JP5966542B2 - Trajectory analysis apparatus and trajectory analysis program - Google Patents

Description

  The present disclosure relates to a trajectory analysis apparatus and a trajectory analysis program that analyze a relationship between a plurality of trajectories.

  As one of the techniques for acquiring the trajectory when the moving body moves, for example, the trajectory to the current position calculated based on the measured value of the acceleration sensor etc. by inertial navigation which is a kind of dead-reckoning There is a method to find For example, there is a technology for acquiring the trajectory of a person holding a mobile terminal by using such inertial navigation technology for the measurement value obtained by an acceleration sensor or an angular velocity sensor mounted on a mobile terminal such as a smartphone. It has been proposed (see Patent Document 1).

  In addition, as a technique for precisely identifying the position of the mobile terminal, the position of the mobile terminal is determined based on the reception intensity when the mobile terminal receives wireless signals from a plurality of wireless transmitters and the position of each wireless transmitter. A technique for calculating has been proposed (see Patent Document 2).

JP 2007-093433 A JP 2004-215258 A

  By the way, the trajectory of each mobile terminal obtained by the inertial navigation technique is calculated with reference to the initial position of each mobile terminal. For this reason, it is difficult to specify the relative positions of the trajectories acquired for each of the plurality of mobile terminals.

  On the other hand, in the process in which the user carrying each mobile terminal moves, at a plurality of points included in each movement route, for example, by acquiring position information using a positioning technique such as the technique of Patent Document 2 It is possible to indicate a plurality of trajectories in a common coordinate system.

  However, for example, when the accuracy of the position of the mobile terminal calculated by the technique of Patent Document 2 is several meters, the coordinates of a plurality of points included in each locus vary depending on the accuracy, and thus a plurality of trajectories. It is difficult to specify the relative position of each with high accuracy.

  An object of the present disclosure is to provide a trajectory analysis apparatus and a trajectory analysis program capable of specifying the relative positions of a plurality of trajectories with high accuracy.

  The trajectory analysis device according to one aspect is based on movement information that indicates in time series the displacement from the position at the start of movement and the declination from the direction at the start of movement for each of the plurality of terminal devices. A generation unit that generates a trajectory, a collection unit that collects intensity information indicating the intensity of a signal arriving at each terminal device from a signal source in time series, and intensity information collected for each terminal device by the collection unit From an estimation unit that estimates a reference time indicating a time at which each terminal device passes through a predetermined reference point based on a time change in signal strength indicated by: and a trajectory generated corresponding to each terminal device An extraction unit that extracts, as a reference range, a range in which the terminal device has moved during a predetermined period including a reference time corresponding to the terminal device, and a topology of the reference ranges extracted from the trajectories of the terminal devices By matching the characteristic, and a specifying unit for specifying the relative positions of the plurality of trajectories.

  Further, the trajectory analysis program according to another aspect is based on the movement information indicating the displacement from the position at the start of movement and the declination from the direction at the start of movement for each of the plurality of terminal devices in time series. The time of the signal strength indicated by the strength information collected for each terminal device is generated by generating a trajectory of the device, collecting strength information indicating the strength of the signal arriving at each terminal device from the signal source in time series. Based on the change, a reference time indicating a time when each terminal device passes through a predetermined reference point is estimated, and a reference time corresponding to the terminal device is included from a trajectory generated corresponding to each terminal device. A range in which the terminal device has moved during a predetermined period is extracted as a reference range, and the topological features of the reference ranges extracted from the trajectories of the terminal devices are collated. To execute a process for specifying a location on a computer.

  According to the trajectory analysis device and the trajectory analysis program of the present disclosure, the relative positions of a plurality of trajectories can be specified with high accuracy.

It is a figure which shows one Embodiment of a locus | trajectory analysis apparatus. 3 is a diagram illustrating an arrangement example of signal sources R. FIG. It is a figure which shows the example of the intensity | strength change of the signal which the terminal device UE which is moving. It is a figure which shows the example of a reference range. It is a figure explaining topology matching. It is a figure which shows another embodiment of a locus | trajectory analysis apparatus. It is a figure which shows the example of movement information. It is a figure which shows the example of intensity | strength information. It is a figure which shows the example of the estimation result of reference time. It is a figure which shows another embodiment of a locus | trajectory analysis apparatus. It is a figure which shows the example of the arrangement | sequence of the linear area obtained by dividing | segmenting a locus | trajectory. It is a figure explaining the detection of a dividing point. It is a figure which shows the example of the information which shows a dividing point. FIG. 6 is a diagram (part 1) illustrating an example of a travel route. FIG. 10 is a second diagram illustrating an example of a movement route. It is a figure which shows the example of a dividing point (the 1). It is a figure which shows the example of a dividing point (the 2). FIG. 6 is a diagram (part 3) illustrating an example of division points. It is a figure which shows the example of arrangement | sequence data. It is a figure which shows the example of calculation of an evaluation value. It is a figure explaining coordinate transformation. It is FIG. (1) which shows the example which specified the relative position. It is FIG. (2) which shows the example which specified the relative position. It is FIG. (3) which shows the example which specified the relative position. It is a figure explaining the subject of topology matching. It is a figure which shows the hardware structural example of a locus | trajectory analysis apparatus. It is a figure which shows the example of the flowchart of a locus | trajectory analysis process. It is a figure which shows the example of the flowchart of the process which estimates reference time. It is a figure which shows the example of the flowchart of the process which extracts a reference range. It is a figure which shows the example of the flowchart of the topology matching process of a reference range.

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

  FIG. 1 shows an embodiment of a trajectory analysis apparatus. The trajectory analysis apparatus 10 illustrated in FIG. 1 performs an analysis process described later on trajectories Tr1, Tr2,... Obtained by inertial navigation for a moving body such as a person possessing a plurality of terminal devices including the terminal devices UE1 and UE2. Thus, the relative positions of the trajectories Tr1, Tr2,.

  A plurality of terminal devices including the terminal devices UE1 and UE2 illustrated in FIG. 1 are portable terminals such as smartphones, for example, and information necessary for generating the trajectories Tr1, Tr2,... Is passed to the trajectory analysis apparatus 10. Note that the trajectories Tr1, Tr2,... Of each mobile object may correspond to, for example, a route in which one person moves in different time zones.

  In the following description, when collectively referring to a plurality of terminal devices including the terminal devices UE1 and UE2, they are simply referred to as a terminal device UE. Moreover, when generically referring to the trajectory corresponding to each of the plurality of terminal apparatuses UE, it is simply referred to as a trajectory Tr.

  The trajectory analysis apparatus 10 includes a generation unit 11, a collection unit 12, an estimation unit 13, an extraction unit 14, and a specification unit 15. Moreover, the code | symbol R shown in FIG. 1 is the signal source arrange | positioned in the predetermined place.

  The generation unit 11 receives, from each terminal device UE, movement information indicating in time series the displacement from the position at the start of movement of the mobile object carrying the terminal device UE and the declination from the direction at the start of movement, Based on the received movement information, a trajectory Tr of each terminal apparatus UE is generated.

  The collection unit 12 receives, from each terminal apparatus UE, intensity information indicating the intensity of the signal arriving at each terminal apparatus UE from the signal source R described above, and collects the intensity information corresponding to each terminal apparatus UE.

  The estimation unit 13 determines the time at which each terminal apparatus UE has passed a predetermined reference point corresponding to the signal source R based on the time change of the intensity information collected corresponding to each terminal apparatus UE. Is estimated as a reference time corresponding to.

  Here, an example of the arrangement of the signal source R suitable for analyzing the trajectory of the moving body in the building, and an example of the reference point designated by the position based on the signal source R in the arrangement example will be described with reference to FIG. This will be described with reference to FIG.

