JP5943724B2 - Information processing system and method for generating indoor and outdoor seamless trajectories - Google Patents

Description

  The present invention relates to an information processing system and a method for generating indoor and outdoor seamless trajectories, for example, processing for generating a trajectory inside and outside a building.

  As represented by car navigation, positioning methods using GPS satellites are widely used, and highly accurate position detection is realized. However, since the GPS satellite signal cannot be received indoors or in the shade, position detection using the GPS satellite cannot be performed. In the case of a car, most of the routes are outdoors, so there is little time to travel in the shade, etc., and the location detection is temporarily disabled. On the other hand, pedestrians often move indoors and underground, and it is difficult to detect the position of pedestrians continuously with GPS alone. Therefore, it is necessary to detect the position of a pedestrian indoors or underground using a positioning technique other than GPS.

  In this regard, for example, as shown in Patent Document 1, by using data of various sensors such as an acceleration sensor and a gyro sensor, the pedestrian is analyzed at what speed and in which direction. There is a technique for estimating the position. Accordingly, the position and locus of the pedestrian can be detected even indoors.

  Patent Document 2 discloses a technique for determining whether indoor or outdoor based on the GPS signal level.

Japanese Patent Laid-Open No. 2011-237452 WO2007 / 037189 JP 2007-101526 A Japanese Patent Application No. 9-178030

  When performing indoor positioning, the problem is how to acquire information on the position (coordinates) of the start point and end point. This is because the trajectory obtained using various sensors is a relative trajectory, and therefore the positions of the start point and end point must be determined. In this regard, if GPS is used, it is possible to determine the position (entrance) that entered the building, and by operating various sensors outdoors, the locus is determined together with the information on the entrance obtained by GPS. It is also possible to do.

  However, if the various sensors are always turned on and operated, the battery consumption increases, which affects other processes of the mobile terminal. Therefore, in order to minimize battery consumption, it is desirable to activate various sensors after entering the building.

  However, the GPS signal does not disappear at the moment of entering the building, but gradually attenuates. When various sensors are activated after confirming the entrance to the building, the position of the original entrance shifts. A time lag will occur between the time when the sensor is started (when entering the entrance) and the time when various sensors are activated.

  The present invention has been made in view of such a situation, and appropriately handles the time lag between the indoor entrance time and the various sensor activation times to enable seamless positioning even when there is a building entry / exit. It provides positioning technology.

  In order to solve the above problems, in the present invention, an outdoor locus is generated using satellite signal data, and the satellite signal data attenuation start point is specified by monitoring the value of the satellite signal data. Further, when the value of the satellite signal data is attenuated to a predetermined value, it is determined that the mobile terminal apparatus has entered the room, and the acceleration sensor and the gyro sensor are activated. And an indoor locus | trajectory is produced | generated using the sensor data from a sensor starting time. Furthermore, by using the outdoor locus data up to the satellite signal data attenuation start point and the indoor locus data after the sensor activation time, an interpolation locus is generated by interpolating the locus from the satellite signal data attenuation start point to the sensor activation time point. To do. The outdoor locus, the indoor locus, and the interpolation locus are combined to output a seamless locus indoors and outdoors.

  According to the present invention, seamless positioning can be performed even if there is a building entry / exit by appropriately processing the time lag between the entrance entrance time and the start time of various sensors.

  Further features related to the present invention will become apparent from the description of the present specification and the accompanying drawings. The embodiments of the present invention can be achieved and realized by elements and combinations of various elements and the following detailed description and appended claims.

  The descriptions in this specification are merely exemplary, and are not intended to limit the scope of the claims or the application of the invention in any way.

It is a figure which shows the example of schematic structure of the information processing system (mobile terminal device) by the 1st Embodiment of this invention. It is a figure which shows the detailed structure of the process which the indoor positioning program 1064 in 1st Embodiment performs. It is a figure which shows the structural example of the sensor data used by each embodiment of this invention. It is a flowchart for demonstrating the detail of the indoor / outdoor positioning correction process by the 1st Embodiment of this invention. It is a figure which shows the specific example of the indoor / outdoor transition determination process performed by S401. It is a figure which shows the example of an indoor / outdoor positioning interpolation process. It is a figure which shows schematic structure of the information processing system (mobile terminal device) by the 2nd Embodiment of this invention. It is a figure which shows schematic structure of the information processing system (mobile terminal device) by the 3rd Embodiment of this invention. It is a flowchart for demonstrating the indoor / outdoor positioning correction process by 3rd Embodiment. It is a figure which shows schematic structure of the information processing system (mobile terminal device) by the 4th Embodiment of this invention. It is a figure which illustrates the concept of the indoor / outdoor positioning correction process by 4th Embodiment. It is a figure which shows schematic structure of the information processing system (mobile terminal device) by the 5th Embodiment of this invention. It is a figure which shows the structural example of indoor radio signal data. It is a figure for demonstrating the outline | summary of the walking locus evaluation process by the walking locus evaluation program. It is a figure which shows schematic structure of the information processing system (mobile terminal device) by the 6th Embodiment of this invention. It is a figure which shows schematic structure of the information processing system (indoor / outdoor walk locus estimation system) by 7th Embodiment. It is a figure which shows the detailed structure of the process which the walking locus estimation program 2021 performs. It is a figure which shows the example of a display of the indoor and outdoor walk locus | trajectory obtained by the information processing system by 7th Embodiment. It is a figure which shows schematic structure of the information processing system (indoor / outdoor walk locus estimation system) by the 8th Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, functionally identical elements may be denoted by the same numbers. The attached drawings show specific embodiments and implementation examples based on the principle of the present invention, but these are for understanding the present invention and are not intended to limit the present invention. Not used.

  This embodiment has been described in sufficient detail for those skilled in the art to practice the present invention, but other implementations and configurations are possible without departing from the scope and spirit of the technical idea of the present invention. It is necessary to understand that the configuration and structure can be changed and various elements can be replaced. Therefore, the following description should not be interpreted as being limited to this.

  Furthermore, the embodiment of the present invention may be implemented by software running on a general-purpose computer, or may be implemented by dedicated hardware or a combination of software and hardware.

  In the following embodiment, the processor (control unit) is configured to execute various programs stored in the memory. However, various processing units corresponding to the respective programs share the respective processes to obtain final data. May be generated and output.

(1) 1st Embodiment In 1st Embodiment, it detects that it entered into the building from the attenuation | damping state of the GPS signal, and starts a sensor in response to the result. Then, the trajectory at the time of actually entering the building, the sensor activation time, and the time interval (time lag) is interpolated, and the entire trajectory is obtained from the trajectory by outdoor positioning, the trajectory by indoor positioning, and interpolation data.

<Configuration of information processing apparatus>
FIG. 1 is a diagram illustrating a schematic configuration example of a mobile terminal device (also referred to as an information processing system or a walking trajectory estimation device) 100 according to the first embodiment of the present invention. The mobile terminal device 100 includes an acceleration sensor 101 that measures in real time the acceleration that changes as the pedestrian moves, a gyro sensor 102 that measures in real time the angular velocity that changes as the pedestrian moves, and a GPS satellite signal. It has a satellite signal receiver 103 for receiving, an auxiliary storage device 104 having a sensor data storage area 1041 and a satellite signal data storage area 1042, a processor 105 for executing various programs, and a memory 106 for storing various programs. doing.

