JP5768426B2 - Mobile terminal and travel route calculation program - Google Patents

Description

  This case relates to a mobile terminal and a travel route calculation program.

  In recent years, navigation systems combining GPS (Global Positioning System) and autonomous navigation have become widespread. Recently, mobile terminals such as mobile phones equipped with the system have also appeared.

  The technique described in Patent Document 1 uses GPS positioning in order to solve the problem of followability of the GPS output position when turning right or left while maintaining the continuity and straightness of the locus of the GPS output position when going straight. Is frequently performed, and a bending in the traveling direction is detected by a gyro sensor.

JP 2009-115514 A

  However, since GPS consumes more power than in-terminal sensors such as geomagnetic sensors, it is not practical to use a method of frequently performing GPS positioning as in Patent Document 1. On the other hand, when the in-terminal sensor is used, there is a high possibility that the measurement error of the sensor is accumulated.

  In one aspect, an object of the present invention is to provide a mobile terminal and a travel route calculation program that can accurately calculate a travel route.

The mobile terminal described in the present specification includes an absolute position detection unit that detects an absolute position of the mobile terminal, an acceleration detection unit that detects an acceleration of the mobile terminal , and a case where the mobile terminal moves in a predetermined direction from a certain point. In addition, a line segment that calculates the length of a line segment from the certain point to another point where the moving direction is changed from the predetermined direction to another direction is calculated based on the detected change in acceleration. A travel route calculation that calculates a travel route of the mobile terminal based on a length calculation unit , the absolute position detected during the movement from the certain point to the other point, and the calculated length of the line segment The movement path calculation unit, based on the detected absolute position, the calculated length of the line segment, and the initial angle in the direction of the given line segment, Calculate the coordinates of the end point and start and end points of the line segment. From each of the coordinates, the coordinates of the point on the line segment corresponding to the absolute position are calculated, and each of the absolute position detected during the movement from the certain point to the other point, and each of the absolute position based on the indicator of the distance between a point on the line segment corresponding to the previous SL and out compute the correction parameters and direction before Symbol line for correcting a length of a line.

The movement route calculation program described in this specification acquires a detection result of an absolute position detection unit that detects an absolute position of a mobile terminal, and when the mobile terminal moves in a predetermined direction from a certain point, , Calculating the length of a line segment connecting the moving direction from the predetermined direction to another point where the moving direction is changed to another direction based on a change in acceleration of the mobile terminal; In the process of calculating the movement route by causing the computer to execute a process of calculating the movement route of the mobile terminal based on the absolute position detected during the movement to the point and the calculated length of the line segment. Calculating the coordinates of the start point and end point of the line segment based on the detected absolute position, the calculated length of the line segment, and the initial angle in the direction of the given line segment, From the coordinates of the start point and end point, The coordinates of the point on the line segment corresponding to the absolute position are calculated, and each of the absolute position detected during the movement from the certain point to the other point and the line corresponding to each of the absolute position It is a moving route calculation program for calculating a correction parameter for correcting the length of the line segment and the direction of the line segment based on an index related to the distance from the point on the minute.

  The mobile terminal and the travel route calculation program described in this specification have an effect that the travel route can be calculated with high accuracy.

It is a figure which shows schematically the structure of the mobile terminal which concerns on one Embodiment. It is a hardware block diagram of a mobile terminal. It is a functional block diagram of the control part of FIG. It is a flowchart which shows the whole flow of the process performed with a mobile terminal. FIG. 5A is a diagram showing a subroutine of link information acquisition processing in step S12, and FIG. 5B is a diagram showing a link database. FIGS. 6A and 6B are diagrams showing a subroutine of the GPS acquisition process in step S14. FIG. 7A is a diagram illustrating an anchor point acquisition situation when the processes of steps S40 to S48 are performed, and FIG. 7B is an anchor point acquisition situation immediately after the stop command of the GPS application is input. FIG. It is a flowchart which shows the subroutine of step S50 of Fig.6 (a). It is a figure which shows a GPS database. Fig.10 (a)-FIG.10 (c) are figures (the 1) which show the acquisition method of an anchor point. FIG. 11A and FIG. 11B are diagrams (part 2) illustrating an anchor point acquisition method. FIG. 12A and FIG. 12B are views (No. 3) showing an anchor point acquisition method. It is a flowchart which shows the subroutine of step S20. FIG. 6 is a diagram (part 1) illustrating an optimization process. This is a subroutine of step S152. It is a diagram illustrating how to obtain coordinates of the corresponding points P _i. FIG. 17A is a diagram showing two movement paths having a mirror image relationship, and FIG. 17B is a diagram for explaining an example in which a true movement path is selected by matching with a map. FIG. 18A is a diagram for explaining step S162 in FIG. 13, and FIG. 18B is a diagram for explaining step S22 in FIG. FIG. 19A and FIG. 19B are diagrams for explaining map matching. FIG. 20A to FIG. 20F are diagrams for explaining a method for setting the coefficient k according to the modification. It is a figure which shows the optimization process which concerns on a modification.

  Hereinafter, an embodiment of a mobile terminal will be described in detail with reference to FIGS. FIG. 1 shows a mobile terminal 100 in a block diagram. In the present embodiment, the mobile terminal 100 is a portable terminal such as a mobile phone, a PHS (Personal Handy-phone System), a smartphone, or a PDA (Personal Digital Assistant).

  As shown in FIG. 1, the mobile terminal 100 includes an absolute position detection unit 30, a geomagnetic information detection unit 40, an acceleration information detection unit 50, a display screen 60, an input interface 62, and a control unit 20. . The mobile terminal 100 may have various functions such as a call function, a communication function such as mail and the Internet, and a photographing function. However, in FIG. 1, a configuration for realizing these functions is not illustrated. doing.

  In this embodiment, the absolute position detection unit 30 is a GPS receiver, and receives signals from a plurality of GPS satellites existing in the sky and obtains absolute position (position indicated by latitude and longitude) information. is there.

  The geomagnetic information detector 40 is also called an orientation sensor, and is a geomagnetic sensor capable of detecting geomagnetism on a three-axis coordinate system, that is, a magnetic orientation sensor. The acceleration information detection unit 50 is, for example, a sensor that detects acceleration in three axis directions.

  The display screen 60 displays various types of information under the instruction of the control unit 20. For example, the display screen 60 displays information on the route traveled by the user holding the mobile terminal 100. The input interface 62 includes a keyboard and a touch panel.

