JP5760389B2 - Positioning device, positioning method and program - Google Patents

Description

  The present invention relates to a positioning device, a positioning method, and a program for positioning a walking body.

  Conventionally, a technique for measuring the moving position of a walking body by autonomous navigation using a motion sensor such as an acceleration sensor or a magnetic sensor has been put into practical use. Positioning of a walking body by autonomous navigation is executed as follows, for example. First, the vertical movement of the walking body is detected, the number of steps is counted, and the amount of movement is calculated by multiplying this number of steps by a preset step length. In addition, the moving direction is calculated from the horizontal acceleration change of the walking body, and the moving direction is obtained by the direction based on the direction of geomagnetism. Then, the movement vector of the walking body is determined by adding the movement vector composed of the movement amount and the movement direction to the position data of the reference position. For example, Patent Document 1 discloses an apparatus that measures a moving position of a walking body by autonomous navigation using a motion sensor.

Japanese Patent Laid-Open No. 11-194033

  When the positioning device is attached to and held by the upper body of the walking body, or when it is placed in a container that is carried on the back or a container that is attached to the upper body, the positioning device has a horizontal direction of the walking body. Acceleration changes are transmitted well. Therefore, the moving direction of the walking body can be calculated by the method described above.

  However, when the positioning device is placed in a handbag or the like and suspended from the hand, the positioning device hardly receives the change in acceleration in the horizontal direction of the walking body. Therefore, it becomes difficult to calculate the moving direction of the walking body by the method described above.

  An object of the present invention is to provide a positioning device, a positioning method, and a program capable of performing positioning by appropriately switching the method even when the positioning device is in different holding states.

In order to achieve the above object, the invention described in claim 1
In a positioning device that performs positioning while being held by a walking body,
An autonomous navigation sensor for detecting movement and direction,
Satellite positioning means for receiving a signal from a positioning satellite and performing positioning;
Autonomous positioning means for performing positioning by obtaining a relative position change based on the output of the sensor for autonomous navigation;
Holding state determining means for determining the holding state of the positioning device;
A system for controlling the satellite positioning means and the autonomous positioning means to create a series of position data along the moving path of the walking body, and positioning by the autonomous positioning means based on the determination result of the holding state determination means Positioning control means for switching between ,
The autonomous navigation sensor includes a triaxial acceleration sensor that detects acceleration in three axial directions and an azimuth sensor that detects azimuth,
The holding state determining means determines the holding state based on the output of the triaxial acceleration sensor,
The positioning control means includes
When it is determined as an unstable holding state by the holding state determination means,
The autonomous positioning means calculates the relative amount of change in the moving direction based on the walking motion of the walking body and the orientation change detected by the orientation sensor, and creates a temporary series of position data with no orientation determined. In addition, the positioning is intermittently performed by the satellite positioning means, and the temporary series of position data is corrected to a series of position data having a fixed orientation based on the positioning data .

The invention described in claim 6
A positioning device having an autonomous navigation sensor for detecting movement and direction and a satellite positioning means for receiving a signal from a positioning satellite and performing positioning is held on the walking body, and the moving point of the walking body is measured. A positioning method,
Autonomous positioning step for determining the relative position change based on the output of the autonomous navigation sensor,
A satellite positioning step for performing positioning using the satellite positioning means;
A holding state determining step for determining a holding state of the positioning device;
While performing execution control of the satellite positioning step and the autonomous positioning step to create a series of position data along the moving path of the walking body, positioning by the autonomous positioning step based on the determination result of the holding state determination step and a positioning control step of switching the method,
The autonomous navigation sensor includes a triaxial acceleration sensor that detects acceleration in three axial directions and an azimuth sensor that detects azimuth,
The holding state determining step determines the holding state based on the output of the triaxial acceleration sensor,
The positioning control step includes
When it is determined as an unstable holding state by the holding state determination step,
The relative change amount of the moving direction based on the walking movement of the walking body and the change of the direction detected by the direction sensor is calculated by the autonomous positioning step, and a temporary series of position data whose direction is not determined is created. In addition, the positioning is intermittently performed by the satellite positioning step, and the temporary series of position data is corrected to a series of position data having a fixed orientation based on the positioning data .