The sensor data area 1041 includes the pedestrian acceleration data (gravity g and acceleration m / s ² when moving, and only gravity g when there is no change in speed) and the pedestrian measurement data sequentially measured. The angular velocity data (degree / s) is stored in association with the acquisition time. The satellite signal data storage area 1042 stores GPS signals received by the satellite signal receiver 103 in association with time.

  The memory 106 acquires measurement data from the acceleration sensor 101 and the gyro sensor 102, and stores the data in the sensor data storage area 1041 of the auxiliary storage device 104 in association with the measurement time, and the satellite signal receiver 103. The satellite signal acquisition program 1062 that acquires measurement data from the satellite and stores it in the satellite signal data storage area 1042 of the auxiliary storage device 104 in association with the measurement time, and the outdoor that performs outdoor positioning from the satellite signal (GPS signal) A positioning program 1063, an indoor positioning program 1064 for performing indoor positioning using various sensor signals, an indoor / outdoor transition determination program 1065 for determining whether the vehicle has entered the indoor or the outdoor, and When entering the room from outside (when entering the building) and various sensors are activated Stores the indoor and outdoor positioning correction program 1066, the executing the process of estimating (interpolate) the trajectory between the time point.

<Details of indoor positioning program>
FIG. 2 is a diagram showing a detailed configuration of processing executed by the indoor positioning program 1064. The indoor positioning program 1064 includes a walking speed analysis process 10661 for calculating a walking speed based on acceleration sensor data (acceleration data), and a drift component for inputting a plurality of values as noise (drift component) included in the gyro sensor data. Input processing 10642, relative azimuth calculation processing 10463 for calculating a relative azimuth angle from the previous measurement data using angular velocity data in consideration of drift components, and sensor activation based on satellite signal (GPS) data The walking direction calculation processing 10644 for calculating the pedestrian's azimuth and calculating the pedestrian's azimuth at the time of movement using the obtained relative azimuth, and the walking speed calculation information and the walking direction information And a walking locus generation process 10645 for generating (estimating) information of the walking locus.

  The walking speed analysis processing 10642 is acceleration sensor data from the sensor data storage area 1041, that is, acceleration data of a pedestrian at each time point (if the acceleration is continuously measured, it is temporally continuous data, discrete data Data at the time of each measurement), and how fast the pedestrian has moved in the past, and the walking distance of the pedestrian (analyzed speed and time traveled at that speed) (Calculated by multiplication) is analyzed. A method of analyzing speed and walking distance using acceleration data is well known, but for example, there is a method disclosed in Patent Document 3. Since information on walking speed and walking distance may be acquired from pedestrian acceleration information by any method, description of specific methods is omitted here.

  The drift component input process 10642 executes a process of inputting a drift component candidate value prepared in advance. For example, the drift component candidate value takes a value that changes by 1 degree (step width is 1 degree / s) from an angular velocity of 1 degree / s to 360 degree / s. The drift component values are prepared as default values from 1 degree / s to 360 degrees / s, but the optimum range while deleting drift values determined to be unacceptable in the process of using the information processing apparatus 100 You may make it decide.

  The relative azimuth calculation processing 10463 acquires gyro sensor data (angular velocity data) and a drift component (noise component), and subtracts the drift component from the acquired angular velocity data to obtain information on the relative azimuth angle from which noise has been removed. get. Since values of a plurality of drift components are provided by the drift component input processing 10642, the relative azimuth calculation processing 10463 calculates the relative azimuth corresponding to each drift component and holds it in a memory or the like (not shown). become.

  The walking direction calculation process 10644 acquires satellite signal data and relative azimuth angle information from which input noise has been removed by the relative azimuth angle calculation process 10663. Then, the walking direction calculation processing 10644 obtains a direction vector at the satellite signal attenuation start point (point entering the room) from the GPS trajectory obtained from the satellite signal data, and this direction vector is calculated when the sensor is activated (the GPS satellite signal is attenuated). Thus, the SNR is zero (the zero value is merely an example, and it is not always necessary to be zero. Therefore, it can be “below the predetermined value” according to the state of the GPS signal). Estimate the walking direction). Note that the relative azimuth information is information related to the relative direction between the measurement times, and thus the absolute azimuth cannot be known from this, but the estimated walking direction can be used as a reference direction. Therefore, the walking direction calculation processing 10644 is based on the walking direction (direction vector obtained from the GPS trajectory) at the start of sensor activation, and integrates the relative azimuth at each measurement time to determine the walking direction (the shape of the walking trajectory). Is stored in a memory or the like (not shown).

  The walking trajectory generation process 10645 acquires walking speed information and walking distance information at each time by the walking speed analysis process 10642 and walking direction information by the walking direction calculation process 10644. Then, the walking trajectory generation process 10645 obtains a walking trajectory using the acquired walking direction, walking speed, and walking distance information, and holds it in a memory (not shown) or the like.

<Example of sensor data configuration>
FIG. 3 is a diagram illustrating a configuration example of sensor data. In the embodiment of the present invention, the acceleration sensor 101 and the gyro sensor 102 are configured to detect accelerations or angular velocities in three axis (XYZ) directions. Therefore, as shown in FIGS. 3A and 3B, the acceleration and angular velocity are detected in each of the XYZ directions corresponding to the measurement times T1, T2, T3,. Will be accumulated.

  The direction of each sensor in the embodiment of the present invention is based on the mobile terminal device 100. For example, the XY plane is set on the wide surface of the mobile terminal device 100, and the Z direction is defined in a direction perpendicular to the XY plane. The Therefore, the direction of the axis may be different from the normal XYZ space.

<Indoor / outdoor positioning correction processing>
FIG. 4 is a flowchart for explaining the details of the indoor / outdoor positioning correction processing. Here, each program is described as an operation subject, but actually, the processor 105 reads each program and executes a function corresponding to each program. Therefore, the processor 105 may be regarded as an operation subject.

  The indoor / outdoor transition determination program 1065 is based on the temporal transition of the signal value (SNR) of the satellite signal (GPS signal) acquired by the satellite signal acquisition program 1062 or whether the mobile terminal device 100 is currently moving outdoors or enters indoors. (S401). Details of the determination will be described later.

  If the mobile terminal device 100 is still moving outdoors in S401, the outdoor positioning program 1063 continues positioning by GPS (S402). At this stage, the acceleration sensor 101 and the gyro sensor 102 are not operated.

  If it is determined in S401 that the mobile terminal device 100 has entered the room, the sensor data acquisition program 1061 activates the acceleration sensor 101 and the gyro sensor 102 in response to the determination result in S401 (S403). From time to time, acceleration data and angular velocity data obtained by measurement by each sensor are accumulated (S404).

