously with acquisition of positioning result data. Then, the in-view satellite information together with the positioning result data can be transmitted to the map creation device.

The GNSS function is an existing function provided in the current mobile terminal, and the map creation device can acquire positioning result data and in-view satellite information from an extremely large number of mobile terminals. For this reason, this embodiment can collect the data required for map creation efficiently. Further, the present embodiment can improve the accuracy of the position, size, and shape of the landmark model estimated using such data in a relatively short time.
Moreover, this embodiment can reflect the change of the obstruction of a transmission signal in a three-dimensional map in real time. For this reason, it is possible to accurately grasp the obstacle that blocks the transmission signal even before the building that becomes the obstacle is completed or in the process of being demolished.

  INDUSTRIAL APPLICABILITY The present invention can be used for creating a map used to know the reception state of radio waves at a mobile terminal.

DESCRIPTION OF SYMBOLS 3 Mobile terminal 4 Map production apparatus 5 Satellite information delivery station 202 Positioning result receiving part 203 Information delivery part 204 Orbit information receiving part 205 Occluded space creation part 206 Landmark model estimation part 207 Shape model creation part 301a, 301b Space 401a, 401b, 401c Shielded space

Claims (5)

A positioning result acquisition unit that acquires a positioning result indicating the position of the mobile terminal measured using a satellite from each of the plurality of mobile terminals;
In-view satellite information acquisition unit for acquiring in-view satellite information about the in-view satellite, which is a satellite in which a transmission signal having a strength equal to or greater than a predetermined threshold is received by the mobile terminal, from each of the plurality of mobile terminals;
An orbit information acquisition unit for acquiring orbit information related to the orbit of a satellite including at least a part of the satellite capable of transmitting the transmission signal to the mobile terminal;
Based on a plurality of the positioning results, the in-view satellite information, and the orbit information, an out-of-view satellite that identifies an out-of-view satellite that is a satellite for which a transmission signal having an intensity equal to or greater than the threshold is not received by the mobile terminal The satellite identification part,
Among the out-of-view satellites, a maximum elevation satellite having a maximum elevation angle with respect to the position indicated by the positioning result is specified, and a plurality of shielded spaces , which are spaces having an elevation angle less than the maximum elevation angle with respect to the position , are defined. A shielding space defining part;
An obstacle estimation unit that synthesizes a plurality of the shielding spaces defined by the shielding space defining unit and estimates the presence of an obstacle in the transmission signal transmitted from the out-of-view satellite to the mobile terminal;
A three-dimensional map creating unit that synthesizes the obstacle estimated by the obstacle estimating unit with map information and creates a three-dimensional map used to know the reception state of radio waves in the mobile terminal ;
A cartography apparatus characterized by including: In claim 1,
The orbit information acquisition unit acquires the orbit information from a satellite information distribution station that collects and distributes information related to the satellite from a satellite including at least a part of the satellite that can transmit the transmission signal to the mobile terminal. A cartography device characterized by: In claim 1 or 2,
The shielded space defining unit may include only the out-of-view satellites identified based on the in-view satellites repeatedly detected a predetermined number of times in succession or the out-of-view satellites continuously detected a predetermined number of times in the shielded space. A cartographic device characterized by adopting to the regulation of The map creation device
The positioning result indicating the position of the measured mobile terminal using satellite, a positioning result obtaining step of obtaining from a plurality of said mobile terminal,
Field-of-view satellite information obtaining step for obtaining in- view satellite information related to a view-field satellite that is a satellite in which a transmission signal having a strength equal to or greater than a predetermined threshold is received by the mobile terminal, from each of the plurality of mobile terminals;
Orbit information acquisition step for acquiring orbit information relating to the orbit of a satellite including at least a part of the satellite capable of transmitting the transmission signal to the mobile terminal;
Based on a plurality of the positioning results, the in-view satellite information, and the orbit information, an out-of-view satellite that identifies an out-of- view satellite that is a satellite for which a transmission signal having an intensity equal to or greater than the threshold is not received by the mobile terminal Satellite identification step,
Among the out-of-view satellite, to identify the maximum elevation satellite with a maximum elevation with respect to the position where the positioning result shown, a plurality defining a shielded space is a space that forms the maximum elevation below the elevation relative to the position A shielding space defining step;
Obstacle estimation step of synthesizing a plurality of the shielded spaces defined in the shielded space defining step and estimating an obstacle of the transmission signal transmitted from the out-of-view satellite to the mobile terminal;
A three-dimensional map creation step for synthesizing the obstacle estimated by the obstacle estimation step with map information and creating a three-dimensional map used for knowing the reception state of radio waves in the mobile terminal ;
A method of creating a map, characterized in that On the computer,
A positioning result acquisition function for acquiring a positioning result indicating the position of the mobile terminal measured using a satellite from each of the plurality of mobile terminals;
The field in the satellite information regarding in-field satellite is a satellite transmission signal of a predetermined threshold value or more strength received by the mobile terminal, and the field in the satellite information acquisition function of acquiring from a plurality of said mobile terminal,
An orbit information acquisition function for acquiring orbit information relating to the orbit of a satellite including at least a part of the satellite capable of transmitting the transmission signal to the mobile terminal;
Based on a plurality of the positioning results, the in-view satellite information, and the orbit information, an out-of-view satellite that identifies an out-of-view satellite that is a satellite for which a transmission signal having an intensity equal to or greater than the threshold is not received by the mobile terminal With satellite identification function,
Among the out-of-view satellite, to identify the maximum elevation satellite with a maximum elevation with respect to the position where the positioning result shown, a plurality defining a shielded space is a space that forms the maximum elevation below the elevation relative to the position Shielding space defining function;
Obstacle estimation function for synthesizing a plurality of the shielded spaces defined by the shielded space defining function and estimating obstacles of the transmission signal transmitted from the out-of-view satellite to the mobile terminal;
A three-dimensional map creation function for synthesizing the obstacle estimated by the obstacle estimation function with map information and creating a three-dimensional map used to know the reception state of radio waves in the mobile terminal ;
A map creation program characterized by realizing

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