The invention described in claim 7
In a computer mounted on a positioning device held by a walking body, it has an autonomous navigation sensor for detecting movement and direction and a satellite positioning means for receiving a signal from a positioning satellite and performing positioning.
An autonomous positioning function for determining a relative position change based on the output of the autonomous navigation sensor; and
A satellite positioning function for positioning using the satellite positioning means;
A holding state determining function for determining a holding state of the positioning device;
The operation of the satellite positioning function and the autonomous positioning function is controlled to create a series of position data along the movement path of the walking body, and the positioning by the autonomous positioning function based on the determination result of the holding state determination function switches the method to realize a positioning control function,
The autonomous navigation sensor includes a triaxial acceleration sensor that detects acceleration in three axial directions and an azimuth sensor that detects azimuth,
The holding state determination function determines the holding state based on the output of the triaxial acceleration sensor,
The positioning control function is
When it is determined as an unstable holding state by the holding state determination function,
Creates a series of temporary position data for which the orientation is not fixed by calculating the relative change amount of the moving direction based on the walking motion of the walking body and the orientation change detected by the orientation sensor by the autonomous positioning function. In addition, the program is characterized in that positioning is intermittently performed by the satellite positioning function, and the temporary series of position data is corrected to a series of position data having a fixed orientation based on the positioning data .

  According to the present invention, the holding state of the device is determined, and positioning is performed by a method according to the determination result. For example, even when the device is attached to the upper body of the walking body and held, the handbag Even when it is put in and held by a hand, the moving position of the walking body can be appropriately measured by autonomous navigation.

It is a block diagram which shows the whole structure of the positioning apparatus of embodiment of this invention. It is a figure explaining similarity conversion correction | amendment of a movement locus | trajectory. It is a figure explaining the rotation conversion correction | amendment of a movement locus | trajectory. It is a 1st part of the flowchart which shows the control procedure of the positioning control process which CPU performs. 4 is a second part of a flowchart of the positioning control process. It is a time chart explaining the 1st example of the positioning pattern of the horizontal component weak state of acceleration. It is a time chart explaining the 2nd example of the positioning pattern of the horizontal component weak state of acceleration. It is a time chart explaining the 3rd example of the positioning pattern of the horizontal component weak state of acceleration. It is a time chart explaining the 4th example of the positioning pattern of the horizontal component weak state of acceleration. It is a time chart explaining the 5th example of the positioning pattern of the horizontal component weak state of acceleration.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing an overall configuration of a positioning apparatus according to an embodiment of the present invention.

  The positioning device 1 of this embodiment is carried by a user and uses GPS (global positioning system) positioning (referred to as GPS positioning) and positioning using an autonomous navigation sensor (referred to as autonomous navigation positioning) in combination. Thus, it is a device that records a series of position data representing the movement trajectory of the user.

  As shown in FIG. 1, the positioning device 1 includes a GPS receiving antenna 13 that receives a signal from a GPS satellite, a GPS receiving unit 14 that performs a signal receiving process and a positioning process from the GPS satellite, and an autonomous navigation sensor. Three-axis geomagnetic sensor 15 and three-axis acceleration sensor 16, a CPU (Central Processing Unit) 10 for overall control of the apparatus, and a RAM (Random Access Memory) 11 for providing a working memory space to the CPU 10. A ROM (Read Only Memory) 12 or the like for storing a control program executed by the CPU 10 and control data is provided. The GPS receiving antenna 13 and the GPS receiving unit 14 constitute satellite positioning means, and the CPU 10 constitutes autonomous positioning means, holding state determining means, positioning control means, and holding state change determining means. The CPU 10 is a computer that executes a program.

  The GPS receiver 14 receives a GPS satellite signal in accordance with a positioning command from the CPU 10, performs a predetermined positioning calculation, calculates position data of the current location, and sends the data to the CPU 10.

  The triaxial geomagnetic sensor 15 is an embodiment of an azimuth sensor, and is a sensor that detects the sizes of the ground axes in the triaxial directions orthogonal to each other. The triaxial acceleration sensor 16 is a sensor that detects accelerations in three axial directions orthogonal to each other. The sensor signals of the three-axis geomagnetic sensor 15 and the three-axis acceleration sensor 16 are sampled at a predetermined frequency and taken into the CPU 10.

  The CPU 10 receives sensor outputs from the 3-axis geomagnetic sensor 15 and the 3-axis acceleration sensor 16 to determine whether the user is in a walking state or in any other state, to determine the holding state of the positioning device 1 during walking, Arithmetic processing for autonomous navigation positioning between the first method and the second method according to the holding state, control of GPS positioning execution interval, and arithmetic processing for correcting the movement trajectory obtained by autonomous navigation positioning based on the result of GPS positioning Etc.

  Next, each process performed by the CPU 10 will be described.