  The indoor / outdoor positioning correction program 1066 uses the indoor positioning base point (coordinates of each sensor activation time: estimating a rule = coordinate interpolation) using the approach trajectory predicted by outdoor positioning by GPS and the trajectory shape prediction by indoor positioning. (S405). That is, the locus (coordinates) between the GPS signal attenuation point (indoor entry point: assuming that the SNR becomes zero from the attenuation start point) and the sensor activation point (however, accurate coordinates cannot be measured and only the time is known) ) Is interpolated using information on the movement prediction from the GPS trajectory, the indoor positioning trajectory from the sensor activation point, the movement speed at the GPS signal attenuation point, and the movement speed at the sensor activation point. A specific example of the process of S405 will be described later.

Then, the indoor positioning program 1064 executes indoor positioning processing using the indoor entrance point, the interpolated coordinate information, and each sensor data (S406).
Further, the processor 105 displays the current position on a display screen (not shown) (S407).

<Indoor / outdoor transition judgment processing>
FIG. 5 is a diagram illustrating a specific example of the indoor / outdoor transition determination process executed in S401. FIG. 5A is a diagram showing the time transition of the SNR of the GPS signal. FIG. 5B is an enlarged view of the signal region 501 portion of FIG.

  The GPS signal may be attenuated because there are various obstacles (trees and buildings) even outdoors. However, when the user is not in the building, the GPS signal is not attenuated and the SNR is immediately restored. Therefore, when the SNR of the GPS signal becomes zero, it is determined that the mobile terminal apparatus 100 exists indoors, and the attenuation start point corresponding to the mobile terminal apparatus 100 is specified as the indoor entrance point (coordinates and time are known).

  By doing in this way, it is possible to make an accurate determination for indoor entry, and each sensor can be activated at that time. However, this causes a time lag between the indoor entry time and the sensor activation time, and the locus between them cannot be acquired. For this reason, as described above, the coordinate point between the indoor entrance point and the sensor activation start point is interpolated.

<Example of indoor / outdoor positioning interpolation>
FIG. 6 is a diagram illustrating an example of indoor / outdoor positioning interpolation processing.
As shown in FIG. 6, a GPS trajectory is obtained by outdoor positioning, but the trajectory after the point 601 (movement speed v1) at which the SNR of the GPS signal starts to be attenuated is predicted by the GPS trajectory so far. However, as described above, each sensor is not activated from the attenuation start point 601.

  On the other hand, each sensor is activated at a point where the SNR of the GPS signal becomes zero (sensor activation point 602: movement speed v2). Then, each sensor data is accumulated, and an indoor positioning locus from the sensor activation point 602 is obtained. The indoor positioning trajectory uses the direction vector at the indoor entrance point obtained from the GPS trajectory as the walking direction at the sensor activation point, and with this walking direction as a reference, the relative orientation obtained from the gyro sensor 102 thereafter determines the time of each time in the walking trajectory. Since information on the walking direction is obtained, an accurate indoor positioning locus can be estimated.

  The coordinates between the sensor activation point 602 and the attenuation start point 601 are interpolated based on the locus after the sensor activation point 602 (indoor positioning locus) and the GPS locus up to the attenuation start point 601. More specifically, for example, linear interpolation (taking an average) is performed using the moving speed v1 at the attenuation start point 601 and the moving speed v2 at the sensor activation point 602 to estimate the speed therebetween, and the GPS trajectory and autonomous positioning The trajectory between them is estimated so that the trajectory (indoor positioning trajectory) matches. Note that there are various movement patterns between the attenuation start point 601 and the sensor activation point 602. For example, there may be a case where it stops once in the meantime. In order to cope with such a case, a plurality of types of movement patterns assumed in the meantime may be prepared in advance, and an optimum interpolation result may be selected from the interpolation results corresponding to each pattern.

(2) Second Embodiment The second embodiment is intended to increase the accuracy and speed of indoor / outdoor transition determination.
In the first embodiment, when the SNR becomes zero after the GPS signal starts to attenuate, it is determined that the mobile terminal device 100 has completely entered the room.

  By the way, the signal attenuation pattern when entering a building and the signal attenuation pattern when entering a tunnel or a shade are characteristic.

  For this reason, if the GPS signal attenuation pattern can be identified immediately, the determination process can be executed at high speed and accurately. Therefore, when the actual attenuation pattern at the initial stage is similar to the attenuation pattern at the time of building entrance prepared in advance, for example, the sensor activation timing can be set earlier.

  FIG. 7 is a diagram illustrating a schematic configuration of the mobile terminal apparatus 100 according to the second embodiment. The difference from the mobile terminal device 100 according to the first embodiment is that a satellite signal pattern data storage area 1043 for storing satellite signal pattern data is provided in the auxiliary storage device 104 and that the indoor / outdoor transition determination program 1065 is different. The indoor / outdoor transition determination is executed using the satellite signal pattern data.

  The satellite signal pattern data storage area 1043 stores attenuation patterns of satellite signals when various situations and obstacles exist. Examples of attenuation patterns include patterns that characterize the effects of satellite signals from wooden houses, reinforced concrete buildings, shades, tunnels, underground, and the like. The signal area 502 in FIG. 5 shows a pattern indicating the influence of the shade, but when the influence of the shade is eliminated, the SNR of the satellite signal is restored to the normal level. This pattern is clearly different in shape from the pattern of the signal area 501 when entering the building.

  Therefore, the indoor / outdoor transition determination program 1065 compares a plurality of patterns stored in the satellite signal pattern area 1043 with the temporal transition of the SNR of the acquired satellite signal, and to which pattern the current signal attenuation is close. By determining whether the mobile terminal device 100 is a device, it is possible to improve the accuracy and speed of the determination of the indoor / outdoor transition of the mobile terminal device 100. This makes it possible to distinguish between attenuation of SNR caused by trees, buildings, tunnels, and the like, and attenuation caused by entrance of the building, so that the indoor / outdoor transition determination becomes highly accurate.

(3) Third Embodiment In the third embodiment, the indoor / outdoor transition determination is performed in two stages, so that the number of coordinates to be interpolated is reduced or no interpolation is required. Is.

  FIG. 8 is a diagram illustrating a schematic configuration of the mobile terminal device 100 according to the third embodiment. The third embodiment is different from the first embodiment in that the indoor / outdoor transition determination program 1065 has two determination programs (indoor / outdoor transition first determination program 10651 and indoor / outdoor transition second in the third embodiment). It is divided into the determination program 10652). The indoor / outdoor transition first determination program 10651 detects the start of attenuation of the acquired satellite signal (GPS signal) and instructs the sensor data acquisition program 1061 to start each sensor. At this stage, it is not known whether or not the mobile terminal device 100 is completely indoors. However, since there is such a possibility, the sensor is activated and the sensor data for indoor positioning can be acquired as soon as possible. . On the other hand, the indoor / outdoor transition second determination program 1065 determines whether or not the SNR of the acquired satellite signal has completely attenuated to zero, and thereby determines whether or not the mobile terminal device 100 has entered the room.

  FIG. 9 is a flowchart for explaining indoor / outdoor positioning correction processing according to the third embodiment. The same processes as those shown in FIG. 4 are denoted by the same reference numerals, and description thereof is omitted here.