  FIG. 2 shows a hardware configuration of the control unit 20. As shown in FIG. 2, the control unit 20 includes a CPU (Central Processing Unit) 90, a ROM (Read Only Memory) 91, a RAM (Random Access Memory) 92, and a storage unit (here, an HDD (Hard Disk Drive)). ) 93, an input / output unit 94, etc., and each component of the control unit 20 is connected via a bus 95. In the control unit 20, the CPU 90 executes the movement route calculation program stored in the RAM 92 or the HDD 93, thereby realizing the functions of the respective processing units shown in FIG. The HDD 94 stores data obtained in the control unit 20 and functions as the information storage unit 23 in FIG. The input / output unit 94 is an input / output port that communicates with the display screen 60 and the input interface 62.

  FIG. 3 is a functional block diagram of the control unit 20 of FIG. As shown in FIG. 3, the control unit 20 is configured such that the CPU 90 executes a movement route calculation program, so that a detection control unit 21 as a control unit, a link information generation unit 22 as an acquisition unit, an information storage unit 23, Functions such as a route calculation unit 24, a display control unit 25, and a timer unit 26 are realized.

  The detection control unit 21 determines the activation timing of the absolute position detection unit 30, that is, the detection timing, based on the information from the link information generation unit 22 and the information from the time measurement unit 26. Then, the detection control unit 21 causes the absolute position detection unit 30 to execute absolute position measurement at the determined detection timing.

  Based on the detection results of the geomagnetic information detection unit 40 and the acceleration information detection unit 50, the link information generation unit 22 moves while the mobile terminal 100 is moving linearly (when the mobile terminal 100 moves in a predetermined direction from a certain point). In addition, line segment information (referred to as “link information”) including distance information from a certain point to a point where the moving direction is changed from the predetermined direction is generated. The link information generation unit 22 starts generating link information when the user holding the mobile terminal 100 starts walking. On the other hand, the link information generation unit 22 ends the generation of the link information when receiving a walk end command input from the user via the input interface 62. Further, the link information generation unit 22 instructs the detection control unit 21 to stop detection by the absolute position detection unit 30 when receiving a command to end the GPS application input from the input interface 62. Put out.

  The information storage unit 23 stores the link information generated by the link information generation unit 22 and the GPS measurement result detected by the absolute position detection unit 30 in a database. The movement route calculation unit 24 calculates a predetermined direction of movement based on the GPS measurement result detected by the absolute position detection unit 30 while the mobile terminal 100 is moving straight ahead, and uses the movement direction and link information. The travel route of the mobile terminal 100 is calculated from the included straight distance. The movement route calculation unit 24 reads link information and GPS measurement results from the information storage unit 23. The detailed contents of the database stored in the information storage unit 23 will be described later.

  The display control unit 25 acquires the movement route acquired by the movement route calculation unit 24 and displays it on the display screen 60. The timer unit 26 includes, for example, a real-time clock, and notifies the detection control unit 21 that a temporary detection timing described later has arrived at a predetermined time interval (for example, every 3 minutes).

  Next, processing in the mobile terminal 100 configured as described above will be described in detail with reference to FIGS. FIG. 4 is a flowchart showing an overall flow of processing executed by the mobile terminal 100.

  In the process of FIG. 4, in step S10, the link information generation unit 22 determines whether or not the acceleration information detection unit 50 has been activated. If the determination in step S10 is affirmed, the process proceeds to step S12 and step S14. Steps S12 and S14 are steps processed in parallel. In step S12, link information acquisition processing is performed, and in step S14, GPS acquisition processing is performed. Hereinafter, the link information acquisition process (step S12) and the GPS acquisition process (step S14) will be specifically described.

(A) Link information acquisition process (step S12)
The subroutine of the link information acquisition process in step S12 is performed according to the flowchart of FIG. Specifically, first, in step S30, the link information generation unit 22 determines whether or not bending has been detected. Here, the bending means that the user holding the mobile terminal 100 changes the traveling direction. For example, the link information generation unit 22 detects that there is a bend when the amount of change in geomagnetism detected by the geomagnetic information detection unit 40 exceeds a predetermined value.

When the determination in step S30 is affirmed, the process proceeds to step S32, and the link information generation unit 22 calculates the distance (link length) moved linearly based on the following equation (1).
Link length = (total number of steps when bending was detected
-The total number of steps when a previous turn was detected) x stride (1)

  Here, the number of steps is a value acquired from a change in acceleration detected by the acceleration information detection unit 50, and the stride is a value set by the user. The user may input height instead of the stride. In this case, the link information generation unit 22 calculates an approximate stride from the input height. In this embodiment, since the link length is calculated from the number of steps and the step length input in advance as described above, the link length may have a value different from the actual walking distance.

  When the process of step S12 ends, the process proceeds to step S16 of FIG. In step S16, the link information generation unit 22 stores the link length calculated based on the above equation (1) as data for calculating the travel route in the information storage unit 23 (FIG. 5B). (See “Link length before correction”). Here, as shown in FIG. 5B, the link database includes “link No.” that is the serial number of the link, “steps at the time of bending” that is the total number of steps of the user when the bending is detected, “Link length before correction” calculated from the number of steps and the stride, and “Link length after correction” indicating the link length after correction of the link length before correction, an angle with reference to a predetermined direction (for example, east) ( "Link angle" which is a counterclockwise angle), "Link start point (x)" which is the coordinate of the link start point, "Link start point (y)", and "Link end point (x)" which is the coordinate of the end point of the link , “Link end point (y)” is included. In the step S16, the items “link angle”, “link start point (x)”, “link start point (y)”, “link end point (x)”, and “link end point (y)” are left blank. It becomes.

  In step S18, the link information generation unit 22 determines whether or not walking is completed. If the determination here is negative, the process returns to step S12. The case where it is determined in step S18 that the walking has ended is, for example, a case where the acceleration information detection unit 50 has not detected the user's walking for a predetermined time, or a case where the user has issued a walking end command from the input interface 62. This is the case when it is entered.

  Note that the line segment information including the link length obtained by the process of step S12 is called a link or link information. The link information includes information on the length between the start point and the end point, but does not include information on the direction (angle with respect to the east) extending from the start point to the end point. Each link has a link No. in the order of acquisition. Is granted.

  In the following, the link on which the terminal is currently moving is referred to as a “current link”. However, the current link information is not acquired by the link information generation unit 22 while the current link is traveling straight, and is generated only when the next turn is detected. In addition, a link generated before the current link, that is, a link generated when the latest bend detection is performed is referred to as “the previous link” (see FIG. 11A, etc.). A link generated before the current link is referred to as “two previous links” (see FIG. 11A, etc.).

(B) GPS acquisition process (step S14)
Next, the subroutine of the GPS acquisition process in step S14 performed in parallel with the above (A) link information acquisition process will be described with reference to the flowcharts of FIGS. 6 (a) and 6 (b). The processing of FIG. 6A and the processing of FIG. 6B are also performed in parallel. The process in FIG. 6A is described as “step S14 (1)” below, and the process in FIG. 6B is described as “step S14 (2)” in the following. And

  In step S14 (1) in FIG. 6A, in step S40, the detection control unit 21 determines whether or not a GPS measurement application (hereinafter referred to as “GPS application”) is activated by the user. . The user inputs a command for starting the GPS application from the input interface 62. If the determination here is affirmed, the detection control unit 21 proceeds to step S42.