  The determination that the user is in a walking state is performed as follows. That is, first, the gravitational direction is specified by calculating the time average of the sensor outputs of the triaxial acceleration sensor 16, and the sensor output of the triaxial acceleration sensor 16 is separated into a vertical component and a horizontal component. Then, a large fluctuation of the vertical component is extracted, and if the frequency of the fluctuation is 1.2 Hz to 2.2 Hz which is a human walking cycle, it is determined as a walking state, otherwise it is determined as not a walking state. .

  The holding state of the positioning device 1 is determined as follows. That is, the ratio (horizontal component / vertical component) of the fluctuation amount of the horizontal component and the fluctuation amount of the vertical component of the sensor output of the triaxial acceleration sensor 16 is calculated, and this ratio is equal to or greater than a threshold value (for example, 1/5 or more) If it is less than the threshold, it is determined that the motion of the horizontal component of the user's upper body is difficult to detect. To do. The fluctuation amount of the horizontal component and the vertical component of the sensor output can be measured, for example, as the magnitude between the large and small peaks within a predetermined time (for example, 2 to 4 seconds) of each component.

  Here, the stable holding state is, for example, a state in which the positioning device 1 is attached to and held by the user's upper body or a holding state in which the positioning device 1 is placed in a container that is in close contact with the user's upper body. It is the holding state which performs the exercise | movement similar to upper body. The unstable holding state is a holding state in which the horizontal motion of the user's upper body is not transmitted so much, for example, a state in which the user's upper body is suspended and held from the user's hand.

  The autonomous navigation positioning of the first method is performed as follows. That is, first, the number of steps of the user is counted from the change in the vertical component of the sensor output of the triaxial acceleration sensor 16, and the amount of movement is calculated by multiplying the step length data set in advance by the number of steps. Furthermore, the peak of the horizontal component acceleration during the period in which the acceleration of the vertical component decreases (the period from when the head is highest to when the foot is attached) is obtained, and the moving direction is calculated based on the direction of this peak. This moving direction is obtained by azimuth expression based on the sensor output of the triaxial geomagnetic sensor 15. And the movement vector which consists of said movement amount and movement direction is calculated sequentially.

  Here, if the position data of the starting point of autonomous navigation positioning is known, the position data of each point of the user's moving route is obtained in absolute coordinates by sequentially adding a series of movement vectors to this position data. It is done. If the position data of the start point is not known, a series of movement vectors are sequentially added to the temporary position data temporarily representing the start point, so that a series of position data representing the user's movement locus in relative coordinates is obtained. Desired.

  The second type of autonomous navigation positioning is performed as follows. That is, first, the number of steps of the user is counted from the change in the vertical component of the sensor output of the three-axis acceleration sensor 16, and the relative amount of movement is calculated by multiplying the preset stride data and the number of steps. Furthermore, in the unstable holding state, while it is difficult to detect the acceleration change of the horizontal component of the user, the period in which the orientation of the positioning device 1 and the moving direction of the user are maintained in a fixed relationship by being placed in a handbag or the like. Is considered to continue for a long time. Therefore, when calculating the movement direction, only the relative change in the movement direction is calculated without defining the absolute direction of the movement direction. Specifically, a temporary moving direction (for example, 0 ° northward) is set at the start of autonomous navigation positioning. Then, if the direction of geomagnetism is continuously measured from the sensor output of the triaxial geomagnetic sensor 15 and the direction of geomagnetism changes by 30 degrees, it is assumed that the movement direction has changed by -30 degrees. The movement direction at the current positioning point is calculated by adding the angle changes. Although the absolute direction of the moving direction is not determined, a relative change in the moving direction between points along the moving path is represented. Then, a temporary movement vector whose direction is not fixed is sequentially calculated from the movement amount and the movement direction.

  By sequentially integrating the series of movement vectors calculated as described above, a series of position data representing a temporary movement trajectory whose direction is not determined is obtained.

  The control of the GPS positioning execution interval is intermittently performed according to the elapsed time, for example, by performing positioning for 1 minute every 10 minutes. On the other hand, during the period in which the positioning device 1 is determined to be in an unstable holding state, it is monitored whether there is a change in state such as changing the bag, and if a change in state occurs, it is immediately A positioning command is issued so that GPS positioning is performed. The state change is a situation in which the relationship between the direction of the positioning device 1 and the user's traveling direction may have changed, for example, changing the bag. Then, based on the sensor outputs of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16, when the orientation changes greatly in a short time (for example, 175 ° or more within 1 second), the direction of gravity is greater than a predetermined angle (for example, 80 ° or more). ) When the change occurs, the change in acceleration changes more than a predetermined amount (for example, less than half or more than twice), or when the above conditions are combined, it is determined that the above state change has occurred. .