  The indoor / outdoor transition first determination program 10651 monitors the acquired satellite signal (GPS signal) and determines whether or not there is an attenuation greater than a predetermined value. If the determination is made and the process proceeds to S802, and there is no attenuation greater than or equal to the predetermined value, the process proceeds to S402 (S801).

  When the GPS signal has an attenuation greater than or equal to a predetermined value, the sensor data acquisition program 1061 activates the acceleration sensor 101 and the gyro sensor 102 to start sensor data acquisition, and at the same time, the outdoor positioning program 1063 Continues the outdoor positioning process by (S802).

  Subsequently, the indoor / outdoor transition second determination program 1065 determines whether or not the mobile terminal device 100 is indoors by the same method as described in the first embodiment. If it is determined that the user is indoors, the process proceeds to S404, and the processes of S405 to S407 are executed as in the first embodiment.

  On the other hand, if it is determined in S803 that the mobile terminal device 100 is outdoors, the process proceeds to S402, and only outdoor positioning using GPS signals is performed. At this stage, the operation of each sensor activated by the process of S802 is stopped.

(4) Fourth Embodiment The fourth embodiment has map data having building entrance information and is obtained from building entrance coordinates and map data included in an outdoor locus obtained by outdoor positioning using GPS signals. By matching the entrances of the buildings that are used, it is intended to obtain a more accurate indoor and outdoor seamless trajectory.

  FIG. 10 is a diagram illustrating a schematic configuration of a mobile terminal apparatus 100 according to the fourth embodiment. The difference from the first embodiment is that the mobile terminal device 100 according to the fourth embodiment is map data, and has map data in which an entrance is written in a building posted on the map. is there.

  In FIG. 10, the indoor / outdoor transition determination program 1065 determines indoor entry of the mobile terminal device 100 by the process described in the first embodiment, and in that case, acquires corresponding building data from the map data storage area 1044. The entrance coordinates of the building obtained from the GPS trajectory are matched with the position of the entrance of the building shown in the acquired map data.

  By doing so, since the GPS trajectory can accurately pass through the entrance of the building, the indoor trajectory (including the estimated trajectory by interpolation) obtained by indoor positioning and interpolation processing thereafter can be calculated more accurately. Will be able to.

FIG. 11 is a diagram illustrating the concept of indoor / outdoor positioning correction processing according to the fourth embodiment.
As shown in FIG. 11, when it is detected by the indoor / outdoor transition determination process that the mobile terminal device 100 has transitioned into the building, the position of the attenuation start point of the GPS signal in the GPS trajectory is indicated on the acquired map data. Match the entrance coordinates of the building.

  The indoor / outdoor positioning correction program 1066 then calculates the coordinates between the attenuation start point 601 and the sensor activation point 602 from the information (coordinates and speed) of the autonomous positioning trajectory (indoor positioning trajectory) and GPS trajectory obtained by indoor positioning. And the trajectory between them is estimated. The locus between the attenuation start point 601 and the sensor activation point 602 can be obtained by back-calculating the autonomous positioning locus from the sensor activation point 602, and an interpolation locus is generated by combining this with the GPS locus. The interpolation trajectory calculation process is the same as in the first embodiment.

(5) Fifth Embodiment In the fifth embodiment, an indoor locus (autonomous positioning locus) is obtained by indoor positioning using a radio signal from a base station installed indoors.

  FIG. 12 is a diagram illustrating a schematic configuration of a mobile terminal apparatus 100 according to the fifth embodiment. The difference from the first embodiment is that the fifth embodiment further includes a radio signal receiver 108, an indoor radio signal data storage area 1045, and a walking trajectory evaluation program 1067.

  In the fifth embodiment, the indoor positioning program 1064 generates a plurality of walking trajectory candidates corresponding to combinations of environmental parameters such as stride, gyro sensor error, and direction. Then, the walking trajectory evaluation program 1067 evaluates a plurality of obtained walking trajectory candidates based on radio signal data (radio wave intensity information) of a base station installed indoors, and selects an optimal walking trajectory.

  Then, the indoor / outdoor positioning correction program 1066 uses the optimal walking locus and GPS locus to obtain a locus between the GPS signal attenuation start point (indoor entry point) 601 and the sensor activation start point 602 according to the first embodiment. (See FIG. 6).

<Example of indoor radio signal data>
FIG. 13 is a diagram illustrating a configuration example of indoor wireless signal data. The indoor radio signal data includes base station coordinate data (FIG. 13 (a)), radio wave intensity (value measured in advance) from each base station at a plurality of coordinate positions (FIG. 13 (b)), and a mobile terminal. The radio wave intensity data actually measured with the movement of the apparatus 100 (FIG. 13C: associated with the measurement time) is included.

<Outline of walking trajectory evaluation process>
FIG. 14 is a diagram for explaining the outline of the walking trajectory evaluation process by the walking trajectory evaluation program 1067. FIG. 14A is a graph showing the radio field intensity from a base station (here, two base stations) during walking movement, and FIG. 14B is a process of selecting an optimal trajectory from a plurality of walking trajectory candidates. It is a conceptual diagram which shows the example of. In FIG. 14B, T1, T2, and T3 correspond to the coordinate positions shown in FIG. 13B.

  The walking trajectory evaluation program 1067 acquires radio wave intensity data (FIG. 13C) measured during walking movement. The time transition of the radio wave intensity data can be represented by a graph as shown in FIG.

  The walking locus evaluation program 1067 selects one of a plurality of walking locus candidates, and acquires time and coordinate data (a plurality of sets) on the selected locus.

Further, the walking trajectory evaluation program 1067 calculates the distance between the trajectory coordinate data and the base station coordinate data (FIG. 13A), and whether the distance is less than a predetermined value (for example, less than 5 m). to decide. If the distance is less than the predetermined value, the radio wave intensity should be equal to or higher than the predetermined threshold value. Therefore, the walking trajectory evaluation program 1067 determines whether the measured radio wave intensity at the position is equal to or higher than the predetermined threshold value. If the distance is greater than or equal to a predetermined value, the radio wave intensity should be less than a certain threshold value, and therefore it is determined whether the measured radio wave intensity at that time is less than the predetermined threshold value. That is, it is determined whether the actually measured radio field intensity matches the radio field intensity estimated from the distance between the coordinate point on the selected locus and each base station.
The above process is executed for all candidates, and the one having the measured radio field intensity that best matches the radio field intensity data of FIG. 13B is selected as the optimal walking locus.

(6) Sixth Embodiment The sixth embodiment relates to processing when a user enters a building from outside by riding a car. There are cases where the user rides in a building and moves in a building (for example, when moving in an underground parking lot in the building), but the calculation of speed at this time is the case of calculating the speed of a pedestrian Is different. Therefore, it is detected whether the vehicle is riding or walking, and positioning suitable for both can be executed.

  FIG. 15 is a diagram illustrating a schematic configuration of a mobile terminal apparatus 100 according to the sixth embodiment. The difference from the first embodiment is that in the sixth embodiment, indoor positioning processing is executed by an indoor positioning program 106401 for pedestrians, an indoor positioning positioning program 106402, and an indoor positioning method determination program 106403. It is that you are.