  In step S42, under the instruction of the detection control unit 21, the timer unit 26 starts a timer. Next, in step S <b> 44, the detection control unit 21 performs GPS measurement via the absolute position detection unit 30. In the GPS measurement, the absolute position (latitude, longitude) of the mobile terminal 100 is detected. In the following, the GPS measurement (acquisition) performed in parallel with the link information acquisition process in step S12 is also referred to as “anchor point acquisition”. Further, the position information of the anchor point is also simply referred to as “anchor point”.

  In the processing from step S40 to step S44 so far, the anchor point is acquired (position information of the anchor point is acquired) immediately after the GPS application is activated.

  Next, in step S46, the detection control unit 21 determines whether or not the user has walked 30 m. Here, the detection control unit 21 determines whether or not the user has walked for 30 m based on a value calculated from the product of the number of steps detected by the acceleration information detection unit 50 and the step length. However, not limited to this, the detection control unit 21 generally determines whether or not the user has walked for 30 m based on whether or not the time required for the user to walk for 30 m (for example, 23 seconds) has elapsed. It is good to do. The time required for walking 30 meters may be set in advance, or may be automatically set by the detection control unit 21 based on data relating to the number of steps acquired in the past. If the determination in step S46 is affirmative, the process proceeds to step S48.

In step S48, the detection control unit 21 acquires an anchor point again. In the present embodiment, after the processing of steps S40 to S48 as described above, as shown in FIG. 7A, after starting walking from the position (starting point) where the GPS application is activated, two anchors are used. Points will be acquired. In FIG. 7A, the anchor point is indicated by “G _n ”, and the position (point) on the link when the anchor point is acquired is indicated by “P _n ”. Here, in Fig.7 (a), the position which walked 30 m from the starting point, and the position on a link when an anchor point is acquired differ. The difference in position is caused by a slight delay in the absolute position detection unit 30 between the activation and detection of the anchor point. Note that, as described above, the detection control unit 21 acquires two anchor points after starting walking from the start point, and acquires which direction the person is walking toward at the beginning of walking. This is because it is possible to improve the calculation accuracy of the movement route performed later.

  Thereafter, the detection control unit 21 proceeds to the normal process of step S50. The process of step S50 will be described later.

In step S14 (2) of FIG. 6B performed in parallel with the processing of FIG. 6A, the detection control unit 21 waits until the GPS application is stopped by the user in step S60. When the user inputs a GPS application stop command via the input interface 62, the determination in step S60 is affirmed, and the process proceeds to step S62. In step S62, the detection control unit 21 acquires an anchor point, and then proceeds to step S16 in FIG. In step S62, as shown in FIG. 7B, the anchor point G _final is acquired immediately after the stop command of the GPS application is input.

  Next, the “normal processing” subroutine in step S50 of FIG. 6A will be described in detail with reference to FIG. At the same time as the processing shown in FIG.

  In FIG. 8, first, in step S <b> 70, the detection control unit 21 refers to the timer of the time measuring unit 26 and determines whether or not a predetermined time has elapsed. If the determination here is affirmed, the process proceeds to step S72. If the determination is negative, the process proceeds to step S80. The predetermined time means an interval at which GPS measurement is intermittently performed, and is a predetermined time (for example, 3 minutes). Note that the timing at which the predetermined time elapses can be said to be provisional detection timing for detecting the absolute position. The provisional detection timing refers to a timing at which a true detection timing is reached when the determination is negative in step S74.

  When the determination in step S70 is affirmed and the process proceeds to step S72, the detection control unit 21 performs a search to determine whether GPS measurement (anchor point acquisition) has already been performed on the current link. In step S <b> 72, the detection control unit 21 searches a GPS database as shown in FIG. 9 stored in the information storage unit 23. As shown in FIG. 9, the GPS database includes a “link No.” that is a serial number of the link that was being acquired when the anchor point was measured, a “latitude” that indicates a GPS positioning result, a “longitude”, It has items of “number of steps at the time of GPS acquisition” and “flag” indicating the number of steps the user has walked from the start of walking until GPS acquisition. In FIG. 9, for example, when the link serial number is “10” or “9”, it indicates that GPS measurement has been performed. However, when the link serial number is “8” or “7”, Link No. Since “8” and “7” do not exist in the item, it indicates that GPS measurement is not performed.

  In the next step S74, the detection control unit 21 determines whether GPS measurement has already been performed on the current link based on the search result in step S72. When determination here is denied, it transfers to step S78 and the detection control part 21 acquires an anchor point using the absolute position detection part 30. FIG. Thereafter, in step S96, the detection control unit 21 resets the timer of the time measuring unit 26 and returns to step S70.

That is, as shown in FIG. 10A, when an anchor point has not yet been acquired in the current link, the detection control unit 21 activates the absolute position detection unit 30 after a predetermined time elapses, and the position P Get an anchor point at _i . In other words, an anchor point is not acquired more than once in one link. In this way, even if the anchor point is acquired twice or more in one link, it does not contribute much to the calculation accuracy of the movement route, while the number of detection times of the absolute position detection unit 30 is reduced. This is because power consumption can be reduced.

  On the other hand, if the determination in step S74 is affirmative, that is, as shown in FIG. 10B, if the GPS has already been acquired with the current link, the process proceeds to step S76. In this step S76, the detection control unit 21 sets a flag, that is, sets 1 in the “flag” item of the GPS database in FIG. Thereafter, the detection control unit 21 proceeds to step S80.

  In step S80, the detection control unit 21 determines whether or not bending is detected. If the determination is negative, the process returns to step S70. If the determination is positive, the process proceeds to step S82.

  In step S82, the detection control unit 21 searches for the past two links. In this search, as in step S72, the detection control unit 21 searches the database in FIG. That is, for example, if the serial number of the currently acquired link is “10”, the detection control unit 21 searches for links with serial numbers “9” and “8”.

  Next, in step S84, the detection control unit 21 determines whether or not a flag is set on the past one link (the previous link). If the determination here is affirmative, that is, if the flag “1” is set for the previous link, the process proceeds to step S94. When the process proceeds to step S94, the detection control unit 21 acquires an anchor point using the absolute position detection unit 30 as described above. And the detection control part 21 resets the timer of the time measuring part 26 in step S96, and returns to step S70. That is, as shown in FIG. 10C, when a bend is detected after the flag is set, an anchor point is acquired immediately after the bend is detected. Thus, acquiring an anchor point immediately after a bend is detected avoids acquiring an absolute position more than once on the same link as described above, while the absolute position is too long. This is because the calculation accuracy of the movement route may be reduced if the acquisition of the above is not performed.