  The movement trajectory correction processing corrects a series of position data obtained by autonomous navigation positioning based on accurate position data obtained by GPS positioning, and similarity conversion correction is performed according to the GPS positioning position data. And rotation conversion correction.

  FIG. 2 is a diagram for explaining the similarity conversion correction of the movement trajectory.

  Similarity conversion correction is performed when accurate position data of two points of the start point A and the end point Bx (the exact position is point B) of the movement locus L1 obtained by autonomous navigation positioning is obtained by GPS positioning. It is. In FIG. 2, the movement locus L1 is represented by a series of position data obtained by autonomous navigation positioning, and the position data of the starting point A of the movement locus L1 and the accurate position data of the end point Bx are obtained by GPS positioning. It has been.

  Here, since the starting point A is a reference point for autonomous navigation positioning, the position data for GPS positioning and the position data for autonomous navigation positioning are the same. On the other hand, in autonomous navigation positioning, errors are cumulatively added as the user moves. Therefore, the position data of the end point Bx of the movement locus L1 is obtained from the position data of the point B accurately obtained by GPS positioning at this point. There is a big shift.

  When a series of position data (movement locus L1) of autonomous navigation positioning and position data of the start point A and the end point B obtained by GPS positioning are obtained in this way, the CPU 10 coordinates the movement locus L1 as follows. Perform conversion. That is, the entire movement trajectory L1 is uniformly expanded or contracted and rotated so that the start point A and the end point Bx of the movement trajectory L1 overlap with the exact points A and B obtained by GPS positioning. Thereby, the corrected movement locus L2 in which the start point A and the end point B overlap with the points A and B of the accurate position data is obtained. The movement locus L1 before correction and the movement locus L2 after correction have a similar relationship. When the corrected movement locus L2 is obtained in this way, a series of position data representing the movement locus L1 is converted into position data corresponding to the movement locus L2, and the correction is completed.

  This similarity conversion correction is a movement trajectory that is determined by the autonomous navigation of the first method and has a fixed orientation that is determined by the autonomous navigation of the second method. Can be applied as well.

  FIG. 3 is a diagram for explaining the rotational conversion correction of the movement locus.

  Rotation conversion correction is performed for the movement trajectory created by setting the position data of the temporary reference point, because accurate position data is not obtained by GPS positioning at the starting point Cx of the movement trajectory L3 obtained by autonomous navigation positioning. It is done.

  For such a movement locus L3, first, accurate positioning data of a plurality of points D1 to Dn is obtained by continuously performing GPS positioning at each point Dx1 to Dxn near the end point of the movement locus L3. . Then, the entire movement trajectory L3 is rotated and translated so that the points Dx1 to Dxn near the end point overlap with the accurate points D1 to Dn in parallel. Thereby, a corrected movement locus L4 in which the position in the vicinity of the end point and the movement direction coincide with those of the GPS positioning is obtained. The movement locus L3 before correction and the movement locus L4 after correction have a congruent shape. Thus, when the corrected movement locus L4 is obtained, a series of position data representing the movement locus L3 is converted into position data corresponding to the movement locus L4, and the correction is completed. The start point Cx of the movement locus L3 was provisional position data, whereas the corrected movement locus L4 obtains position data in absolute coordinates from the start point C to the end point Dn.

  This rotation conversion correction can be particularly usefully applied to a moving trajectory whose orientation is determined by the second type of autonomous navigation. Further, the present invention can also be applied to a moving trajectory with a fixed azimuth obtained by the first type of autonomous navigation.

  The ROM 12 stores each module program that causes the CPU 10 to execute each of the above processes, a positioning control process program 12a for performing positioning control in an integrated manner, and the like. In addition to being stored in the ROM 12, this program can be stored in a non-volatile memory such as a portable storage medium such as an optical disk or a flash memory, for example, which can be read by the CPU 10 via a data reader. is there. In addition, a form in which such a program is downloaded to the positioning apparatus 1 via a communication line using a carrier wave as a medium can be applied.

[Positioning control processing]
Next, an overall processing flow in the positioning apparatus 1 having the above-described configuration will be described.

  4 and 5 are flowcharts of the positioning control processing executed by the CPU 10, and FIGS. 6 to 10 are first to fifth positioning patterns of the second type autonomous navigation positioning in the unstable holding state. The time chart explaining an example is shown.

  This positioning control process is a process executed in a state where it is determined that the user is in a walking state. When this positioning control process is started, first, the CPU 10 sets a timer for the interval period (for example, 10 minutes) in order to intermittently perform GPS positioning (step S1). With this timer setting, a positioning command is issued to the GPS receiver 14 every interval period, and positioning for one minute is automatically performed.