  The indoor positioning method determination program 106403 determines, for example, whether the user is walking or moving indoors (moving in a vehicle) indoors by the technique described in Patent Document 40. Specifically, the indoor positioning method determination program 106403 uses the acceleration sensor 101 to determine that the user is walking when the shaking of the mobile terminal device 100 is greater than or equal to a predetermined value, and is less than the predetermined value. In this case, it is determined that the vehicle is moving. In other words, when moving by car, the swing is generally very small when moving on a flat place (which is often flat when indoors), while when walking, Since there is always up and down movement by walking, the moving means can be specified by detecting the difference. When it is determined that the movement is a walking movement, the indoor positioning program 106402 for pedestrians is activated, and when it is determined that the movement is a vehicle movement, the indoor positioning positioning program 106402 is activated.

  The pedestrian indoor positioning program 106401 calculates a pedestrian's autonomous positioning trajectory in the same manner as the indoor positioning program 1064 described in the first embodiment when the user is walking.

  On the other hand, when the user is moving the vehicle, the indoor positioning program 106402 calculates the user's autonomous positioning trajectory by, for example, second-order integration of the traveling direction component of the acceleration sensor. When the vehicle is moving, the speed is faster than when walking, so positioning during vehicle movement differs from the positioning during walking movement.

  As described above, in the sixth embodiment, it is determined whether the vehicle is walking or moving indoors, and the autonomous positioning locus is calculated while switching the indoor positioning program based on the determination result. Accordingly, since the locus by positioning suitable for the moving form can be calculated, a more accurate indoor locus can be obtained.

(7) Seventh Embodiment The seventh embodiment calculates a plurality of indoor positioning trajectories from the sensor activation point (indoor positioning trajectory candidates) without using the reference walking direction obtained from the GPS trajectory, The optimum indoor positioning trajectory is obtained by matching the positioning trajectory candidate and the exit of the building. This indoor positioning trajectory, the GPS trajectory to the indoor entrance point, the building entrance data, the indoor entrance point, and the sensor activation point Is used to interpolate the trajectory between the indoor entrance point and the sensor activation point.

<System configuration>
FIG. 16 is a diagram illustrating a schematic configuration of an information processing system (indoor / outdoor walking trajectory estimation system) according to the seventh embodiment. The information processing system includes a mobile terminal device 100 and a server device 200, and is configured so that they can communicate via a network 300. In the present embodiment, the system is constructed by dividing the mobile terminal device 100 and the server device 200, but the mobile terminal device 100 may have the processing function of the server device 200.

  The mobile terminal device 100 includes an acceleration sensor 101 that measures in real time the acceleration that changes as the pedestrian moves, a gyro sensor 102 that measures in real time the angular velocity that changes as the pedestrian moves, and a GPS satellite signal. A satellite signal receiver 103 for receiving, an auxiliary storage device 104 having a sensor data storage area 1041 and a satellite signal data storage area 1042, a processor 105 for executing various programs, a memory 106 for storing various programs, And a communication interface 107 for performing the above communication.

The sensor data area 1041 includes the pedestrian acceleration data (gravity g and acceleration m / s ² when moving, and only gravity g when there is no change in speed) and the pedestrian measurement data sequentially measured. The angular velocity data (degree / s) is stored in association with the acquisition time. The satellite signal data storage area 1042 stores GPS signals received by the satellite signal receiver 103 in association with time.

  The memory 106 acquires measurement data from the acceleration sensor 101 and the gyro sensor 102, and stores the data in the sensor data storage area 1041 of the auxiliary storage device 104 in association with the measurement time, and the satellite signal receiver 103. The satellite signal acquisition program 1062 that acquires measurement data from the satellite and stores it in the satellite signal data storage area 1042 of the auxiliary storage device 104 in association with the measurement time, and the outdoor that performs outdoor positioning from the satellite signal (GPS signal) It stores a positioning program 1063 and an indoor transition determination program 1065 for determining whether the vehicle has entered the indoors from the outdoors or has exited the indoors.

  Unlike that of the first embodiment, the mobile terminal device 100 according to the seventh embodiment does not have the indoor positioning program 1064 and the indoor / outdoor positioning correction program 1066. These functions are included in the server device 200.

  The server device 200 includes a processor 201 that executes various programs, a memory 202 that stores various programs, an auxiliary storage device 203, and a communication interface 204 for performing communication with the outside.

  The memory 202 has a walking trajectory estimation program 2021 for estimating an indoor walking trajectory using each sensor data, and a trajectory between the time when the user enters the building indoors (when the vehicle enters the building) and the time when various sensors are activated. And an indoor / outdoor positioning correction program 1066 that executes processing for estimation (interpolation).

  The auxiliary storage device 203 includes a building data storage area 2031 that holds building data including the coordinate values of the entrance and exit, a sensor data storage area 2032 that stores various sensor data acquired in the mobile terminal device 100, and a mobile terminal device. 100 includes a satellite signal data storage area 2033 for storing satellite signal (GPS signal) data acquired in 100, and a movement locus data storage area 2034 for storing GPS movement locus data and indoor walking locus data.

<Walking locus estimation processing>
FIG. 17 is a diagram illustrating a detailed configuration of processing executed by the walking trajectory estimation program 2021.
The walking trajectory estimation program 2021 inputs a plurality of values as walking speed analysis processing 20211 for calculating a walking speed based on acceleration sensor data (acceleration data) and noise (drift component) included in the gyro sensor data. A drift component input process 20212, a relative azimuth calculation process 20213 for calculating a relative azimuth from previous measurement data using angular velocity data in consideration of the drift component, and a moving time using the obtained relative azimuth Walking direction calculation processing 20214 for calculating the direction of the pedestrian and a walking trajectory corresponding to each of the plurality of input drift components, and based on the obtained walking speed information and walking direction information Generated by the walking trajectory generation process 20215 for generating (estimating) information on the walking trajectory and the walking trajectory generation process. And walking path evaluation processing 20216 of evaluating the number of walking trajectory, based on the evaluation by the walking path evaluation processing, the optimum walking path determination process 20217 to determine the optimal gait trajectory to run.

  In the walking speed analysis processing 20211, acceleration sensor data, that is, acceleration data of a pedestrian at each time point (in the case where acceleration is continuously measured, this is continuous data in time and is measured discretely. Data in each measurement time) is acquired and calculated by multiplying the pedestrian's walking distance (analyzed speed and time traveled at that speed) ) Is analyzed. A method of analyzing speed and walking distance using acceleration data is well known, but for example, there is a method disclosed in Patent Document 2. Since information on walking speed and walking distance may be acquired from pedestrian acceleration information by any method, description of specific methods is omitted here.

  In the drift component input process 20212, a candidate value for a drift component prepared in advance is input. For example, the drift component candidate value takes a value that changes by 1 degree (step width is 1 degree / s) from an angular velocity of 1 degree / s to 360 degree / s. The drift component values are prepared as default values from 1 degree / s to 360 degrees / s, but the optimum range while deleting drift values determined to be unacceptable in the process of using the information processing apparatus 100 You may make it decide.