  FIG. 2 shows an arrangement example of the signal source R. In FIG. 2, the code | symbol C1 has shown the comparatively big room where a several person stays like an office. Reference numerals C2, C3, C4, and C5 indicate small rooms such as meeting corners, and reference numerals C6 and C7 indicate rooms having specific functions such as a toilet and an elevator, for example. The rooms C1 to C7 shown in FIG. 2 all face the hallway Hw, and can go to and from each other by passing through the hallway Hw.

  In FIG. 2, reference signs Tr <b> 1 and Tr <b> 2 are examples of routes along which the person carrying each terminal device UE has moved when the traces Tr <b> 1 and Tr <b> 2 of the terminal devices UE <b> 1 and UE <b> 2 shown in FIG. 2 includes a process of entering the room C1 from the outside of the room C1, and passes through the path from the outside to the room C1 and the entrance / exit EN. Are common.

  In the example of FIG. 2, for example, a signal source R such as a wireless LAN (Local Area Network) access point is installed in the room C1. Thus, the signal from the signal source R installed in the room C1 is blocked by the wall of the room C1. For this reason, the signal strength received by the terminal device UE possessed by the person outside the room C1 is weaker than the signal strength received by the terminal device UE possessed by the person staying inside the room C1. It is.

  FIG. 3 illustrates an example of a change in strength of a signal received by the moving terminal apparatus UE. The horizontal axis in FIG. 3 indicates time t, and the vertical axis indicates the signal strength P.

  Moreover, the code | symbol Pt1 shown in FIG. 3 has shown the example of the graph showing the intensity | strength change of the signal which the terminal device UE received in the process in which the terminal device UE moves along the movement path | route Tr1 shown in FIG. .

  The graph Pt1 of the change in the intensity of the signal corresponding to the movement path Tr1 shows that the reception intensity increases rapidly before and after the time Te1, after the reception signal continues to be weak from the start of movement to before the time Te1, It shows that the state where the reception intensity is high has continued.

  As described above, since the signal from the signal source R is weak outside the room C1, the terminal apparatus UE does not perform the period when the intensity of the received signal is weak, such as the period up to the time Te1 of the graph Pt1. It can be estimated that it is a period of moving outside the room C1. On the other hand, since the signal from the signal source R is relatively large in the room C1, the terminal apparatus UE is in the room C1 during the period in which the received signal strength is high, such as the period after the time Te1. It can be estimated that this is a period during which the user is moving inside.

  Therefore, as shown in the graph Pt1 shown in FIG. 3, when the intensity of the received signal from the signal source R increases, the terminal apparatus UE passes through the entrance / exit EN at the time Te1 when the intensity changes, and the room C1 Can be estimated to have entered Similarly, when the strength of the received signal from the signal source R decreases, it can be estimated that the terminal device UE has passed through the entrance / exit EN and has exited the room C1 at the time when the strength change falls.

  That is, the estimation unit 13 illustrated in FIG. 1 can estimate the time when the person carrying the terminal device UE passes through the entrance / exit EN based on the intensity change of the signal received by the terminal device UE from the signal source R. . The entrance / exit EN of the room C1 is an example of a reference point whose position can be specified with the signal source R as a reference.

  Here, since the entrance / exit EN of the room C1 is a point where the person entering / exiting the room C1 always passes, the movement path of the person who stops by the room C1 in the process of moving in the building is concentrated near the entrance / exit EN. To do. Therefore, using the point where the moving route converges as the entrance EN of the room C1 as the reference point is useful for achieving the purpose of analyzing the trajectory of a moving body such as a person in the building.

  The estimation unit 13 may detect, for example, the time when the strength of the signal received by the terminal device UE from the signal source R has changed over a predetermined threshold Pth based on the strength information collected by the collection unit 12. . And the estimation part 13 is good also considering the time detected based on the threshold value Pth as an estimation result of the time when the terminal device UE passed the entrance / exit EN.

  The value of the threshold value Pth used by the estimation unit 13 for comparison with the signal strength is set to a value smaller than the minimum value Pm of the signal strength received by the terminal apparatus UE from the signal source R in the room C1, for example, by a predetermined value. It is desirable to do. Further, the minimum value Pm of the signal strength inside the room C1 can be determined in advance based on, for example, the time change of the signal strength received by the terminal device UE from the signal source R inside the room C1. Note that the signal intensity inside the room C1 has a large temporal fluctuation. For this reason, when determining the minimum value Pm, it is desirable to reduce the influence of fluctuation by calculating a moving average over a predetermined number of samples.

  As described above, for example, the estimation unit 13 performs the time when the terminal devices UE1 and UE2 have passed through the entrance / exit EN in the course of the movement of the terminal devices UE1 and UE2 along the movement paths Tr1 and Tr2 illustrated in FIG. Each reference time indicating is estimated.

  Based on the reference time estimated in this way, the extraction unit 14 illustrated in FIG. 1 includes a predetermined time including a reference time corresponding to the terminal device UE from the trajectory Tr generated corresponding to each terminal device UE. The range in which the terminal device UE has moved during the period is extracted as a reference range. Note that the predetermined period including the reference time may be set to, for example, several seconds to several tens of seconds before and after the reference time.

  The extraction unit 14, for example, from a point on the locus Tr indicating the position of the terminal device UE at the start time of the predetermined period including the reference time, the locus Tr indicating the position of the terminal device UE at the end time of the predetermined period described above. The range up to the upper point is extracted as a reference range.

  FIG. 4 shows an example of the reference range extracted from the trajectories Tr1 and Tr2. In FIG. 4, coordinate axes X1 and Y1 indicate a coordinate system based on the position of the terminal device UE1 at the start of movement. In FIG. 4, coordinate axes X2 and Y2 indicate a coordinate system based on the position of the terminal device UE2 at the start of movement.

  FIG. 4A shows a trajectory Tr1 generated based on movement information from the terminal device UE1. In FIG. 4A, the code EP1 indicates the position on the trajectory Tr1 of the terminal device UE1 at the reference time estimated by the estimation unit 13 based on the intensity information collected in the process of acquiring the trajectory Tr1. Yes. Here, the reference time mentioned above has shown the time when the terminal device UE1 passed the entrance / exit EN of the room C1 shown in FIG. Further, reference sign Q1_S indicates the start point of the reference range extracted by the extraction unit 14 for the trajectory Tr1, and reference sign Q1_E indicates the end point of the reference range extracted by the extraction unit 14 for the trajectory Tr1.

  FIG. 4B shows a trajectory Tr2 generated based on movement information from the terminal device UE2. In FIG. 4 (B), the code | symbol EP2 shows the position on the locus | trajectory Tr2 of the terminal device UE2 in the reference time which the estimation part 13 mentioned above estimated based on the intensity | strength information collected in the process of acquiring locus | trajectory Tr2. Yes. Here, the reference time mentioned above has shown the time when the terminal device UE2 passed the entrance / exit EN of the room C1 shown in FIG. Further, reference sign Q2_S indicates the start point of the reference range extracted by the extraction unit 14 for the trajectory Tr2, and reference sign Q2_E indicates the end point of the reference range extracted by the extraction unit 14 for the trajectory Tr2.

  As described above, the estimation unit 13 illustrated in FIG. 1 specifies, as the reference time, the time estimated that each of the terminal devices UE1 and UE2 has passed through the doorway EN of the room C1 illustrated in FIG. ing. Accordingly, the positions on the trajectories Tr1 and Tr2 indicated by the reference numerals EP1 and EP2 in FIGS. 4A and 4B respectively correspond to the position of the entrance / exit EN shown in FIG. That is, the trajectory Tr1 and the trajectory Tr2 can overlap each other in at least a part of the section including the entrance / exit EN described above.