  Next, the CPU 10 starts creating a new movement trajectory for one section (step S2). The movement trajectory of one section is a movement trajectory that is a target of one correction process. A plurality of movement trajectories in one section are connected to represent the entire movement path of the user.

  Subsequently, the CPU 10 performs a holding state determination process based on the ratio of the fluctuation amount of the horizontal component and the vertical component of the three-axis acceleration sensor (step S3). The details of the holding state determination processing are as described above. If the ratio is larger than the threshold value as a result of the determination, the first state of autonomous navigation positioning that determines the moving direction in the direction because the acceleration change in the horizontal direction of the user's upper body is detectable. Branch to “YES” side to execute

  Then, the number of steps is counted based on the sensor output of the triaxial acceleration sensor 16 by the above-described autonomous navigation positioning of the first method (step S4), and the moving direction is determined from the sensor outputs of the triaxial acceleration sensor 16 and the triaxial geomagnetic sensor 15. (Step S5), a movement vector is created from the movement amount (= step count × step length data) and the movement direction, and is stored in the RAM 11 as positioning data before correction (step S6).

  Subsequently, it is determined whether GPS positioning is executed by the GPS receiving unit 14 after the interval period of intermittent GPS positioning has elapsed, and positioning output is made from the GPS receiving unit 14 to the CPU 10 (step S7). As a result, if there is no positioning output, the process returns to step S3.

  That is, if the positioning device 1 is held in a stable holding state, the first type of autonomous navigation positioning is continuously executed through the loop processing of steps S3 to S7 throughout the interval period, and a series of movement vectors is accumulated in the RAM 11. The

  On the other hand, when the positioning device 1 is in an unstable holding state, such as when the positioning device 1 is put in a handbag, the process proceeds to “NO” in the determination process of step S3. Then, the number of steps is counted based on the sensor output of the triaxial acceleration sensor 16 by the above-described second type autonomous navigation positioning (step S8), and the relative change in the moving direction is calculated from the sensor output of the triaxial geomagnetic sensor 15. (Step S9). Further, a temporary movement vector with no fixed orientation is created from the movement amount (= step count × step length data) and the relative movement direction, and this is stored in the RAM 11 as positioning data before correction (step S10).

  Subsequently, it is determined whether or not GPS positioning is currently started in step S14, which will be described later (step S11), and if positioning is not in progress, it is confirmed whether or not the above-described state change such as changing the bag has occurred (step S12). . As a result, if no state change occurs, the process proceeds to step S7.

  That is, if the positioning device 1 is held in an unstable holding state and the above state change does not occur in the middle, the autonomous navigation positioning of the second method is continuously executed through the loop processing of steps S3, S8 to S12, and S7 throughout the interval period. Then, a series of movement vectors are stored in the RAM 11.

  Then, when the positioning period is output from the GPS receiver 14 after the interval period has elapsed, the process proceeds to “YES” in the determination process of step S7. The series of movement vectors is sequentially added to the position data of the starting point to create a movement locus (a series of position data), which is stored in the movement locus storage unit 17 (step S19). If there is no position data of the starting point, provisional position data is set and a movement trajectory represented by relative coordinates is created. By this processing, the movement locus L1 or L3 before correction in FIG. 2 or FIG. 3 is created and stored by the autonomous navigation positioning of the first method or the autonomous navigation positioning of the second method.

  When GPS positioning is performed by the GPS receiver 14 after the interval period has elapsed, if there is no positioning output due to being out of reach of the GPS satellite signal, “NO” is determined in the determination process of step S7. ", The process returns to step S3 again, and the autonomous navigation process is repeated until the next interval period.

  After creating the movement trajectory, the CPU 10 next determines whether or not the start point position of the movement trajectory has been acquired by GPS positioning (step S21), and if it has been acquired, acquires the position data of this start point position and the immediately preceding step S7. Based on the position data of the end point position, the movement trajectory is subjected to similarity conversion correction as shown in FIG. Furthermore, the movement locus data (a series of position data) stored in the movement locus storage unit 17 is rewritten and saved as corrected position data (step S22).

  On the other hand, if it is determined in step S21 that the starting position has not been acquired, GPS positioning is continued for a while to acquire continuous position data (step S23). Since GPS positioning has succeeded immediately before this, continuous GPS positioning in step S23 is almost successful. Further, the autonomous navigation positioning may be continuously performed during the acquisition of the continuous position data, and may be added as position data near the end point of the movement trajectory created in step S19.