  On the other hand, if the determination in step S84 is negative, in step S86, the detection control unit 21 determines whether GPS has been acquired two links before, that is, two links before. When judgment here is affirmed, it returns to step S70. That is, if GPS was acquired two links before, regardless of whether GPS was acquired in the previous link, as shown in FIGS. 11 (a) and 11 (b), The anchor point is not acquired after the current bend detection. This is because there is no hindrance in determining the link angle even if the anchor point is not acquired by a continuous link as shown in FIG. In addition, even if the anchor point is not acquired for the two links, if the anchor point can be acquired for the next link, there is no problem in determining the link angle. Furthermore, by not acquiring the anchor point, the number of detections by the absolute position detection unit 30 can be reduced, thereby reducing the power consumption.

  On the other hand, if the determination in step S86 is negative, the process proceeds to step S88, and the detection control unit 21 determines whether the GPS, that is, the anchor point has been acquired in the previous link, that is, the previous link. Judging.

When the determination here is affirmed, the process proceeds to step S94, and the detection control unit 21 acquires an anchor point using the absolute position detection unit 30. And the detection control part 21 resets the timer of the time measuring part 26 in step S96, and returns to step S70. That is, as shown in FIG. 12A, when the anchor point is not acquired two links before and the anchor point is acquired one link before, the anchor point is acquired. The anchor point is acquired at this timing unless the anchor point is acquired in P _i of FIG. 12A. If the anchor point is not acquired, the movement path calculation is hindered (part of the movement path is reversed (symmetrical). This is because there is a risk of

  On the other hand, if the determination in step S88 is negative, the process proceeds to step S90. In step S90, the detection control unit 21 acquires an anchor point using the absolute position detection unit 30, and then waits until it is determined in step S92 that the user has walked 30 m. And in step S92, when the detection control part 21 judges that the user walked 30m, it transfers to step S94. In step S94, the detection control unit 21 uses the absolute position detection unit 30 to acquire an anchor point again. That is, in this case, as shown in FIG. 12B, two anchor points are acquired with an interval of 30 m after the detection of the bending. The measurement of the anchor point twice in this way is because the direction of the current link is almost determined by the two measurements, so the direction of the previous two links is roughly determined without inversion. Because it can. Thereafter, the detection control unit 21 resets the timer of the time measuring unit 26 in step S96, and returns to step S70.

  By repeating the above processing, anchor points are acquired intermittently. Note that the iterative process in FIG. 8 is forcibly terminated when the determination in step S60 in FIG. 6B is affirmed.

  Returning to FIG. 4, in step S <b> 16 performed after step S <b> 14, the detection control unit 21 stores anchor point information (GPS measurement result) in the GPS database of the information storage unit 23 as data for moving route calculation. . And if it transfers to step S18, the detection control part 21 will judge whether it is a walk end. If the determination here is affirmed, the detection control unit 21 proceeds to step S20. Hereinafter, the specific processing content of step S20 is demonstrated based on the flowchart of FIG. 13, FIG.

(C) Link angle / correction parameter calculation processing (step S20)
FIG. 13 is a flowchart showing the overall flow of the processing in step S20, and FIG. 15 is a flowchart specifically showing the processing content of step S152 in FIG. In this step S20, the error of the movement path caused by the fact that the link length is not accurate due to an error in the registered stride value or a variation in the actual stride. This is a process for suppressing the occurrence. In addition, this step S20 is a process for suppressing the calculation of a movement path (mirror image relation) different from the actual movement path by intermittently acquiring anchor points.

In the process of FIG. 13, first, in step S140, the movement route calculation unit 24 sets the first link for performing the optimization process as the link (i). Here, the optimization process is performed using three consecutive links (here, anchor points are acquired in each case) and anchor points corresponding to each link as shown in FIG. Of these, the optimum value of the link angle (t ₁ ) acquired in the past and the optimum value of the link length correction parameter r ₁ are calculated. Here, it is assumed that i = 1.

  In the next step S142, the movement route calculation unit 24 sets the value of the parameter j indicating the link number used in the optimization process to be the same as i, and sets the value of the parameter C indicating the number of acquired links to 0. . That is, here, the movement route calculation unit 24 sets j = 1 and C = 0.

  Next, in step S144, the movement route calculation unit 24 acquires the link (j). That is, link (j) is a link used for optimization processing. Next, in step S146, C is incremented by 1 (C ← C + 1, here C ← 1), and then the process proceeds to step S148. Next, in step S148, the movement route calculation unit 24 determines whether or not C = N. The value N in this case is the number of links that have been acquired anchor points, that is, links that are associated with anchor points, to be used for optimization. Here, it is assumed that N = 3. If the determination in step S148 is negative, the process proceeds to step S150, and the movement route calculation unit 24 increments j by 1 (j ← j + 1, here j ← 2). Thereafter, the process returns to step S144, and the movement route calculation unit 24 repeats the processing determinations of steps S144 to S150 until N (in this case, three) links are acquired.

  Then, when the determination in step S148 is affirmed, the process proceeds to step S152.

  Thus, at the stage of moving to step S152, links (1) to (3) shown in FIG. 14 are acquired as links used for optimizing link (i) (here, link (1)). It will be done.

In the next step S152, an optimization processing subroutine is executed. Specifically, the process of FIG. 15 is executed. In the process of FIG. 15, first, in step S160, the movement route calculation unit 24 determines the initial angle of each link. In this step S160, for example, initial values of N (here, 3) angles t ₁ , t ₂ , t ₃ are set at random. However, the present invention is not limited to this, and the initial value of t ₁ may be set in increments of 90 °, such as 0 °, the initial value of t ₂ may be 90 °, and the initial value of t ₃ may be 180 °. Alternatively, the initial value of t ₁ may be set in increments of 45 °, such as 0 °, the initial value of t ₂ may be 45 °, and the initial value of t ₃ may be 90 °. Alternatively, other angular increments may be set.

Next, in step S162, the movement route calculation unit 24 calculates the corresponding point coordinates Pj. Here, the corresponding point coordinate Pj means one point (positional coordinate) on the link where the mobile terminal 100 was located when the anchor point was acquired. Here, as shown in FIG. 16, if the start point of the j-th link is Cj-1, the end point is Cj, the length (link length) is lj, and the coordinates of the start point C0 in FIG. 14 are (x0, y0). C1 to C3 in FIG. 14 can be expressed by the following equations (2) to (4).
C1 = C0 + r1 × l1 × (cos (t1), s i n (t1)) ... (2)
C2 = C1 + r2 × l2 × (cos (t2), s i n (t2)) ... (3)
C3 = C2 + r3 × l3 × (cos (t3), s i n (t3)) ... (4)

Note that r _j in the above equations (2) to (4) is a correction parameter that is a variable for correcting the link length (or the set stride). Note that the range of the parameter r _j is set in advance. For example, the range of r _j is 3/4 ≦ r _j ≦ 5/4. However, it is assumed that the range can be adjusted by the user via the input interface 62. Thereby, the user can adjust the range of r _j so that the movement route (route) displayed on the display screen 60 becomes a more correct route.