  Here, how at least a part of two figures is superimposed can be specified by topology matching that matches the topological features of the figures. As a method for performing topology matching for a curve such as a trajectory, for example, a method in which a trajectory is divided into a plurality of straight line sections, and the arrangement order of the lengths of the individual straight line sections is collated as a topological feature, Previously proposed by the present applicant (Japanese Patent Application No. 2010-290956). However, when the technique of Japanese Patent Application No. 2010-290956 is used to specify the relative positions between a plurality of trajectories, the number of combinations of arrangements to be collated is large because of the high degree of freedom of superposition. Become. As a result, the amount of calculation for the topology matching processing becomes enormous, and the analysis processing takes time.

  When the specifying unit 15 illustrated in FIG. 1 specifies the relative positions of a plurality of trajectories, the range to be subjected to topology matching is extracted from the trajectory Tr of each terminal device UE by the extraction unit 14 described above. By limiting to the reference range, the above-described problems are solved.

  For example, the specifying unit 15 divides the reference range extracted for the trajectories Tr1 and Tr2 by the extracting unit 14 into a plurality of straight line segments as shown in FIG. 5 and based on the result of collating the lengths of these straight line segments. The relative positions of the trajectories Tr1 and Tr2 may be specified.

  FIG. 5 is a diagram for explaining topology matching. Note that among the elements shown in FIG. 5, elements equivalent to those shown in FIG. 4 are denoted by the same reference numerals, and description thereof is omitted.

  FIG. 5A shows the trajectory Tr1 and the trajectory Tr2 in the same coordinate system. In FIG. 5A, reference numerals Q1_1, Q1_2, Q1_3, and Q1_4 indicate inflection points of the trajectory Tr1 included in the reference range extracted from the trajectory Tr1. Similarly, reference numerals Q2_1, Q2_2, Q2_3, and Q2_4 indicate inflection points of the trajectory Tr2 included in the reference range extracted from the trajectory Tr2.

  The identification unit 15 shown in FIG. 1 collates the distance between the bending points shown for the trajectories Tr1 and Tr2 in FIG. 5A as a topological feature. Here, as a result of this collation, for example, the distance between the bending points Q1_1 and Q1_2 and the distance between the bending points Q2_1 and Q2_2 substantially coincide, and further, the distance between the bending points Q1_2 and Q1_3 and the distance between the bending points Q2_2 and Q2_3. The case where they are almost identical will be described.

  In this case, the specifying unit 15 determines that the section from the bending point Q1_1 to the bending point Q1_3 of the trajectory Tr1 and the section from the bending point Q2_1 to the bending point Q2_3 of the trajectory Tr2 overlap each other.

  At this time, the specifying unit 15 performs, for example, coordinate transformation such that the coordinates of the bending points Q2_1, Q2_2, and Q2_3 of the trajectory Tr2 are superimposed on the bending points Q1_1, Q1_2, and Q1_3 of the trajectory Tr1. , Tr2 are overlapped.

  FIG. 5B shows two trajectories Tr1 and Tr2 superimposed by the coordinate conversion described above.

  By repeating the same procedure, it is also possible to specify relative positions for a plurality of trajectories Tr corresponding to two or more movement paths.

  In this way, the specifying unit 15 illustrated in FIG. 1 performs the above-described topology matching process on the reference range of the trajectory Tr obtained for each terminal device UE, thereby relative positions between the trajectories. Can be specified.

  As shown in FIG. 2, the movement path passing through the outdoor corridor has more linear parts than the movement path in the room. In addition, since many indoor passages are set in a lattice pattern, there are many portions whose lengths are approximated in the straight portions included in the indoor movement path. On the other hand, since the corridor portion is rarely designed in a lattice shape, the lengths of the individual straight portions included in the movement path passing through the corridor are often different from each other. Therefore, topology matching focusing on the distance of the straight section as described above is very useful for analyzing the trajectory of a person or the like in a building.

  Here, the combination of the arrangements to be collated by the specifying unit 15 by the topology matching is only the reference range extracted based on the estimation result by the estimation unit 13 described above. In other words, the range in which the specifying unit 15 performs the topology matching has already been narrowed compared to the case where the entire two trajectories are to be collated. Therefore, according to the trajectory analysis apparatus 10 including the estimation unit 13, the extraction unit 14, and the specification unit 15 illustrated in FIG. 1, it is possible to solve the problem in the case of performing topology matching over the plurality of trajectories Tr. That is, according to the trajectory analysis device 10 disclosed herein, it is possible to specify the relative positions between a plurality of trajectories with a small amount of calculation. Note that preferred embodiments of the extracting unit 14 and the specifying unit 15 will be described later in carrying out the topology matching focusing on the distance between the straight sections described above.

  In addition, the estimation part 13 contained in the locus | trajectory analysis apparatus 10 of this indication is each signal based on the intensity | strength change of the signal which the terminal device UE received from the several signal source R arrange | positioned in the separate place in a building. A reference time corresponding to the source R can be estimated. Further, in this way, based on the reference time estimated for each signal source R, the extraction unit 14 can extract a reference range corresponding to each signal source R from each trajectory.

  For example, when both of the two trajectories pass through the reference points corresponding to two or more signal sources R in common, the topology matching processing is performed on the reference ranges corresponding to these reference value points, respectively. The relative position can be specified with higher accuracy.

  Further, the estimation unit 13 illustrated in FIG. 1 determines the time at which the terminal device UE has passed through the reference point corresponding to the signal source R based on the characteristics of the time change of the signal strength received by the terminal device UE from the signal source R. The reference point is not limited to the doorway to the room where the signal source R is arranged. For example, when the signal source R ′ is arranged on the ceiling of the branch point CP of the hallway Hw shown in FIG. 2, the estimation unit 13 determines the timing at which the signal intensity from the signal source R ′ becomes maximum, You may estimate as the time which passed the branch point CP of the corridor Hw.

  Next, an embodiment suitable for the case where a portable terminal such as a smartphone that has been spreading in recent years is used as the terminal device UE will be described with reference to FIGS.

  FIG. 6 shows another embodiment of the trajectory analysis apparatus 10. 6 that are the same as those shown in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.

  The terminal devices UE1 and UE2 illustrated in FIG. 6 are portable terminals such as smartphones, for example, and include an acceleration sensor 1, an angular velocity sensor 2, a movement information calculation unit 3, a communication processing unit 4, and a signal strength measurement unit 5. Including. Although illustration is abbreviate | omitted in the example of FIG. 6, the terminal device UE2 and other terminal devices are also the acceleration sensor 1, the angular velocity sensor 2, the movement information calculation part 3, and the communication processing part similarly to the terminal device UE1. 4 and a signal intensity measuring unit 5 are included.

  The wireless LAN access point AP shown in FIG. 6 is an example of the signal source R. Further, the communication processing unit 4 shown in FIG. 6 is connected to the network NW via a wireless LAN access point including the above-described wireless LAN access point AP and a wireless base station (BS: Base Station) of the third generation mobile phone network. Has a function to connect.

  The movement information calculation unit 3 illustrated in FIG. 6 is based on the measurement values obtained by the acceleration sensor 1 and the angular velocity sensor 2 respectively, and coordinates indicating a position based on the position at the start of movement of the terminal device UE and the movement start time Is calculated at a predetermined sampling interval. Further, the movement information calculation unit 3 sends movement information including the calculated coordinates and declination to the trajectory analysis device 10 via the communication processing unit 4 together with the time when the measurement value used for the calculation is acquired. The interval at which the movement information calculation unit 3 sends the movement information may be the same as the sampling interval described above, or a plurality of calculation results may be sent together.