  Then, based on the continuous GPS position data (end point position data and continuous position data near the end point) acquired in step S23, the movement locus is rotationally converted and corrected as shown in FIG. Further, the movement locus data (series of position data) saved in the movement locus storage unit 17 is rewritten and saved as corrected position data (step S24).

  By the above processing, as shown in the time chart of FIG. 6, when the positioning device 1 is held in an unstable holding state and the user continues walking, the autonomous navigation positioning (S8, While S9) is performed continuously, intermittent GPS positioning is performed at the start and end points, and the movement trajectory between them is corrected by similarity conversion and stored. Further, as shown in the time chart of FIG. 9, when the position data of the start point of the movement locus is not acquired by GPS positioning, GPS positioning is continuously performed in the vicinity of the end point B˜, and the movement during that time The trajectory is rotationally corrected and saved.

  Then, when the correction is completed in step S22 or step S24, the process returns to step S2 to start the new creation of the movement locus of the next section. By this iterative process, the creation of the movement trajectory for each section shown in FIGS. 6 and 9 and its correction process are repeated.

  Although not shown in the flowchart, when the stable holding state is changed to the unstable holding state during the autonomous navigation positioning of the first method, or from the unstable holding state during the autonomous navigation positioning of the second method. When it is changed to the stable holding state, GPS positioning is immediately performed, and the movement trajectory up to that point is created and corrected, and the creation of a movement trajectory for a new section is started from there. Also good.

  Next, a description will be given of processing when a state change such as changing of a bag occurs in an unstable holding state such as being put in a handbag. In this case, it is determined that “there is a change” in the determination process in step S12, and the process proceeds to the next. Then, first, the CPU 10 creates a movement trajectory from a series of movement vectors stored up to this point and stores it in the movement trajectory storage unit 17 (step S13). Then, a positioning command is issued so that GPS positioning is performed immediately, GPS positioning at the time of switching is started (step S14), and then a timer for counting a timeout time (for example, 1 minute) when GPS positioning is not successful Is activated (step S15).

  Furthermore, the creation of a new movement trajectory for one section is started so that the movement trajectory is created by the autonomous navigation positioning during the period until the GPS positioning at the time of switching is successful (step S16). Then, it is confirmed whether or not the GPS positioning time-out at the time of switching has been reached (step S17), and if not yet, it is determined whether or not the GPS positioning output has been acquired (step S18).

  In other words, if the GPS positioning output is not acquired in addition to the GPS positioning timeout, the loop processing of steps S3, S8 to S11, S17, and S18 is repeated, and the second type autonomous navigation positioning is continuously executed. The movement trajectory after changing the bag is created.

  On the other hand, if the GPS positioning output due to bag change cannot be obtained and timed out, the direction of the movement track until the bag change is not fixed and cannot be corrected, so this movement track is discarded. (Step S20). And the process from step S1 is started again.

  If the GPS positioning output can be acquired before the time-out, the process proceeds to step S21 in order to correct the movement trajectory until immediately before the bag change. The subsequent movement locus correction processing in steps S21 and S22 is as described above. Then, after the correction process, the process returns to step S2. If it is determined in step S16 that a new movement trajectory after changing bags has been started, processing is performed in step S2 so that a continuous movement trajectory is created.

  As shown in FIG. 7 and FIG. 8, if it is determined that there is a change of bag even during the interval period of GPS positioning by the processing after “YES” is determined in step S <b> 12, the movement trajectory of one section is determined there. The GPS positioning is started immediately. As shown in FIG. 7, when the position data of the end point B is acquired by GPS positioning and the position data of the start point A of the movement locus is also obtained, the movement locus between them is subjected to similarity conversion correction and the movement locus It is stored in the storage unit 17.

  In addition, when the time-out occurs because the position data of the end point B is not acquired by GPS positioning, as shown in FIG. 8, the moving trajectory between them cannot be determined, and is discarded. The autonomous navigation positioning of the second method is started to create a new movement trajectory from the determined timing. In this case, autonomous navigation positioning of the second method is performed without knowing the starting point of the movement locus. Therefore, similarly to the operation shown in FIG. 9, if the GPS positioning succeeds and continuous position data is acquired thereafter, the movement trajectory during that time is corrected and stored by the rotation conversion correction.

  Although not shown in the flowchart, as shown in FIG. 10, the second method of autonomous navigation positioning is started without knowing the starting point of the movement trajectory, and after that, before performing GPS positioning, it is determined again that there is a switchover. In such a case, the moving trajectory during that time may not be determined and may be discarded.