  In the relative azimuth angle calculation processing 20213, the gyro sensor data (angular velocity data) and the drift component (noise component) are used to subtract the drift component from the acquired angular velocity data, thereby obtaining information on the relative azimuth angle from which noise has been removed. Calculated. Since the drift component input processing 20212 provides a plurality of drift component values, the relative azimuth calculation processing 20213 calculates the relative azimuth corresponding to each drift component and stores it in a memory (not shown) or the like. become.

  In the walking direction calculation process 20214, a plurality of pieces of relative azimuth information from which input noise has been removed by the relative azimuth calculation process 20213 is acquired. Since the relative azimuth information is information regarding the relative direction between the measurement times, the absolute azimuth cannot be known from this. Accordingly, the walking direction calculation processing 20214 calculates the walking direction (the shape of the walking locus) by integrating the relative azimuth at each measurement time for each of the plurality of relative azimuth information, and stores it in a memory (not shown). Hold.

  In the walking locus generation processing 20125, walking speed information and walking distance information at each time by the walking speed analysis processing 20211 and information on a plurality of walking directions by the walking direction calculation processing 20214 are acquired, and walking is performed for each walking direction. A trajectory is obtained and held in a memory or the like (not shown). Here, since the walking distance is the same, trajectories of the same walking distance having different shapes are obtained.

  In the walking trajectory evaluation processing 20216, in order to evaluate the plurality of walking trajectories obtained by the walking trajectory generation processing 20215, the end points of the respective walking trajectories are compared with the coordinates of the end points (exit points) acquired from the building data. . In other words, align the end points of each walking trajectory with the coordinates of the actual end point, so that each start point (start point of the trajectory: sensor activation point) is closest to the coordinates of the actual start point (entrance of the building) Each walking locus is rotated around the end point. In the walking locus evaluation process 20216, the distance between the starting point of each walking locus and the actual starting point is calculated and output as an evaluation value. The distance may be used as an evaluation value as it is, or the evaluation value may be higher as the distance is shorter. Note that the user may input absolute azimuth information. In this case, it is not necessary to rotate the obtained walking locus.

  In the optimum walking trajectory determination processing 20217, the evaluation value obtained by the walking trajectory evaluation processing 20216 and information on a plurality of walking trajectories corresponding thereto are acquired, and the best evaluation value (the start point of the trajectory (sensor activation point) and the actual start point ( The walking trajectory having the shortest distance from the building entrance) is determined as the optimal walking trajectory.

  The reason for obtaining the walking locus in this way is as follows. That is, for example, a communication carrier wants to grasp how the radio wave intensity of a wireless LAN or the like is distributed in a building. For this purpose, a measurer usually enters the target building and needs to make detailed measurements, but this is very expensive. Therefore, a person who moves in the building on a daily basis (for example, an inspector of the building or equipment in the building) carries the mobile terminal device 100 and obtains the walking trajectory of the person in the building and the places where the user is moving. Match the data of the received radio field strength. As a result, it is possible to provide information on the radio field intensity in the building, and it is possible to dramatically reduce the cost for acquiring the radio field intensity information.

<Indoor / outdoor positioning correction processing>
The indoor / outdoor positioning correction processing according to the seventh embodiment is substantially the same as that of the first embodiment, except that the indoor positioning locus from the sensor activation point is obtained by the walking locus estimation program 2021. It is different and common in other respects. That is, based on the locus from the sensor activation point 602 (indoor positioning locus: this is a locus obtained by the walking locus estimation program) and the GPS locus to the attenuation start point 601 (see FIG. 6), the sensor activation point 602 and Coordinates with the attenuation start point 601 are interpolated. More specifically, for example, linear interpolation (taking an average) is performed using the moving speed v1 at the attenuation start point 601 and the moving speed v2 at the sensor activation point 602 to estimate the speed therebetween, and the GPS trajectory and autonomous positioning The trajectory between them is estimated so that the trajectory (indoor positioning trajectory) matches (for example, the trajectory of the trajectory matches).

<Display example of the obtained walking trajectory>
FIG. 18 is a diagram illustrating a display example of indoor and outdoor walking trajectories obtained by the information processing system according to the seventh embodiment. Such a walking locus is displayed on a screen of a display unit (not shown) of the mobile terminal device 100, for example.

  As shown in FIG. 18, an outdoor locus, an indoor locus, a building start point (entrance) and an end point (exit) are displayed on the screen of the display unit. Moreover, you may make it display an actual path | route (indoor and outdoor) with the locus | trajectory by positioning. This makes it possible to know the degree of coincidence between the actual route and the trajectory obtained by positioning.

(8) Eighth Embodiment In the eighth embodiment, work efficiency is evaluated from a plurality of user walking loci or a single user walking loci.

  FIG. 19 is a diagram showing a schematic configuration of an information processing system (indoor / outdoor walking trajectory estimation system) according to the eighth embodiment. The difference from the seventh embodiment is that the system according to the eighth embodiment additionally includes a work analysis program 2022, and other configurations and processing contents are the same as those of the seventh embodiment.

The work analysis program 2022 evaluates work efficiency by acquiring a target movement trajectory (evaluation person's movement trajectory) from the movement trajectory data storage area 2034 of the auxiliary storage device 203 and evaluating the distance of each trajectory. That is, for example, when considering a luggage transport operation for transporting a package indoors from a truck stopped near a building, a plurality of movement trajectories that reciprocate between the truck and the package placement location (target location) can be obtained. At this time, the distance calculated from the shape of the movement trajectory and the trajectory itself differs depending on the worker or the number of workers. Therefore, when the movement trajectory is swollen than the average trajectory, or when the distance is long, it can be determined that the work efficiency is poor.
This work efficiency evaluation data can be used for training of workers, for example.

(9) Summary (i) In the first embodiment, the satellite signal data attenuation start point is specified by monitoring the value of the satellite signal data and moved when the satellite signal data value is attenuated to a predetermined value. It is determined that the terminal device has entered the room. Then, the acceleration sensor and the gyro sensor are activated from that point. From the time of sensor activation, an indoor locus is generated using sensor data. Also, since there is a time lag between the indoor entry time and the sensor activation time, a walking trajectory has occurred to some extent until the sensor activation. Therefore, using the outdoor locus data up to the satellite signal data attenuation start point and the indoor locus data after the sensor activation time, an interpolation locus is generated by interpolating the locus from the satellite signal data attenuation start point to the sensor activation time point. To do. These are combined to output a seamless locus indoors and outdoors. In this way, it is possible not only to generate a seamless trajectory indoors and outdoors, it is not necessary to always activate the sensor outdoors, and the battery consumption of the mobile terminal device can be reduced.

  Note that the direction information of the outdoor locus at the satellite signal data attenuation start point (the traveling direction obtained from the locus) is estimated as the movement direction at the time of sensor activation. Then, an indoor trajectory is generated using the sensor data with reference to the information on the moving direction. In this way, even for each sensor that can obtain only a relative direction, it is not necessary to generate a plurality of trajectory candidates and then select an optimum sensor, thereby realizing high-speed processing. be able to. In particular, when the mobile terminal device executes a program corresponding to the process, the effect of reducing the processing load can be increased.