  The signal strength measuring unit 5 measures the strength of signals received by the communication processing unit 4 from each signal source including the wireless LAN access point AP at a predetermined sampling interval. In addition, the signal strength measuring unit 5 performs communication processing on the BSSID (Basic Service Set IDentifier) for identifying each signal source, the signal strength obtained by the measurement for each signal source, and the time at which the measurement was performed. It is sent to the trajectory analysis device 10 via the unit 4. The sampling interval at which the signal intensity measurement unit 5 measures the signal intensity may be the same as or shorter than the sampling interval at which the movement information calculation unit 3 described above calculates movement information. Further, the signal strength measuring unit 5 may send a result obtained by performing a moving average on a plurality of measurement results as a signal strength measurement result. In addition, the interval at which the signal intensity measurement unit 5 transmits the intensity information may be the same as the sampling interval for measuring the signal intensity, or a plurality of measurement results may be transmitted collectively.

  The trajectory analysis apparatus 10 illustrated in FIG. 6 is connected to the network NW via the communication processing unit 16. 6 includes a movement information extraction unit 111, a trajectory database 112, and a trajectory calculation unit 113, and the collection unit 12 includes an intensity information extraction unit 121, intensity information, and the like. Holding part 122.

  The movement information extraction unit 111 extracts movement information transmitted by the movement information calculation unit 3 of each terminal device UE from information received by the communication processing unit 16 from each terminal device UE. The movement information extraction unit 111 stores the extracted movement information in the trajectory database 112 as part of information related to the trajectory of each terminal apparatus UE.

  FIG. 7 shows an example of movement information. In FIG. 7, codes Mv1 and Mv2 indicate examples of movement information collected from the terminal devices UE1 and UE2, respectively. In addition, although illustration is abbreviate | omitted in FIG. 7, the locus | trajectory database 112 hold | maintains the movement information collected from the other terminal device UE similarly.

  The movement information Mv1 illustrated in FIG. 7 is calculated based on the measurement value of the sample number j corresponding to the sample number j indicating the acquisition order of the measurement values used for calculating the movement information in the terminal device UE1. It includes an X coordinate X (j) and a Y coordinate Y (j) indicating the position, and a declination angle θ (j). In the example of FIG. 7, the movement information Mv1 includes a time different by 1 second corresponding to the sampling interval corresponding to the sample numbers j, j + 1, and j + 2.

  The trajectory calculation unit 113 illustrated in FIG. 6 calculates a trajectory that connects the positions indicated by the coordinates corresponding to the sample numbers with a smooth curve, based on the movement information as described above. In addition, the trajectory calculation unit 113 stores information representing the trajectory calculated for each terminal device UE in the trajectory database 112.

  Instead of providing the movement information calculation unit 3 in each terminal device UE, the generation unit 11 of the trajectory analysis device 10 is provided with a processing unit having the same function as the movement information calculation unit 3, and the acceleration collected from each terminal device UE. The movement information may be calculated from the measured values of the sensor 1 and the angular velocity sensor 2.

  Moreover, the strength information extraction unit 121 illustrated in FIG. 6 extracts the strength information transmitted by the signal strength measurement unit 5 of each terminal device UE from information received by the communication processing unit 16 from each terminal device UE. The strength information extraction unit 121 stores the extracted strength information in the strength information holding unit 122 for each terminal device UE.

  FIG. 8 shows an example of intensity information. In FIG. 8, symbols Sd1 and Sd2 indicate examples of intensity information collected from the terminal devices UE1 and UE2, respectively. In addition, although illustration is abbreviate | omitted in FIG. 8, the intensity | strength information holding | maintenance part 122 is similarly hold | maintaining the intensity | strength information collected from the other terminal device UE.

  The strength information Sd1 shown in FIG. 8 is obtained for each BSSID indicating the source of the signal arriving at the terminal device UE1, corresponding to the sample number j indicating the acquisition order of the measured values of the signal strength. Includes measurements. For example, the strength information Sd1 includes a measurement value D1 (j) indicating the signal strength corresponding to the sample number j for BSSID1 indicating the wireless LAN access point AP shown in FIG. Similarly, when the terminal apparatus UE1 receives a signal from a signal source other than the wireless LAN access point AP shown in FIG. 6, the strength information Sd1 includes each sample number for BSSID indicating another signal source. A measurement value indicating the signal intensity corresponding to j is also included. In the example of FIG. 8, the intensity information Sd1 includes a different time by one second corresponding to the sampling interval corresponding to the sample numbers j, j + 1, and j + 2.

  The estimation unit 13 illustrated in FIG. 6 includes a detection unit 131 and a threshold table 132. The threshold value table 132 holds threshold values for determining the reference points corresponding to each signal source R, corresponding to each signal source R including the wireless LAN access point AP shown in FIG. For example, the threshold value table 132 holds a numerical value indicating the signal intensity corresponding to the threshold value Pth illustrated in FIG. 3 corresponding to the BSSID that identifies each signal source R.

  When the information indicating the time change of the signal strength for the plurality of signal sources R is held in the strength information holding unit 122, the detection unit 131 refers to the measurement value indicating the signal strength corresponding to each BSSID. In addition, the threshold value Pth corresponding to the BSSID is acquired from the threshold value table 132. The detection unit 131 compares the acquired threshold value Pth with the measurement value stored in the intensity information storage unit 122 corresponding to each sample number, whereby the terminal device UE receives the signal from the signal source R indicated by each BSSID. The time when the intensity of the signal changed changes across the threshold value Pth described above is searched. The detecting unit 131 includes the time detected in the search process described above as a reference time, creates information associated with the BSSID described above, and uses the created information as a part of information related to the trajectory database. 112 may be added. The estimation unit 13 including such a detection unit 131 uses the trajectory database 112 to calculate an estimation result for a reference time at which each terminal apparatus UE is estimated to have passed through a reference point corresponding to each signal source R. It can be passed to the extraction unit 14.

  FIG. 9 shows an example of a reference time estimation result. Note that among the elements shown in FIG. 9, elements equivalent to those shown in FIGS. 1 and 6 are denoted by the same reference numerals and description thereof is omitted.

  The example of FIG. 9 indicates that, in the process of acquiring the trajectory Tr1 of the terminal device UE1, it is estimated that the terminal device UE1 has passed the reference point corresponding to the signal source R indicated by BSSID1 at time Te1_1. ing. Similarly, in the example of FIG. 9, in the process of acquiring the trajectory Tr2 of the terminal device UE2, the reference time at which the terminal device UE2 is estimated to have passed through the reference point corresponding to the signal source R similarly indicated by BSSID1 is obtained. This indicates that the time is Te2_1.

  As shown in FIG. 2, in addition to the signal source R arranged in the room C1, when the signal source R ′ is arranged at the branch point CP of the hallway Hw, the detection unit 131 moves along the trajectory Tr1. A reference time corresponding to the signal source R ′ is further detected from the corresponding intensity information. In this case, the detection unit 131 may add information indicating a set of the BSSID indicating the signal source R ′ and the reference time to the table of FIG. 9. The same applies to the case where the reference time corresponding to the signal source R ′ is detected from the intensity information corresponding to the trajectory Tr2.

  In this way, the estimation unit 13 illustrated in FIG. 6 is the time when the terminal device UE receives the signal intensity from the plurality of signal sources R and passes through the reference point corresponding to each signal source R with respect to the time change of the signal strength. Can be estimated.

  The extraction unit 14 illustrated in FIG. 6 acquires information indicating the trajectory of each terminal device UE and information indicating the reference time obtained by the estimation unit 13 for each terminal device UE by referring to the trajectory database 112. . The extraction unit 14 extracts a reference range corresponding to each signal source for each trajectory based on the acquired information. Further, the extraction unit 14 may add information indicating the extracted reference range to the trajectory database 112 as information related to the trajectory as described later.

  When the information indicating the reference range obtained by the extraction unit 14 is added to the trajectory database 112, the specifying unit 15 refers to the trajectory database 112, thereby indicating the information indicating the reference range and the information indicating the trajectory. Can be obtained. The specifying unit 15 performs the above-described topology matching process based on the information acquired from the trajectory database 112. In addition, for example, when the coordinate conversion is performed using the topology matching processing result, the specifying unit 15 adds information representing the locus after the coordinate conversion to the locus database 112, so that the relative position of each locus is determined. The result of specifying the relationship may be output.