  As described above, according to the positioning device 1 of this embodiment, the holding state of the positioning device 1 is determined, and the autonomous navigation positioning method is switched according to the holding state. Change the method as needed even when positioning is not possible using the same method, such as the period that is attached to the user's upper body and the period that is held in a handbag and suspended. Positioning by autonomous navigation can be performed.

  Further, since the holding state is determined based on the ratio of the fluctuation amount of the horizontal component of the acceleration and the fluctuation amount of the vertical component, the holding state in which the positioning device 1 moves in substantially the same manner as the upper body of the user, The holding state in which the user's upper body movement is difficult to be transmitted can be appropriately determined.

  Further, according to the positioning device 1 of the above embodiment, when it is determined that the ratio of the fluctuation amount of the horizontal component of the acceleration is a stable holding state, the moving direction of the user is calculated from the acceleration of the horizontal component and moved. In addition to creating a trajectory, the movement trajectory corrected by performing similarity conversion correction and rotation conversion correction based on intermittent GPS positioning results is stored. That is, the autonomous navigation positioning and the GPS positioning suitable for the holding state of the positioning device 1 are performed to obtain an accurate movement trajectory.

  On the other hand, when it is determined that the rate of fluctuation of the horizontal component of acceleration is an unstable holding state, the relative movement direction of the user (relative change between the previous and next points in the movement direction) is calculated by measuring geomagnetism. As a result, a temporary movement trajectory with no fixed orientation is created, and similarity conversion correction or rotation conversion correction is performed based on the results of intermittent GPS positioning to correct and save the movement trajectory with a fixed orientation. It has become. That is, the autonomous navigation positioning and the GPS positioning suitable for the holding state of the positioning device 1 are performed to obtain an accurate movement trajectory.

  Further, according to the positioning device 1 of the above embodiment, it is monitored whether there is a change in the holding state such as changing the bag in the unstable holding state, and if there is a change, the GPS positioning is immediately performed. Then, the correction process of the movement trajectory up to that point is executed. Therefore, it is possible to accurately obtain the movement trajectory before and after the case where the relationship between the direction of the positioning device 1 and the user's traveling direction changes due to changing the bag.

  Specifically, if a large azimuth change is detected in a short time due to the action of changing the bag held in the right hand to the left hand, etc., a predetermined amount due to the positioning device rotating in the bag due to a large external impact, etc. When the above change in the direction of gravity is detected, the amount of change in the acceleration in the horizontal direction due to holding the bag that you have in your hand, etc. changes greatly, or the case of changing the bag by combining these conditions Since it is determined that a change in the holding state has occurred, the change in the holding state can be detected relatively easily and accurately using the autonomous navigation sensor.

  The present invention is not limited to the above-described embodiment, and various modifications can be made. For example, in the above-described embodiment, the three-axis acceleration sensor and the three-axis geomagnetic sensor are exemplified as the autonomous navigation sensors. However, when the top and bottom directions of the positioning device are guaranteed to be constant, a two-axis geomagnetic sensor is used. You can also In addition, a relative moving direction in the second type autonomous navigation positioning can be calculated using a gyroscope as the direction sensor.

  In addition, the determination method of the holding state of the positioning device is not limited to the method based on the ratio of the fluctuation amount of the horizontal component and the vertical component of the acceleration. For example, although the accuracy is somewhat lowered, the magnitude of the fluctuation amount of the horizontal component of the acceleration is small. It is also possible to configure so as to make a determination based only on this.

  In addition, the detailed configuration and the detailed method shown in the embodiments can be appropriately changed without departing from the spirit of the invention.

1 Positioning device 10 CPU
11 RAM
12 ROM
12a Positioning control processing program 13 GPS receiving antenna 14 GPS receiving unit 15 3-axis geomagnetic sensor 16 3-axis acceleration sensor 17 moving track storage unit L1, L3 moving track before correction L2, L4 moving track after correction

Claims (7)