(Ii) In the second embodiment, the mobile terminal apparatus refers to the attenuation pattern data of the satellite signal and compares it with the satellite signal data before the value of the satellite signal data is attenuated to a predetermined value. Is judged to have entered indoors. As a result, it is possible to determine the presence or absence of indoor entry at high speed and with high accuracy, and to remove the influence of obstacles (tunnels, shaded trees, etc.).

(Iii) In the third embodiment, as in the first embodiment, the satellite signal data attenuation start point is specified by monitoring the value of the satellite signal data. However, here, the acceleration sensor and the gyro sensor are once activated from the satellite signal data attenuation start point. At the same time, the satellite signal data from the satellite signal receiver is acquired and the outdoor positioning process is continued. Further, it is determined whether or not the value of the satellite signal data has been attenuated to a predetermined value (may be determined whether or not the satellite signal data has been attenuated within a predetermined time). It is determined that the vehicle has entered the room, and the sensing operation by the acceleration sensor and gyro sensor is continued. If not attenuated to a predetermined value, the sensing operation is stopped. After that, interpolating the locus from the satellite signal data attenuation start point to the sensor activation time using the outdoor locus data to the satellite signal data attenuation start point and the indoor locus data after the sensor activation time, the interpolation locus is obtained. Generate and combine them to output a seamless track indoors and outdoors. By doing so, the sensor can be activated at the earliest possible timing, so that a seamless trajectory can be obtained with higher accuracy. Also, each sensor is not operated until the start of attenuation, and it is temporarily determined that the sensor has entered the room, and the operation of the sensor is stopped when the satellite signal level is restored. Can be suppressed.

(Iv) In the fourth embodiment, reference is made to map data having building entrance information, and the entrance coordinates of the corresponding building are acquired. Then, the outdoor locus is generated by matching the coordinates of the attenuation start point and the entrance coordinates of the building, and an interpolation locus is generated using the outdoor locus. By doing so, the interpolation process can be executed with higher accuracy.

(V) In the fifth embodiment, the mobile terminal apparatus is provided with a radio receiver that receives radio signals from a base station installed indoors. Here, when generating an indoor trajectory, a plurality of indoor trajectory candidates (for example, candidates for the number of combinations of environmental parameters) are generated based on a plurality of environmental parameters (step length, gyro sensor error, direction, etc.) The distance between the coordinates on the indoor locus candidate and the base station coordinates is obtained. Then, an optimal indoor locus is selected from a plurality of indoor locus candidates using information on the strength of the wireless signal received by the wireless receiver and the distance from the base station. That is, the candidate that can be most matched in the relationship between the distance between the base stations and the radio wave intensity is set as the optimum locus. By doing so, the indoor trajectory can be obtained with higher accuracy, so that the interpolation process can be executed more accurately. Therefore, it is possible to generate a seamless locus with high accuracy.

(Vi) In the sixth embodiment, when the indoor locus is generated, it is determined whether the indoor movement is a walking movement or a vehicle movement by using data (according to vertical shaking) of the acceleration sensor. Based on the determination result, the indoor trajectory is generated by switching between the walking movement positioning method and the vehicle movement positioning method. That is, in the case of vehicle movement, a positioning method suitable for vehicle movement is used, and when the vehicle gets off and shifts to walking movement, a positioning method suitable for walking movement is adopted. By doing in this way, since the most suitable positioning method is used according to a scene, an indoor locus | trajectory can be calculated | required more accurately and interpolation processing can also be performed more correctly. Therefore, it is possible to generate a seamless locus with high accuracy.

(Vii) In the seventh embodiment, when generating an indoor trajectory, data on the entrance and exit of the corresponding building is acquired, and a plurality of indoor trajectory candidates corresponding to a plurality of reference walking directions are generated from the time of sensor activation. (Here, the direction information obtained from the GPS signal is not used, and indoor trajectory candidates are generated based on all possible directions). Then, the end point of each indoor trajectory candidate is matched with the exit of the building, and the trajectory having the shortest distance between the start point of the indoor trajectory candidate and the building entrance is determined as the optimum indoor trajectory. In this way, the indoor locus that best matches the entrance and exit positions of the building can be obtained, so the indoor locus can be obtained with higher accuracy, and interpolation processing can be performed more accurately. It becomes. Therefore, it is possible to generate a seamless locus with high accuracy.

(Viii) In the eighth embodiment, the shape and / or distance of each of a plurality of indoor and outdoor seamless trajectories (a trajectory by a plurality of workers and / or a plurality of trajectories by the same person) is analyzed. Evaluate the work efficiency of each trajectory. By doing in this way, worker's education can be implemented objectively and efficiently.

(Ix) The present invention can also be realized by software program codes that implement the functions of the embodiments. In this case, a storage medium in which the program code is recorded is provided to the system or apparatus, and the computer (or CPU or MPU) of the system or apparatus reads the program code stored in the storage medium. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the program code itself and the storage medium storing the program code constitute the present invention. As a storage medium for supplying such program code, for example, a flexible disk, CD-ROM, DVD-ROM, hard disk, optical disk, magneto-optical disk, CD-R, magnetic tape, nonvolatile memory card, ROM Etc. are used.

  Also, based on the instruction of the program code, an OS (operating system) running on the computer performs part or all of the actual processing, and the functions of the above-described embodiments are realized by the processing. May be. Further, after the program code read from the storage medium is written in the memory on the computer, the computer CPU or the like performs part or all of the actual processing based on the instruction of the program code. Thus, the functions of the above-described embodiments may be realized.

  Further, by distributing the program code of the software that realizes the functions of the embodiment via a network, it is stored in a storage means such as a hard disk or memory of a system or apparatus, or a storage medium such as a CD-RW or CD-R And the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage means or the storage medium when used.

  Finally, it should be understood that the processes and techniques described herein are not inherently related to any particular apparatus, and can be implemented by any suitable combination of components. In addition, various types of devices for general purpose can be used in accordance with the teachings described herein. It may prove useful to build a dedicated device to perform the method steps described herein. Various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiments. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined. Although the present invention has been described with reference to specific examples, these are in all respects illustrative rather than restrictive. Those skilled in the art will appreciate that there are numerous combinations of hardware, software, and firmware that are suitable for implementing the present invention. For example, the described software can be implemented in a wide range of programs or script languages such as assembler, C / C ++, perl, shell, PHP, Java (registered trademark).

  Furthermore, in the above-described embodiment, control lines and information lines are those that are considered necessary for explanation, and not all control lines and information lines on the product are necessarily shown. All the components may be connected to each other.

  In addition, other implementations of the invention will be apparent to those skilled in the art from consideration of the specification and embodiments of the invention disclosed herein. Various aspects and / or components of the described embodiments can be used singly or in any combination. The specification and specific examples are merely exemplary, and the scope and spirit of the invention are indicated in the following claims.