As described above, according to the trajectory analysis apparatus 10 shown in FIG. 6, it is possible to collect movement information and strength information using the functions of portable terminals and functions of existing wireless LAN access points that are widely spread.
Further, according to the estimation unit 13 including the detection unit 131 illustrated in FIG. 6, the time when the terminal device UE passes through the reference point corresponding to the signal source is used as the signal strength measurement value and the signal source included in the strength information. It is possible to estimate by a simple process based on comparison with a corresponding threshold value.

  Next, an embodiment of the extraction unit 14 and the specification unit 15 suitable for performing the topology matching process focusing on the length of the straight section will be described.

  FIG. 10 shows another embodiment of the trajectory analysis apparatus 10. 10 that are the same as those shown in FIG. 6 are given the same reference numerals, and descriptions thereof are omitted.

  The extraction unit 14 illustrated in FIG. 10 includes a division unit 141 and a determination unit 142. The identification unit 15 illustrated in FIG. 10 includes a calculation unit 151, a determination unit 152, a coordinate conversion unit 153, and a reading unit 154. The division unit 141, the determination unit 142, the reading unit 154, and the coordinate conversion unit 153 acquire information necessary for each process from the trajectory database 112 and store each processing result in the trajectory database 112. .

  The dividing unit 141 divides the trajectory Tr of each terminal apparatus UE held in the trajectory database 112 into a plurality of straight sections. The dividing unit 141 detects, for example, a point where the locus Tr is bent as shown in FIGS. 11 and 12 based on information representing the locus Tr and corresponding movement information, and the detected point is divided. The trajectory Tr is divided as follows.

  FIG. 11 shows an example of a straight section obtained by dividing the trajectory. In FIG. 11, symbols P1_S and P1_E indicate the end points of the locus Tr1. Further, symbols P1_1, P1_2, P1_3, P1_4, P1_5, P1_6, P1_6, and P1_7 indicate division points detected as described later from the trajectory Tr1.

  FIG. 11A shows the arrangement on the locus Tr1 of each division point detected from the locus Tr1 by the dividing unit 141 shown in FIG. FIG. 11B shows an example of a straight section obtained for the locus Tr1. For example, the division unit 141 detects these division points using a technique as shown in FIG. 12 based on the time change of the change amount dθ per predetermined time of the deflection angle θ (t) included in the movement information. .

  FIG. 12 is a diagram illustrating detection of division points. Of the elements shown in FIG. 12, the same elements as those shown in FIG. 11 are designated by the same reference numerals, and the description thereof is omitted.

  FIG. 12A shows an example of a time change of the change amount dθ per predetermined time of the declination θ (t) included in the movement information.

  The division unit 141 illustrated in FIG. 10 includes a change amount calculation unit 143 and a division point detection unit 144.

  For example, the change amount calculation unit 143 calculates the change amount dθ between the deviation angle θ (t) at time t of the movement information included in the trajectory database 112 and the deviation angle θ (t + τ) at time t + τ after a predetermined time τ. The declination corresponding to each sample number is obtained. The predetermined time τ described above is desirably set to about 2 seconds, for example, in consideration of the time required for a moving body such as a person to move around a corner of the hallway. By applying the predetermined time τ set in this way and obtaining the change amount dθ as described above, the person holding the terminal device UE has a large value when the direction of movement is changed. Can be obtained. On the other hand, an instantaneous change in posture does not appear as a change in the amount of change dθ. Therefore, by paying attention to the time change of the change amount dθ as described above, it is possible to detect the change in the moving direction with high accuracy without being influenced by the fluctuation of the posture of the moving person.

  The dividing point detection unit 144 detects, as a dividing point, a location where the moving direction has changed more than a predetermined angle in the corresponding trajectory Tr based on the temporal change of the change amount dθ thus obtained.

  First, as shown in FIG. 12A, the dividing point detection unit 144 takes a time tp when the absolute value of the change amount dθ exceeds 45 degrees and the change amount dθ becomes a maximum or minimum. It is detected as a time indicating a point where Tr is bent.

  The time tp detected in this way corresponds to, for example, the time at which the person carrying the terminal device UE starts turning, and the time tp + τ after the predetermined time τ of the time tp is, for example, Corresponds to the time when the turn is finished. That is, the trajectory from time tp to time τ detected as described above includes an optimum point as a dividing point when the trajectory Tr is divided into a plurality of linear sections.

  FIG. 12B shows an example of a method in which the dividing point detection unit 144 specifies the dividing point from the range of the locus specified based on the above-described time tp. In FIG. 12B, a symbol Q (tp) indicates a point on the locus Tr1 corresponding to the time tp, and a symbol Q (tp + τ) indicates a point on the locus Tr1 corresponding to the time tp + τ.

  The dividing point detection unit 144, for example, a straight line connecting the point Q (tp) and the point Q (tp + τ) shown in FIG. 12B and a locus from the point Q (tp) to the point Q (tp + τ). The distance to each point on Tr1 is calculated, and the point with the largest distance is specified as the division point P1_2. At this time, the division point detection unit 144 may specify the time T1_2 that passes through the division point P1_2 together with the coordinates indicating the position of the division point P1_2 based on the information representing the trajectory Tr1.

  Similarly, the dividing point detection unit 144 can specify the coordinates and passage time for each dividing point shown in FIG. In this way, the division point detection unit 144 identifies each division point, and thus, based on the end point P1_S of the trajectory Tr1 described above, each division point, and another end point P1_E of the trajectory Tr1, a plurality of division points are detected. A straight section can be generated.

  FIG. 11B shows an example of the straight section obtained for the locus Tr1 in this way. In FIG. 11B, reference numerals S1_1, S1_2, S1_3, S1_4, S1_5, S1_6, S1_7, and S1_8 denote straight sections.

  Similarly, the dividing unit 141 including the change amount calculating unit 143 and the dividing point detecting unit 144 divides each locus Tr into a plurality of linear sections. In the process of dividing each trajectory Tr into a plurality of straight sections, the division point detection unit 144 may cause the trajectory database 112 to store information indicating each division point obtained for each trajectory Tr.

  FIG. 13 shows an example of information indicating division points. Note that among the elements shown in FIG. 13, the elements equivalent to those shown in FIG. 11 are denoted by the same reference numerals and description thereof is omitted.

  The example of FIG. 13 is an example in which information indicating a plurality of division points is arranged in accordance with the arrangement order in the trajectory Tr corresponding to the trajectory ID for identifying each trajectory Tr. For example, the dividing point 1 shown in FIG. 13 includes the dividing point ID indicating the dividing point P1_1 shown in FIG. 11, the passage time T1_1, and the coordinates (X1_1, Y1_1) of the dividing point P1_1. Similarly, the division point 2 includes a division point ID indicating the division point P2_1 illustrated in FIG. 11, a passage time, and coordinates of the division point P2_1. Similarly, information including the division point ID for identifying each division point shown in FIG. 11, the passage time indicating the time of passing through the division point, and the coordinates of the division point is information indicating each division point. Is stored in the trajectory database 112.

  Based on the information held in the trajectory database 112, the determination unit 142 illustrated in FIG. 10 includes a position on the trajectory Tr at the reference time of the terminal device UE from a plurality of straight sections obtained from each trajectory Tr. Determine the straight section.

  For example, the determination unit 142 acquires a reference time corresponding to each trajectory Tr by referring to the trajectory database 112. Further, the determination unit 142 refers to the information indicating the division points held in the trajectory database 112, and compares the passage time of each division point detected from each trajectory Tr with the corresponding reference time. A straight section including the position of the terminal device UE at the time is searched. In the search process, the determination unit 142 determines that the passage time corresponding to one division point is earlier than the reference time and the passage time corresponding to the other division point is later than the reference time among the plurality of straight line sections. What is necessary is just to detect an area. And the discrimination | determination part 142 should just discriminate | determine the detected straight area as a reference area containing the position on the locus | trajectory Tr in the reference time of the terminal device UE.