In a positioning device that performs positioning while being held by a walking body,
An autonomous navigation sensor for detecting movement and direction,
Satellite positioning means for receiving a signal from a positioning satellite and performing positioning;
Autonomous positioning means for performing positioning by obtaining a relative position change based on the output of the sensor for autonomous navigation;
Holding state determining means for determining the holding state of the positioning device;
A system for controlling the satellite positioning means and the autonomous positioning means to create a series of position data along the moving path of the walking body, and positioning by the autonomous positioning means based on the determination result of the holding state determination means Positioning control means for switching between ,
The autonomous navigation sensor includes a triaxial acceleration sensor that detects acceleration in three axial directions and an azimuth sensor that detects azimuth,
The holding state determining means determines the holding state based on the output of the triaxial acceleration sensor,
The positioning control means includes
When it is determined as an unstable holding state by the holding state determination means,
The autonomous positioning means calculates the relative amount of change in the moving direction based on the walking motion of the walking body and the orientation change detected by the orientation sensor, and creates a temporary series of position data with no orientation determined. In addition, the positioning device is characterized in that positioning is intermittently performed by the satellite positioning means, and the temporary series of position data is corrected to a series of position data having a fixed orientation based on the positioning data . Before Symbol positioning control means,
Claims, characterized in that the ratio of the variation amount of the horizontal component relative to the amount of change of the vertical component of the output of the triaxial acceleration sensor by the holding state determination means determines that the unstable holding condition when less than the threshold Item 4. The positioning device according to Item 1 . Before Symbol positioning control means,
When the holding state determining means determines that the ratio of the variation amount of the horizontal component to the variation amount of the vertical component of the output of the three-axis acceleration sensor is a stable holding state greater than a threshold value,
The autonomous positioning means calculates the walking direction of the walking body and the moving direction based on the horizontal acceleration change and direction of the walking movement to create the series of position data, and intermittently by the satellite positioning means. The positioning device according to claim 1, wherein positioning is performed, and the series of position data is corrected based on the positioning data. A holding state change for determining that the holding state of the positioning device has changed based on the output of the three-axis acceleration sensor and / or the azimuth sensor when the holding state determining unit determines that the unstable holding state has occurred. With a discrimination means,
The positioning control means includes
When the holding state change determining means by the holding state has been determined to have changed from claim 1, characterized in that immediately made to perform the positioning to correct the said series of positional data by the satellite positioning device 3 The positioning device according to any one of the above. The holding state change determining means includes
Satisfies a condition where the azimuth changes more than a predetermined amount at a predetermined time, the gravity direction changes more than a predetermined amount, the acceleration variation changes more than a predetermined amount, or a combination of any of these multiple cases. The positioning device according to claim 4, wherein the positioning device determines that the holding state has changed. A positioning device having an autonomous navigation sensor for detecting movement and direction and a satellite positioning means for receiving a signal from a positioning satellite and performing positioning is held on the walking body, and the moving point of the walking body is measured. A positioning method,
Autonomous positioning step for determining the relative position change based on the output of the autonomous navigation sensor,
A satellite positioning step for performing positioning using the satellite positioning means;
A holding state determining step for determining a holding state of the positioning device;
While performing execution control of the satellite positioning step and the autonomous positioning step to create a series of position data along the moving path of the walking body, positioning by the autonomous positioning step based on the determination result of the holding state determination step and a positioning control step of switching the method,
The autonomous navigation sensor includes a triaxial acceleration sensor that detects acceleration in three axial directions and an azimuth sensor that detects azimuth,
The holding state determining step determines the holding state based on the output of the triaxial acceleration sensor,
The positioning control step includes
When it is determined as an unstable holding state by the holding state determination step,
The relative change amount of the moving direction based on the walking movement of the walking body and the change of the direction detected by the direction sensor is calculated by the autonomous positioning step, and a temporary series of position data whose direction is not determined is created. In addition, positioning is performed intermittently by the satellite positioning step, and the temporary series of position data is corrected to a series of position data with a fixed orientation based on the positioning data . In a computer mounted on a positioning device held by a walking body, it has an autonomous navigation sensor for detecting movement and direction and a satellite positioning means for receiving a signal from a positioning satellite and performing positioning.
An autonomous positioning function for determining a relative position change based on the output of the autonomous navigation sensor; and
A satellite positioning function for positioning using the satellite positioning means;
A holding state determining function for determining a holding state of the positioning device;
The operation of the satellite positioning function and the autonomous positioning function is controlled to create a series of position data along the movement path of the walking body, and the positioning by the autonomous positioning function based on the determination result of the holding state determination function switches the method to realize a positioning control function,
The autonomous navigation sensor includes a triaxial acceleration sensor that detects acceleration in three axial directions and an azimuth sensor that detects azimuth,
The holding state determination function determines the holding state based on the output of the triaxial acceleration sensor,
The positioning control function is
When it is determined as an unstable holding state by the holding state determination function,
Creates a series of temporary position data for which the orientation is not fixed by calculating the relative change amount of the moving direction based on the walking motion of the walking body and the orientation change detected by the orientation sensor by the autonomous positioning function. In addition, the program is characterized in that positioning is intermittently performed by the satellite positioning function, and the temporary series of position data is corrected to a series of position data having a fixed orientation based on the positioning data .

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