DESCRIPTION OF SYMBOLS 100 ... Mobile terminal device 101 ... Acceleration sensor 102 ... Gyro sensor 103 ... Satellite signal receiver 104 ... Auxiliary storage device 1041 ... Sensor data storage area 1042 ... Satellite signal data storage Area 1043 ... Satellite signal pattern storage area 1044 ... Map data storage area 1045 ... Indoor wireless signal data storage area 105 ... Processor 106 ... Memory 1061 ... Sensor data acquisition program 1062 ... Satellite signal acquisition program 1063 ... Outdoor positioning program 1064 ... Indoor positioning program 106401 ... Indoor positioning program 106402 for pedestrians ... Indoor positioning program 106403 when riding ... Indoor positioning method determination program 1065 ... Indoor / outdoor transition determination program 10651 Indoor / outdoor transition first determination program 10552... Indoor / outdoor transition second determination program 1066... Indoor / outdoor positioning correction program 1067 .. walking trajectory evaluation program 107 .. communication interface 108 .. wireless signal receiver 200 ... Server apparatus 201 ... Processor 202 ... Memory 2021 ... Walking trajectory estimation program 2022 ... Work analysis program 203 ... Auxiliary storage device 2031 ... Building data storage area 2032 ... Sensor Data storage area 2033 ... Satellite data storage area 2034 ... Trajectory data storage area 204 ... Communication interface 300 ... Network

Claims (12)

An acceleration sensor;
Gyro sensor,
A satellite signal receiver;
A storage device for storing sensor data detected by the acceleration sensor and the gyro sensor, and satellite signal data received by the satellite signal receiver;
A processor that generates an outdoor trajectory using the satellite signal data and an indoor trajectory using the sensor data;
The processor is
By monitoring the value of the satellite signal data to identify the point at which the attenuation value of the satellite signal data is started, admission mobile terminal device indoors when the value of the satellite signal data is attenuated to a predetermined value Determining that the acceleration sensor and the gyro sensor are activated, and
A process of generating an indoor trajectory using the sensor data from the sensor activation point;
By using the data of the indoor trajectory of the outdoor trajectory data, and the sensor activation time subsequent to the point where the attenuation value of the satellite signal data is started, the terms attenuation value of the satellite signal data starts A process of generating an interpolation trajectory by interpolating the trajectory up to the sensor activation point;
A process of combining the outdoor locus, the indoor locus, and the interpolation locus to output an indoor / outdoor seamless locus;
An information processing system characterized by executing In claim 1,
Wherein the processor, the direction information of the outdoor track at the point where the attenuation value of the satellite signal data starts estimated to be moving direction in the sensor startup time, the sensor data using the direction information as a reference An information processing system for generating the indoor locus. In claim 1,
The storage device further stores attenuation pattern data of satellite signals,
The processor compares the satellite signal data with the attenuation pattern data, and uses the comparison result, and before the value of the satellite signal data attenuates to the predetermined value, the mobile terminal device enters the room indoors. An information processing system characterized by determining. An acceleration sensor;
Gyro sensor,
A satellite signal receiver;
A storage device for storing sensor data detected by the acceleration sensor and the gyro sensor, and satellite signal data received by the satellite signal receiver;
A processor that generates an outdoor trajectory using the satellite signal data and an indoor trajectory using the sensor data;
The processor is
By monitoring the value of the satellite signal data to identify the point at which the attenuation value of the satellite signal data is to start, starts the gyro sensor and the acceleration sensor from the viewpoint of attenuating the value of the satellite signal data starts And processing to continue acquisition of the satellite signal data by the satellite signal receiver;
A process of determining that the mobile terminal device has entered the room when the value of the satellite signal data has attenuated to a predetermined value, and continuing the operation by the acceleration sensor and the gyro sensor;
A process of generating an indoor trajectory using the sensor data from the sensor activation point;
By using the data of the indoor trajectory of the outdoor trajectory data, and the sensor activation time subsequent to the point where the attenuation value of the satellite signal data is started, the terms attenuation value of the satellite signal data starts A process of generating an interpolation trajectory by interpolating the trajectory up to the sensor activation point;
A process of combining the outdoor locus, the indoor locus, and the interpolation locus to output an indoor / outdoor seamless locus;
An information processing system characterized by executing In claim 4,
The processor further performs an operation of the acceleration sensor and the gyro sensor when the acquisition of the satellite signal data is continued without damaging the value of the satellite signal data to the predetermined value after the sensor activation time. An information processing system that executes a process to be stopped. In claim 1,
The storage device further stores map data having building entrance information,
The processor obtains the entrance coordinates of the corresponding building from the map data, and generates the outdoor locus by matching the coordinates of the point where the attenuation of the value of the satellite signal data starts with the entrance coordinates of the building. An information processing system that generates the interpolation trajectory using this. In claim 1,
Furthermore, it has a radio receiver that receives radio signals from a base station installed indoors,
The storage device further stores base station coordinate data indicating the installation location of the base station,
The processor generates a plurality of indoor trajectory candidates based on a plurality of environmental parameters in the process of generating the indoor trajectory, obtains a distance between the coordinate data on each indoor trajectory candidate and the base station coordinate data , An information processing system, wherein an optimum indoor locus is selected from the plurality of indoor locus candidates using information on the intensity of the wireless signal received by the wireless receiver and the distance. In claim 1,
In the process of generating the indoor locus, the processor determines whether the indoor movement is a walking movement or a vehicle movement using the data of the acceleration sensor, and based on the determination result, the positioning method during the walking movement and the vehicle movement time An information processing system for generating the indoor locus by switching between positioning methods. In claim 1,
In the process of generating the indoor trajectory, the processor acquires entrance and exit data of the corresponding building, generates a plurality of indoor trajectory candidates corresponding to a plurality of reference walking directions from the sensor activation time point, An information processing system characterized in that an indoor trajectory candidate end point coincides with the exit, and a trajectory having the closest distance between the start point of the indoor trajectory candidate and the entrance is defined as the indoor trajectory. In claim 9,
The information processing system, wherein the processor superimposes the indoor locus and the outdoor locus on a building map having entrance and exit data of the building and displays the same on a display unit. In claim 9,
The processor further analyzes a shape and / or a distance of each of the plurality of indoor and outdoor seamless trajectories, and executes processing for evaluating work efficiency of each trajectory. A method for generating a seamless locus indoors and outdoors using an information processing system having an acceleration sensor, a gyro sensor, a satellite signal receiver, and a processor,
The processor generates an outdoor trajectory using satellite signal data received by the satellite signal receiver;
The processor monitoring the satellite signal data value to identify a point where the satellite signal data value begins to decay;
The processor determines that the mobile terminal device has entered the room when the value of the satellite signal data has attenuated to a predetermined value, and activates the acceleration sensor and the gyro sensor;
The processor generates an indoor locus using sensor data from the acceleration sensor and the gyro sensor from a sensor activation time;
Said processor, data of the outdoor locus to the point where the attenuation value of the satellite signal data is to start, and using the data of the indoor trajectory of the sensor activation point on, the attenuation value of the satellite signal data is started Interpolating the trajectory from the point to be activated to the sensor activation point to generate an interpolated trajectory;
The processor combining the outdoor trajectory, the indoor trajectory, and the interpolation trajectory to output an indoor / outdoor seamless trajectory;
A method characterized by comprising:

Images