  The reference range to be subjected to the topology matching process in the specifying unit 15 can be specified based on the reference section determined in this way. For example, the determination unit 142 may extract the reference range by specifying a predetermined number n of straight sections including the reference section determined as described above as the reference range. The predetermined number n indicating the number of straight sections extracted as the reference range is preferably a natural number of 3 or more. For example, an example in which a predetermined number n = 5 and five straight sections including a reference section determined by the determination unit 142, two straight sections on the front side of the reference section, and two straight sections on the rear side are extracted as reference ranges. Is preferred. When the reference range is specified in this way, the total number of combinations can be appropriately limited while maintaining the degree of freedom of the combinations to be subjected to topology matching.

  Further, the extraction unit 14 may further include a distance calculation unit 145 illustrated in FIG. The distance calculation unit 145 calculates the distance between the division points obtained by the division point detection unit 144, thereby obtaining the length of each straight section obtained by dividing the trajectory Tr. In addition, the distance calculation unit 145 may cause the trajectory database 112 to hold array data including, as elements, information indicating the lengths obtained for a plurality of straight sections corresponding to the trajectories Tr.

  Further, the determination unit 142 sets a flag indicating whether or not the corresponding straight line section is included in the reference range in the element indicating the length of each straight line section included in the above-described array data based on the determination result. Thus, the reference range extracted from each trajectory Tr may be indicated.

  According to the extraction unit 14 including the determination unit 142 and the distance calculation unit 145, information indicating the length of each straight section included in the reference range corresponding to each trajectory Tr is obtained as an extraction result by the extraction unit 14. It can be used for the topology matching process of the specifying unit 15.

  Here, the trajectory used by the applicant for the experiment for evaluating the performance of the trajectory analysis apparatus 10 disclosed herein will be described. When the person carrying the terminal device UE moves along the movement route described below, the applicant acquires the trajectory corresponding to each movement route and specifies the relative positional relationship of these trajectories. An experiment was conducted.

  14 and 15 show examples of movement paths used in the experiment. Of the elements shown in FIGS. 14 and 15, the same elements as those shown in FIG. 2 are denoted by the same reference numerals, and description thereof is omitted.

  In FIG. 14, reference numerals Tr3 and Tr4 indicate examples of movement paths different from the above-described movement paths Tr1 and Tr2. A moving route Tr3 shown in FIG. 14 is another example of a moving route that enters the room C1 from the outside of the room C1 through the entrance / exit EN. On the other hand, the movement route Tr4 is an example of a movement route that goes from the inside of the room C1 to the outside of the room C1 through the entrance / exit EN.

  In FIG. 15, reference numerals Tr5, Tr6, Tr7 show still other examples of movement paths. The movement paths Tr5, Tr6, and Tr7 shown in FIG. 15 are examples of movement paths that move inside the room C1 from the movement start to the movement end.

  In the following description, the trajectories obtained corresponding to the movement paths Tr1 to Tr7 shown in FIGS. 14 and 15 are referred to as trajectories Tr1 to Tr7, respectively. With respect to these trajectories Tr1 to Tr7, by using the method described with reference to FIGS. 11 and 12, it is possible to detect division points for dividing the trajectories Tr1 to Tr7 into a plurality of linear sections.

  16, FIG. 17 and FIG. 18 show examples of dividing points detected by the dividing unit 141 described above corresponding to the respective movement paths Tr1 to Tr7.

  FIG. 16A shows the dividing points detected from the trajectory Tr1. Note that among the elements illustrated in FIG. 16A, elements equivalent to those illustrated in FIG. 11 are denoted by the same reference numerals, and description thereof is omitted.

  In FIG. 16A, symbol EP1 indicates a point on the trajectory Tr1 corresponding to the reference time estimated by the estimation unit 13 for the trajectory Tr1.

  FIG. 16B shows the dividing points detected from the locus Tr2. In FIG. 16B, symbols P2_1, P2_2, P2_3, P2_4, P2_5, P2_6, and P2_7 indicate division points detected by the division unit 141 described above. Further, symbol EP2 indicates a point on the trajectory Tr2 corresponding to the reference time estimated by the estimation unit 13 described above for the trajectory Tr2.

  FIG. 17A shows the dividing points detected from the locus Tr3. In FIG. 17A, symbols P3_1, P3_2, P3_3, P3_4, P3_5, P3_6, P3_7, P3_8, P3_9, and P3_10 indicate division points detected by the division unit 141 described above. Further, symbol EP3 indicates a point on the trajectory Tr3 corresponding to the reference time estimated for the trajectory Tr3 by the estimation unit 13 described above.

  FIG. 17B shows division points detected from the locus Tr4. In FIG. 17B, symbols P4_1, P4_2, P4_3, P4_4, P4_5, P4_6, P4_7, and P4_8 indicate division points detected by the division unit 141 described above. Further, the symbol EP4 indicates a point on the trajectory Tr4 corresponding to the reference time estimated for the trajectory Tr4 by the estimation unit 13 described above.

  FIG. 18A shows the division points detected from the locus Tr5. In FIG. 18A, symbols P5_1, P5_2, P5_3, P5_4, P5_5, P5_6, P5_7, and P5_8 indicate division points detected by the division unit 141 described above.

  FIG. 18B shows the division points detected from the locus Tr6. In FIG. 18B, symbols P6_1, P6_2, P6_3, P6_4, P6_5, P6_6, P6_7, P6_8, P6_9, P6_10, P6_11, and P6_12 indicate the dividing points detected by the dividing unit 141 described above.

  FIG. 18C shows division points detected from the locus Tr7. In FIG. 18C, reference symbols P7_1, P7_2, P7_3, P7_4, and P7_5 indicate division points detected by the division unit 141 described above.

  FIG. 19 shows an example in which the respective lengths of a plurality of straight sections obtained by dividing each of the trajectories Tr1 to Tr7 at the division points thus detected are calculated.

  FIG. 19 shows an example of array data indicating the length of each straight section obtained by dividing the trajectory. In FIG. 19, reference numerals Tr1 to Tr7 indicate movement paths Tr1 to Tr7, respectively. In the example of FIG. 19, the lengths of a plurality of straight sections obtained by dividing the trajectories Tr <b> 1 to Tr <b> 7 are arranged in order from the closest to the start point of the trajectory.

  Further, in FIG. 19, the reference range extracted corresponding to the entrance / exit EN shown in FIG. 14 in a plurality of straight sections corresponding to the trajectories Tr1 to Tr4 is surrounded by a dotted line. The example of FIG. 19 illustrates a case where the number n of straight line segments included in the reference range is five in the extraction unit 14 described above.

  In the example of FIG. 19, the reference range shown corresponding to the trajectory Tr1 is the first to fifth straight sections among the eight straight sections obtained by dividing the trace Tr1. These straight sections correspond to the straight sections indicated by the starting point of the trajectory Tr1 and the dividing points P1_1, P1_2, P1_3, P1_4, and P1_5 shown in FIG.

  Similarly, in the example of FIG. 19, the reference range shown corresponding to the trajectory Tr2 is the first to fifth straight sections among the eight straight sections obtained by dividing the trace Tr2. These straight sections correspond to the straight sections indicated by the start point of the locus Tr2 and the division points P2_1, P2_2, P2_3, P2_4, and P2_5 shown in FIG.

  In the example of FIG. 19, the reference range shown corresponding to the trajectory Tr3 is the second to sixth straight sections among the nine straight sections obtained by dividing the trajectory Tr3. These straight sections correspond to the straight sections shown by the dividing points P3_2, P3_3, P3_4, P3_5, P3_6, and P3_7 shown in FIG.