Further, if the ratio of the time from the start point C _j-1 to the acquisition of the anchor point with respect to the time between the start point C _j-1 and the end point C _j is m _j (see FIG. 16), the corresponding point The coordinate P _j can be expressed by the following equation (5).
P _j = C _j−1 + m _j × (C _j −C _j−1 ) (5)

Next, in step S164, the movement route calculation unit 24 calculates the sum of squares of the distance between the GPS coordinate (anchor point) G _j and the corresponding point coordinate P _j . Specifically, it is calculated by the following equation (6).

ここで、距離の２乗和を算出するのは、点Ｇ_jと点Ｐ_jとの間に、各点を結ぶバネ（バネ定数ｋは一定であるものとする）が存在していると想定して、各バネが最も安定する状態、すなわち、エネルギが最小となる状態が最適な状態であると推定する理論（Kamada,Kawaiのモデル）に基づく。

Here, the calculation of the sum of squares of the distance is based on the assumption that a spring connecting each point (assuming that the spring constant k is constant) exists between the point G _j and the point P _j. Thus, it is based on the theory (Kamada and Kawai model) that estimates that the state in which each spring is most stable, that is, the state in which the energy is minimum is the optimum state.

Then, in step S166, the movement route calculating unit 24, the angle t _1, t _2, t _3, and while changing the value of the correction parameter r _1, r _2, r _3, calculating the sum of squares of distances Then, t ₁ , t ₂ , t ₃ , r ₁ , r ₂ , r ₃ that minimize the sum of squares of the distances are calculated. Then, the values of t ₁ and r ₁ are calculated as the angle of the link (1) and the correction parameter of the link (1). In FIG. 14, only the link (1) in which the angle and the correction parameter are optimized in step S166 is indicated by a solid line. Thereafter, the process proceeds to step S154 in FIG.

Thereafter, when the process proceeds to step S154 in FIG. 13, the movement route calculation unit 24 determines whether or not a link exists after the link (i + 2). If the determination here is negative, the process proceeds to step S156, and link (i), link (i + 1), and link (i + 2) are determined. That is, the link angles t _i , t _{i + 1} , t _{i + 2} and the correction parameters r _i , r _{i + 1} , r _{i + 2} of the link (i), link (i + 1), link (i + 2) are determined. . On the other hand, if the determination in step S154 is affirmed, the process proceeds to step S158.

  In step S158, the movement route calculation unit 24 determines whether or not the number of anchor points acquired after the link (i) is arranged in the order of 1, 0, and 1. When the determination here is affirmed, the process proceeds to step S160, and the movement path calculation unit 24 verifies the mirror image link. Specifically, when the number of anchor points acquired after the link (i) is arranged in the order of 1, 0, 1 as shown in FIG. 17A, the movement route indicated by a solid line, A movement path indicated by a broken line having a mirror image (line symmetry) relationship is obtained. Therefore, the travel route calculation unit 24 needs to select a true travel route from these two travel routes. As the selection method, for example, a method of selecting a movement route having an angle between the link (i) and the link (i-1) close to 90 ° as a true movement route can be employed. This is based on road information that the turning angle of the road is generally bent at an angle close to 90 °, and the angle between the link (i) and the link (i-1) is 90 °. This is because there is a high possibility that the route closer to is a correct movement route.

  When link (i) is link (1), link (i-1) does not exist. In such a case, the movement route calculation unit 24 may select a movement route whose link (i + 2) and link (i + 3) are closer to 90 ° as a true movement route. However, the present invention is not limited to this, and even if the link (i) is not the link (1), the movement route with the angle between the link (i + 2) and the link (i + 3) close to 90 ° is selected as the true movement route. It is good as well.

  Note that the method of selecting the true movement route is not limited to the above method. For example, as shown in FIG. 17B, two travel routes are matched with a map (map around the position of the mobile terminal 100) as road information, and the degree of coincidence with the map (road) is high (or road It is good also as making a true movement path | route the one where a deviation degree is low. In FIG. 17B, the movement route indicated by the broken line in FIG. 17A is selected as the true movement route. In addition, it is good also as employ | adopting not only these methods but the method of selecting a true movement path | route from two movement paths in mirror image relation based on the information of a road.

Returning to FIG. 13, after the process of step S160 is performed as described above, the process proceeds to step S162, and the movement route calculation unit 24 determines the link (i) (here, the link (1)). . When the angle t ₁ is determined, registration in the “link angle” item in the database of FIG. 5B becomes possible. When the correction parameter r ₁ is determined, registration to the “corrected link length” in FIG. 5B is possible. Further, by determining t ₁ and r ₁ , registration to the items of the link start point (x), (y) and the link end point (x), (y) is also possible.

On the other hand, if the determination in step S158 is negative, the process proceeds to step S162 without passing through step S160, and the link (i) is determined. Thereafter, the process proceeds to step S164, i is incremented by 1 (i ← i + 1), and then the process returns to step S142. Then, the processes and determinations in steps S142 to S164 are repeated until the angles for all links are determined (links are determined). When the process of FIG. 13 is performed for the second time, the angle t ₂ of the link (2) is calculated using the links (2), (3), and (4) as shown in FIG. Will do. In this case, as the initial values of the link angles t ₂ , t ₃ , and t ₄ , the values of t ₂ and t ₃ calculated in the previous optimization process (process that optimized the angle t ₁ ) are used as initial values. It may be used as a value. Note that the angle at which a new initial value is set (angle t _{4 in} FIG. 18A) may be set randomly or so that the difference from angle t ₃ is 90 ° or 45 °. . When all the processes in FIG. 13 are completed as described above, the process proceeds to step S22 in FIG. Thus, at the stage of shifting to step S22, the values of the angles t ₁ , t ₂ , t ₃ , t ₄ ... And the correction parameters r ₁ , r ₂ , r ₃ , r ₄ . It will be in an optimized state.

Returning to FIG. 4, in step S <b> 22, the movement route calculation unit 24 calculates a movement route. Specifically, the movement route calculation unit 24 uses the angles t ₁ , t ₂ , t ₃ , t ₄ ... And the correction parameters r ₁ , r ₂ , r ₃ , r ₄ . Is obtained as a movement route. Next, in step S24, the movement route calculation unit 24 performs map matching processing. For example, when the travel route as shown in FIG. 19A is calculated in step S22, the travel route calculation unit 24 calculates the calculated travel route and the map data stored in the information storage unit 23. Map matching. Then, the movement route calculation unit 24 generates a movement route on the map data as indicated by a bold line in FIG.