  In the example of FIG. 19, the reference range corresponding to the trajectory Tr4 is the fifth to ninth straight sections among the nine straight sections obtained by dividing the trajectory Tr4. These straight sections correspond to the straight sections shown by the dividing points P4_3, P4_4, P4_5, P4_6, P4_7, and P4_8 shown in FIG.

  On the other hand, as shown in FIG. 15, the movement paths Tr5 to Tr7 do not pass through the entrance / exit of the room C1. For this reason, since the estimation part 13 mentioned above cannot estimate the reference time corresponding to these locus | trajectories Tr5-Tr7, in FIG. 19, the reference range corresponding to locus | trajectory Tr5-Tr7 is not shown.

  Next, based on the length of each straight section included in the reference range corresponding to the trajectories Tr1 to Tr4 in FIG. 19, the specifying unit 15 specifies the relative positions of the trajectories Tr1 to Tr4 by topology matching. Processing will be described.

  The reading unit 154 illustrated in FIG. 10 uses the length of each straight section included in the reference range based on the above-described flag from the array data respectively stored in the locus database 112 corresponding to the two locus Tr to be verified. Read the length. In addition, the reading unit 154 passes the read information to the calculation unit 151.

  For example, the reading unit 154 obtains n elements indicating the length of each straight section included in the reference range from the array data corresponding to one of the trajectories to be collated, as array A (n) {a (1 ), A (2),..., A (n)}. In addition, the reading unit 154 converts n elements indicating the length of each straight section included in the reference range from the array data corresponding to the other of the traces to be collated, into an array B (n) {b (1 ), B (2),..., B (n)}. For example, when the number n of straight line segments included in the reference range is 5, the reading unit 154 corresponds to the two trajectories Tr and includes arrays A (5) and B (5) each including five elements. ) And the read two arrays are passed to the calculation unit 151.

  The calculation unit 151 uses the elements indicated by the variables j and k having the range of numerical values 1 to 3 in the two arrays A (5) and B (5) received from the reading unit 154 to Evaluation values ef and er represented by the following expressions (1) and (2) are calculated.

  The evaluation value ef shown in the expression (1) includes the elements a (j), a (j + 1), a (j + 2) selected from the array A (5) and the element b (selected from the array B (5). The difference in length is shown for the case where k), b (k + 1), and b (k + 2) are compared according to the order in the respective arrays. On the other hand, the evaluation value er shown in the expression (2) is the reverse of the lengths indicated by the three elements selected from the array B (5) with respect to the length indicated by each element selected from the array A (5). For comparison, the difference in length is shown. In other words, the evaluation value er calculated by the calculation unit 151 using the formula (2) is an evaluation value considering the case where the arrangements of the straight line segments having the same length in the two trajectories to be collated are reversed. .

  As described above, the calculation unit 151 calculates the evaluation value ef and the evaluation value er for elements selected in various combinations from the two arrays A (5) and B (5) described above. In this way, the evaluation value ef and the evaluation value er obtained for each combination are topologies in which the arrangement order of the lengths of the respective linear sections indicated by the elements selected from the reference range is regarded as topological features. This is the matching evaluation value. Note that the evaluation value ef and the evaluation value er obtained for each combination become smaller as the difference in length of each straight line section indicated by the element selected from the reference range is smaller. The greater the difference in length, the greater the value. That is, the evaluation value ef and the evaluation value er obtained by the calculation unit 151 indicate the result of evaluating the magnitude of the difference in the topological features for the collation range indicated by the element selected from the reference range.

  When the evaluation value obtained by the calculation unit 151 is equal to or less than a predetermined threshold, the determination unit 152 illustrated in FIG. Determine that they overlap.

  For example, the determination unit 152 detects a minimum value from a plurality of evaluation values calculated by the calculation unit 151 while changing the collation range for two trajectories to be collated. Then, when the detected minimum value is equal to or less than the predetermined threshold described above, the determination unit 152 determines that the arrangements of the straight line sections that are collated when the minimum evaluation value is obtained overlap each other. Note that the threshold value described above is based on, for example, experimental results of obtaining the trajectory by moving the terminal device UE along a moving route having overlapping portions, and calculating the above-described evaluation value for these trajectories. May be determined.

  FIG. 20 shows an example of calculation of evaluation values. Note that among the components shown in FIG. 20, the same components as those shown in FIG. 16 or FIG. 17 are denoted by the same reference numerals, and description thereof is omitted.

  The example of FIG. 20 shows the evaluation values obtained in the process of performing the topology matching described above, corresponding to each case where two tracks are selected from the four tracks Tr1 to Tr4 shown in FIGS. ing. In FIG. 20, the evaluation values shown corresponding to each case classification are a plurality of evaluation values calculated by the above-described calculation unit 151 while changing the combination of the straight line segments of interest for the reference range corresponding to the locus to be verified. The minimum value in ef and the evaluation value er is shown.

  As shown in FIG. 20, the evaluation values obtained corresponding to each case division are distributed in the range from 0.213174 to 0.464080. On the other hand, for example, the lengths of the second to fourth straight sections included in the reference range of the trajectory Tr1 and the lengths of the third to fifth straight sections included in the reference range of the trajectory Tr2 are expressed by the above formula (1). As a calculation result substituted into, the present applicant has obtained an evaluation value ef = 1.463385. Here, referring to FIG. 19, between the arrangement order of the lengths of the second to fourth straight sections of the trajectory Tr1 and the arrangement order of the lengths of the third to fifth straight sections of the trajectory Tr2. It turns out that there is little commonality.

  Based on such experimental results, the determination unit 152 shown in FIG. 10 may set the threshold value to be compared with the evaluation value to about 0.6. If the determination unit 152 performs determination using the threshold value set in this way, it is possible to determine that a part of each combination of trajectories illustrated in FIG. On the other hand, when the two trajectories to be collated do not have a common arrangement order of the lengths of the straight line sections, the determination unit 152 can determine that these trajectories do not have portions that overlap each other.

  The determination unit 152 coordinates the information indicating the collation range where the minimum evaluation value is obtained together with the determination result that the two trajectories to be collated have overlapping portions as information indicating the range where the two trajectories overlap each other. You may pass to the conversion part 153. In the following description, a range where two trajectories overlap each other is referred to as an overlapping range.

  Based on the information received from the determination unit 152, the coordinate conversion unit 153 illustrated in FIG. 10 determines the coordinates of the division points corresponding to the respective straight line sections included in the above-described overlapping range from the trajectory database 112 as the target of verification. Obtained for each of the two tracks Tr.

  Next, the coordinate conversion unit 153 determines the division points to be overlapped with each other based on the arrangement order in the overlapping range of each division point acquired corresponding to each trajectory Tr, and the distance between these division points is the minimum. Coordinate transformation is performed so that

  FIG. 21 is a diagram illustrating coordinate conversion. Of the elements shown in FIG. 21, elements equivalent to those shown in FIG. 16 are denoted by the same reference numerals, and description thereof is omitted.

  FIG. 21A shows the relative positions of the trajectory Tr1 and the trajectory Tr2 before coordinate conversion. In FIG. 21A, the dividing points P1_1, P1_2, P1_3, P1_4 corresponding to the trajectory Tr1 and the dividing points P2_1, P2_2, P2_3, P2_4 corresponding to the trajectory Tr2 have the same arrangement order in the overlapping range. It is.

  In this case, the coordinate conversion unit 153 adds the distance between the division points P1_1 and P2_1, the distance between the division points P1_2 and P2_2, the distance between the division points P1_3 and P2_3, and the distance between the division points P1_4 and P2_4. It is sufficient to perform coordinate transformation so as to minimize.

  FIG. 21B shows the result of transforming the coordinates of the division points P2_1, P2_2, P2_3, and P2_4 corresponding to the trajectory Tr2, using the coordinate transformation matrix calculated so as to minimize each distance described above. .