  Next, in step S <b> 26 of FIG. 4, the display control unit 25 outputs the movement route generated in step S <b> 24 on the display screen 60.

  By doing so, the route on which the user walks is displayed on the display screen 60.

As described above in detail, the result of the absolute position detection unit 30 detecting the absolute position of the mobile terminal 100 and the link information generation unit 22 acquired when the mobile terminal 100 moves in a predetermined direction from a certain point. The movement route calculation unit 24 calculates the movement route based on the link information connecting the point from the certain point to the point where the movement direction is changed from the predetermined direction. In this case, the movement path calculation unit 24 corrects the link length indicated by the link information (r ₁ , r ₂ , r ₃ ,...) And the link direction ((angles t ₁ , t _2). , T ₃ ,...)) Are calculated based on the distance between the absolute position and the point on the link to which the mobile terminal 100 has moved when the absolute position is detected. That is, since the link length correction parameter and angle are determined to be appropriate values from the distance between the absolute position and the link on which the mobile terminal 100 has moved, even if the link length includes an error. The movement route calculation unit 24 can calculate the movement route using the length and direction of the link corrected by the correction parameter. Thereby, even if the absolute position is acquired intermittently, the calculation accuracy of the movement route can be maintained with high accuracy. That is, according to the present embodiment, it is possible to reduce power consumption by intermittently acquiring the absolute position while maintaining high calculation accuracy of the movement route.

  Here, from the viewpoint of power saving, Japanese Patent Laid-Open No. 2009-92506 discloses positioning by GPS at the beginning of navigation and the next positioning timing based on the distance or route from the current position to the destination. A method of calculating the number of steps up to and then performing GPS positioning at the stage of walking the calculated number of steps and calculating the number of steps until the next positioning timing is disclosed. However, with this method, the number of GPS measurements cannot be reduced unless a route is predetermined. On the other hand, in this embodiment, since it is not necessary to determine a route in advance, it is particularly useful when a movement route is calculated without setting a route.

In the present embodiment, the movement route calculation unit 24 also detects the absolute position detected by the absolute position detection unit 30 and the point (position) on the line segment where the mobile terminal 100 was located when this absolute position was detected. Are calculated at a plurality of absolute positions, and a correction parameter (r ₁ , r ₂ , r ₃ ,...) And a link direction (angles t ₁ , t ₂ , t ₃ ,. ...) Is calculated, it is possible to maintain high calculation accuracy of the movement route by an appropriate calculation.

  In this embodiment, when the absolute position corresponding to link (i) is one, the absolute position corresponding to link (i + 1) is 0, and the absolute position corresponding to link (i + 2) is one. The movement route calculation unit 24 calculates two line-symmetric movement routes from the link (i) to the link (i + 2), and performs true movement on one of the two movement routes based on the road information. Select as a route. For this reason, even in a situation in which two movement paths having a mirror image relationship are calculated, the movement path calculation unit 24 selects an appropriate movement path based on road information, thereby selecting an appropriate movement path. Can be calculated. In the present embodiment, the moving path in which the angle formed by the link (i-1) and the link (i) is close to 90 °, or the angle formed by the link (i + 2) and the link (i + 3) is 90 °. The movement path closer to the point is selected as the true movement path. For this reason, when there is information that the turn angle is often close to 90 ° as road information, a correct travel route (a travel route that matches the actual travel route) is highly probable as a true travel route. You can choose. In addition, when the travel route calculation unit 24 selects, as a true travel route, one of the two travel routes that has a higher degree of matching with the road map, a high probability is obtained by using the road map as the road information. The true movement route can be selected with.

In the above embodiment, the case where the sum of squares of the distance between G _j and P _j is calculated using the above equation (6) and the optimum value of the link angle is obtained from the minimum value has been described. However it is not limited thereto, Kamada, using Kawai model itself, the angle of each link, such as the energy of the virtual spring is minimized between the G _i and P _i, obtaining the optimum value It is also good. In this case, the following equation (7) may be minimized.

In the above equation (7), the coefficient (1/2) of the energy equation is omitted. Further, the value of k _j may be determined using a method as shown in FIGS. 20 (a) to 20 (f). For example, as shown in FIGS. 20A and 20B, when the reliability of detection by the absolute position detection unit 30 when the anchor point is acquired is low, that is, the number of GPS satellites that can communicate. When there is little, k is made small. On the other hand, if the reliability is high, that is, if the number of GPS satellites that can be communicated is large, k is increased. In FIGS. 20A to 20F, the smaller the circle, the larger k.

  For example, as shown in FIG. 20C, when the distance between the anchor points is short, if k is small, the angle indicating the error of the straight line passing through the two anchor points is large as shown by the broken line. (Angle a). Therefore, as shown in FIG. 20C, the circle is made smaller, that is, k is made larger in order to reduce the angle (angle b). On the other hand, as shown in FIG. 20 (d), when the distance between the anchor points is long, the circle is increased, that is, k is decreased. For example, as shown in FIG. 20 (e), when the distance from the start point to the anchor point is short, k is increased as in the case of FIG. 20 (c). On the other hand, as shown in FIG. 20 (f), when the distance from the start point to the anchor point is long, k is reduced as in the case of FIG. 20 (d).

  By doing in this way, it is possible to calculate an appropriate movement path in consideration of reliability, distance between anchor points, and the like.

  In the above-described embodiment and the above-described modification, the case where the movement route is calculated using the anchor point and the sum of squares of the distance corresponding to the anchor point has been described. However, the present invention is not limited to this. For example, as shown in FIG. 21, the sum of squares of the distance between the anchor point G and the link (i), that is, the distance between the anchor point G and one of the links closest to the anchor point G is the minimum value. Such a link angle may be set to an optimum value.

  In the above embodiment, the case where the position in the GPS database is represented by latitude and longitude has been described. However, the latitude and longitude may be represented by other values (for example, a distance with the starting point as the origin). In this case, the positive direction of the x coordinate can be the east direction, and the positive direction of the y coordinate can be the north direction.

  In the above embodiment, the case where the movement route is calculated in the mobile terminal 100 has been described. However, the present invention is not limited to this. For example, in the mobile terminal 100, the detection results of the absolute position detection unit 30, the geomagnetic information detection unit 40, and the acceleration information detection unit 50 may be transmitted to an external server or the like. By giving the server the same function as that of the control unit 20 in FIG. 3, it is possible to calculate a movement route and a movement route in the server. In addition, the server may transmit the calculated travel route or travel route to the mobile terminal 100.

  In the above-described embodiment, a case where a GPS sensor is used as the absolute position detection unit 30 has been described. However, the present invention is not limited to this, and other devices may be used. As the absolute position detecting means, for example, an RFID system can be adopted. Moreover, in the said embodiment, it may replace with a geomagnetic sensor as the geomagnetic information detection part 40, and it is good also as using another direction sensor, for example, a gyro sensor.

  Note that the processing function of the control unit 20 in the present embodiment can be realized by a computer. In that case, a program describing the processing contents of the functions that the control unit 20 should have is provided. By executing the program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium.

  When the program is distributed, for example, it is sold in the form of a portable recording medium such as a DVD (Digital Versatile Disc) or a CD-ROM (Compact Disc Read Only Memory) on which the program is recorded. It is also possible to store the program in a storage device of a server computer and transfer the program from the server computer to another computer via a network.

  The computer that executes the program stores, for example, the program recorded on the portable recording medium or the program transferred from the server computer in its own storage device. Then, the computer reads the program from its own storage device and executes processing according to the program. The computer can also read the program directly from the portable recording medium and execute processing according to the program. Further, each time the program is transferred from the server computer, the computer can sequentially execute processing according to the received program.

  The above-described embodiment is an example of a preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention.

In addition, the following additional notes are disclosed regarding the above description.
(Supplementary note 1) When the mobile terminal moves in a predetermined direction from a certain point and the absolute position detection unit for detecting the absolute position of the mobile terminal, the moving direction is changed from the predetermined direction to another direction from the certain point. A travel route for calculating the travel route of the mobile terminal based on the acquisition unit that acquires the line segment information connecting to the point to be performed, the detected absolute position, and the acquired line segment information A calculation unit, and the movement path calculation unit includes a correction parameter for correcting a length of the line segment indicated by the acquired line segment information and a direction of the line segment indicated by the line segment information. A mobile terminal that is calculated based on a distance between the absolute position and a position on the line segment of the mobile terminal when the absolute position is detected.
(Supplementary Note 2) The movement path calculation unit calculates a distance between the absolute position detected by the absolute position detection unit and a point on the line segment where the mobile terminal was located when the absolute position was detected. The mobile terminal according to supplementary note 1, wherein the mobile terminal calculates at a plurality of absolute positions, and calculates a correction parameter and a line segment direction that minimize the sum of squares thereof.
(Supplementary Note 3) The movement path calculation unit is closest to the absolute position on the absolute position detected by the absolute position detection unit and a line segment on which the mobile terminal has moved when the absolute position is detected. The mobile terminal according to appendix 1, wherein distances to the points are calculated at a plurality of absolute positions, and a correction parameter that minimizes the sum of squares and a direction of the line segment are calculated.
(Supplementary Note 4) The absolute position corresponding to the i-th (i is a natural number) line segment acquired by the acquisition unit is one, the absolute position corresponding to the (i + 1) -th line segment is 0, and the (i + 2) -th line If there is one absolute position corresponding to the acquired line segment, the movement path calculation unit performs two line-symmetric movements from the i-th, (i + 1) -th, and (i + 2) -th line segments. The mobile terminal according to any one of appendices 1 to 3, wherein a route is calculated and one of the two travel routes is selected as a true travel route.
(Additional remark 5) The said movement path | route calculation part is the movement path | route whose angle formed by (i-1) th line segment and i-th line segment is near 90 degrees among the said two movement paths, or The mobile terminal according to supplementary note 4, wherein a moving path whose angle formed by the (i + 2) th line segment and the (i + 3) th line segment is closer to 90 ° is selected as the true moving path. .
(Supplementary Note 6) The road information is a road map in the vicinity where the mobile terminal moves, and the movement route calculation unit calculates the one of the two movement routes that has a higher degree of match with the road map, The mobile terminal according to appendix 4, wherein the mobile terminal is selected as the true travel route.
(Appendix 7) An absolute position detection unit that detects an absolute position of a mobile terminal, and when the mobile terminal moves from a certain point to a predetermined direction, from the certain point to a point where the moving direction is changed from the predetermined direction. The movement path of the mobile terminal is calculated based on the acquisition unit that acquires line segment information that connects them, the absolute position detected by the absolute position detection unit, and the line segment information acquired by the acquisition unit A moving path calculation unit that has one absolute position corresponding to the i-th (i is a natural number) line segment acquired by the acquisition unit, and an absolute position corresponding to the (i + 1) -th line segment acquired. If the absolute position corresponding to the 0th, (i + 2) th line segment is one, the movement path calculation unit starts from the ith, (i + 1) th, (i + 2) th line segment. Calculate two line-symmetric travel routes and A mobile terminal, wherein one of the two travel routes is selected as a true travel route based on the information.
(Additional remark 8) The said movement path | route calculation part is a movement path | route whose angle formed by (i-1) th line segment and i-th line segment is near 90 degrees among the said two movement paths, or The mobile terminal according to appendix 7, wherein a moving path whose angle formed by the (i + 2) th line segment and the (i + 3) th line segment is closer to 90 ° is selected as the true moving path. .
(Supplementary note 9) The road information is a road map of the vicinity where the mobile terminal moves, and the movement route calculation unit calculates the one of the two movement routes that has a higher degree of match with the road map, The mobile terminal according to appendix 7, wherein the mobile terminal is selected as the true travel route.
(Additional remark 10) When the detection result of the absolute position detection part which detects the absolute position of a mobile terminal is acquired and the said mobile terminal moves to a predetermined direction from a certain point, a moving direction is changed from this predetermined direction from this certain point. The line segment information connecting to the point to be changed in another direction is acquired, and the movement route of the mobile terminal is calculated based on the detected absolute position and the acquired line segment information. In the process of causing the computer to execute the process and calculating the movement path, the correction parameter for correcting the length of the line segment indicated by the acquired line segment information and the direction of the line segment indicated by the line segment information Is calculated based on the distance between the absolute position and the position on the line segment of the mobile terminal when the absolute position is detected.
(Supplementary Note 11) In the process of calculating the movement route, the computer detects the absolute position detected by the absolute position detection unit and a line segment where the mobile terminal is located when the absolute position is detected. The moving path calculation program according to appendix 10, wherein distances between the points are calculated at a plurality of absolute positions, and a correction parameter and a line segment direction that minimize the sum of squares thereof are calculated.
(Additional remark 12) In the process which calculates the said movement path | route, the said absolute position which the said absolute position detection part detected in the said computer, and the line segment which the said mobile terminal moved when the said absolute position was detected The travel route according to appendix 10, wherein distances between the absolute position and the closest point are calculated at a plurality of absolute positions, and a correction parameter that minimizes the sum of squares and a direction of the line segment are calculated. Calculation program.
(Supplementary Note 13) In the acquisition process, the absolute position corresponding to the i-th (i is a natural number) acquired line segment is one, the absolute position corresponding to the (i + 1) -th acquired line segment is 0, (i + 2 ) If there is one absolute position corresponding to the acquired line segment, the computer calculates the i-th, (i + 1) -th, (i + 2) -th in the process of calculating the movement route. The movement path calculation according to any one of appendices 10 to 12, wherein two line-symmetric movement paths are calculated from the line segment, and one of the two movement paths is selected as a true movement path. program.
(Supplementary Note 14) In the process of calculating the travel route, the computer makes the computer make an angle between the (i-1) th line segment and the i-th line segment closer to 90 ° out of the two travel routes. Or a movement path whose angle formed by the (i + 2) th line segment and the (i + 3) th line segment is close to 90 ° is selected as the true movement path. 13. A travel route calculation program according to 13.
(Supplementary Note 15) The road information is a road map of the vicinity where the mobile terminal moves, and in the process of calculating the movement route, the computer matches the road map of the two movement routes. The travel route calculation program according to appendix 13, wherein a higher degree is selected as the true travel route.
(Additional remark 16) When the detection result of the absolute position detection part which detects the absolute position of a mobile terminal is acquired and the said mobile terminal moves to a predetermined direction from a certain point, a moving direction changes from this certain point from this predetermined direction To obtain line segment information connecting to a point to be detected, and calculate a movement route of the mobile terminal based on the detection result of the absolute position detection unit and the line segment information, and cause the computer to execute a process. The absolute position corresponding to the i-th (i is a natural number) acquired line segment in the process of acquiring the line segment information is one, the absolute position corresponding to the (i + 1) -th acquired line segment is 0, (i + 2 ) If there is one absolute position corresponding to the first acquired line segment, in the process of calculating the movement route, two from the i-th, (i + 1) -th, and (i + 2) -th line segments are calculated. Calculate a line-symmetric movement route A travel route calculation program that selects one of the two travel routes as a true travel route based on information.
(Supplementary Note 17) In the process of calculating the travel route, the computer makes the computer make the angle between the (i-1) th segment and the i-th segment closer to 90 ° out of the two travel routes. Or a movement path whose angle formed by the (i + 2) th line segment and the (i + 3) th line segment is close to 90 ° is selected as the true movement path. 16. A travel route calculation program according to 16.
(Supplementary Note 18) The road information is a road map in the vicinity where the mobile terminal moves. In the process of calculating the movement route, the computer matches the road map of the two movement routes. The travel route calculation program according to appendix 16, wherein a higher degree is selected as the true travel route.

22 Link information generation unit (acquisition unit)
24 travel route calculation unit 30 absolute position detection unit 100 mobile terminal

Claims (8)

An absolute position detector for detecting the absolute position of the mobile terminal;
An acceleration detector for detecting an acceleration of the mobile terminal;
Wherein when moving from the point where there is a mobile terminal in a predetermined direction, from a point in said, the length of a line connecting to the other point where the moving direction is changed to a different direction from the predetermined direction, detecting A line segment length calculation unit for calculating based on the change in the acceleration ,
A movement route calculation unit for calculating a movement route of the mobile terminal based on the absolute position detected during movement from the certain point to the other point and the calculated length of the line segment ;
With
The travel route calculation unit
Based on the detected absolute position, the calculated length of the line segment, and the initial angle in the direction of the given line segment, the coordinates of the start point and end point of the line segment are calculated,
From the coordinates of the start point and end point of the line segment, calculate the coordinates of the point on the line segment corresponding to the absolute position,
Based on the indicator of the distance between a point on the line segment and each of the absolute position where the certain point is detected during the movement to the other points, corresponding to each of said absolute position, long before the SL line mobile terminal, which comprises de San the direction of the correction parameter and the previous SL line to correct is. The moving path calculation section calculated out and each of the absolute position detected in the movement to the other point from the one point, the respective distances between the points on the line segments corresponding to each of the absolute position the mobile terminal according to claim 1, characterized in that to calculate the direction of the line segment and the correction parameter to minimize these square sum. The movement path calculation unit is a coordinate of a point on the line segment corresponding to the absolute position on the line segment based on the detected absolute position and a movement distance calculated from the detected change in acceleration. The mobile terminal according to claim 1 or 2, wherein the coordinates of a point or the coordinates of a point closest to the absolute position on the line segment are calculated. The segment length calculating section i-th (i is a natural number) one is the absolute position corresponding to the line segment was calculated length, the absolute position corresponding to the line segment was calculated length (i + 1) -th but 0, if the absolute position was one, a corresponding to the line segment was calculated (i + 2) -th length
The travel route calculation unit
Two line-symmetric movement paths are calculated from the i-th, (i + 1) -th, and (i + 2) -th line segments, and one of the two line-symmetric movement paths is selected as a true movement path. The mobile terminal as described in any one of Claims 1-3 characterized by these. The movement path calculation unit is a movement path whose angle formed by the (i-1) th line segment and the i-th line segment is closer to 90 ° of the two line-symmetric movement paths, or ( 5. The mobile terminal according to claim 4, wherein a moving path whose angle formed by an i + 2) th line segment and an (i + 3) th line segment is close to 90 ° is selected as the true moving path. . Before SL movement route computation unit, the i-th, (i + 1) th, (i + 2) -th calculating two axially symmetrical movement route from the line segment, based on the information of the road, the two axially symmetrical movement path The mobile terminal according to claim 4, wherein one of the mobile terminals is selected as a true travel route. Get the detection result of the absolute position detector that detects the absolute position of the mobile terminal,
Wherein when moving from the point where there is a mobile terminal in a predetermined direction, from a point in said, the length of a line connecting to the other point where the moving direction is changed to a different direction from the predetermined direction, wherein Calculated based on the acceleration of the mobile device ,
Based on the absolute position detected during the movement from the certain point to the other point and the calculated length of the line segment, the moving route of the mobile terminal is calculated.
In the process of calculating the travel route,
Based on the detected absolute position, the calculated length of the line segment, and the initial angle in the direction of the given line segment, the coordinates of the start point and end point of the line segment are calculated,
From the coordinates of the start point and end point of the line segment, calculate the coordinates of the point on the line segment corresponding to the absolute position,
Based on the indicator of the distance between a point on the line segment and each of the absolute position where the certain point is detected during the movement to the other points, corresponding to each of said absolute position, long before the SL line correction parameter before Symbol moving path calculation program, which comprises de San the direction of the line segment for correcting of. I-th in the process of calculating the length of the line segment (i is a natural number) one is the absolute position corresponding to the line segment was calculated length, corresponding to the line segment was calculated length (i + 1) -th the absolute position is 0, if the absolute position was one, a corresponding to the line segment was calculated (i + 2) -th length
In the process of calculating the movement path, the i-th, (i + 1) th, (i + 2) -th calculating two axially symmetrical movement route from the line segment, based on the information of the road, moving the two axisymmetric 8. The moving route calculation program according to claim 7, wherein one of the routes is selected as a true moving route.

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