  The coordinate conversion unit 153 superimposes the two trajectories in the overlapping range based on the coordinates of the division points corresponding to the straight line segments included in the overlapping range by performing the above-described processing for each of the two trajectories to be collated. A coordinate transformation matrix can be obtained.

  The coordinate conversion unit 153 can specify the relative positions of these trajectories by performing coordinate conversion on one of the two trajectories to be verified using the coordinate conversion matrix thus obtained.

  22 to 24 show examples in which relative positions are specified for the above-described trajectories Tr1 to Tr4.

  FIG. 22A shows an example in which coordinate transformation is performed so that the trajectory Tr2 is superimposed on the trajectory Tr1. FIG. 22B shows an example in which coordinate transformation is performed so that the locus Tr3 is superimposed on the locus Tr1.

  FIG. 23A shows an example in which coordinate transformation is performed so that the locus Tr4 is superimposed on the locus Tr1. FIG. 23B shows an example in which coordinate transformation is performed so that the locus Tr3 is superimposed on the locus Tr2.

  FIG. 24A shows an example in which coordinate transformation is performed so that the trajectory Tr4 is superimposed on the trajectory Tr2. FIG. 24B shows an example in which coordinate transformation is performed so that the trajectory Tr4 is superimposed on the trajectory Tr3.

  22 to 24 are compared with FIG. 14, in the case where any two of the trajectories Tr1 to Tr4 are combined, the part that passes through the entrance / exit EN and the corridor are moved along the corresponding movement route. It can be seen that the overlapping parts are superimposed. By performing such superposition, the relative positions of the corresponding movement paths can be reproduced at the relative positions of the trajectories with high accuracy.

  As described above, according to the trajectory analysis apparatus 10 including the extraction unit 14 and the specification unit 15 illustrated in FIG. 10, mutual matching between trajectories is performed by topology matching based on the arrangement order of the lengths of the respective straight sections extracted as the reference range. The relative position can be specified with high accuracy.

  Further, as described above, the topology matching based on the arrangement order of the lengths of the respective straight sections is performed by the calculation unit 151 included in the specifying unit 15 performing a simple calculation process based on the expressions (1) and (2). Can be realized. Furthermore, by limiting the reference range based on the estimation result by the estimation unit 13, it is possible to significantly reduce the amount of calculation performed by the calculation unit 151 compared to the case where the entire trajectory is collated. As described above.

  Further, as described above, the calculation unit 151 calculates the above-described evaluation value while changing the collation range in the reference range extracted based on the estimation result by the estimation unit 13. Therefore, by detecting the minimum value of the calculated evaluation values, a portion having the most similar topological features in the reference range can be specified as the overlapping range.

  Thereby, even when the estimation accuracy of the reference time by the estimation unit 13 is low, the relative positions of the trajectories can be specified with high accuracy.

  For example, as shown in FIG. 16A, the point EP1 on the locus Tr1 corresponding to the reference time estimated by the estimation unit 13 is between the two division points P1_2 and P1_3. And the position of this point EP1 is included in the corridor part before the entrance / exit EN in the movement route Tr1 shown in FIG. On the other hand, as shown in FIG. 17A, the point EP3 on the trajectory Tr3 corresponding to the reference time estimated by the estimation unit 13 is between the two division points P3_4 and P3_5. And the position of this point EP3 is included in the part which is moving inside the room C1 after passing through the entrance / exit EN in the movement route Tr3 shown in FIG.

  Thus, the estimation error of the reference time by the estimation unit 13 is relatively large. However, by setting a reference range having an appropriate width that includes a point on the locus corresponding to the reference time, the point on the locus corresponding to the true reference point is included in the reference range with high accuracy and used for topology matching. be able to.

  Moreover, the point that such an estimation error can be tolerated is one of the advantages of the trajectory analysis device 10 of the present disclosure. This is because the estimation unit 13 shown in FIG. 6 can use an existing signal source such as the wireless LAN access point AP as the signal source R used for estimation of the reference time.

  Furthermore, according to the trajectory analysis device 10 of the present disclosure, a plurality of trajectories are overlapped in an incorrect arrangement by limiting the reference range to be collated in topology matching based on the estimation result by the estimation unit 13. This can be avoided with high accuracy.

  When trying to determine the mutual arrangement of trajectories based only on topology matching, in the set of straight line segments obtained by dividing the two trajectories to be collated, the portions where the length arrangements coincide are accidentally overlapped. There is a case. Thus, there is a possibility that a plurality of trajectories may be associated with each other in an incorrect arrangement, which is one of the problems in determining the arrangement of trajectories using topology matching.

  FIG. 25 is a diagram for explaining a problem of topology matching. Of the elements shown in FIG. 25, elements equivalent to those shown in FIGS. 16 to 18 are designated by the same reference numerals, and the description thereof is omitted.

  FIG. 25A erroneously corresponds to a part in which the arrangement of lengths coincides in the set of straight line sections obtained by dividing the track Tr1 and the set of straight line sections obtained by dividing the track Tr2. An example that has been attached is shown.

  Similarly, FIG. 25 (B) shows a part where the arrangement of lengths coincides in the set of straight line segments obtained by dividing the track Tr1 and the set of straight line segments obtained by dividing the track Tr5. An example in which the association is made by mistake is shown.

  On the other hand, according to the trajectory analysis device 10 of the present disclosure, as shown in FIGS. 25A and 25B, there is a case in which the portions where the length arrays coincide coincidence are accidentally overlapped. Can be eliminated with very high accuracy. This is because the reference range extracted based on the estimation result by the estimation unit 13 is a part of the trajectory, so that the length arrays can coincide by chance compared to the case where the straight line sections corresponding to the entire trajectory are collated. This is because the nature is small.

  In the case shown in FIG. 25A, the location of the trajectory Tr1 associated with the trajectory Tr2 is not included in the reference range of the trajectory Tr1. Therefore, the trajectory analysis device 10 of the present disclosure does not perform such association between the trajectory Tr1 and the trajectory Tr2. In the case shown in FIG. 25B, no reference range is set for the trajectory Tr5 associated with the trajectory Tr1. For this reason, the trajectory Tr5 is excluded from the target of the topology matching process in the specifying unit 15 of the trajectory analysis device 10 of the present disclosure. Therefore, the trajectory analysis device 10 of the present disclosure does not perform such association between the trajectory Tr1 and the trajectory Tr5.

  As described above, according to the trajectory analysis device 10 of the present disclosure, the problem in the case of determining the mutual arrangement of trajectories using topology matching is solved, and the case where a plurality of trajectories are associated with an incorrect arrangement is reduced. be able to.

  As described above, according to the trajectory analysis device 10 disclosed herein, it is possible to specify the relative positions of a plurality of trajectories acquired using the inertial navigation technique with high accuracy. Moreover, according to the trajectory analysis device 10 disclosed herein, it is possible to greatly reduce the number of cases in which a plurality of trajectories are associated with each other in an incorrect arrangement.

  Accordingly, by associating a large number of trajectories with the trajectory analysis device 10 of the present disclosure, it is possible to faithfully reproduce the layout of the corridors in the building by the distribution of the trajectories. It is possible to automate the work to be generated.

  The trajectory analysis device 10 of the present disclosure described above can be realized by using a computer device such as a personal computer, for example.

  FIG. 26 shows an example of the hardware configuration of the image processing apparatus 10. 26, the same components as those shown in FIG. 1 or FIG. 6 are denoted by the same reference numerals, and the description thereof is omitted.

  The computer device 20 includes a processor 21, a memory 22, a hard disk device 23, a display device 24, an input device 25, an optical drive device 26, and a network interface 28. The processor 21, the memory 22, the hard disk device 23, the display device 24, the input device 25, the optical drive device 26, and the LAN interface 28 illustrated in FIG. 26 are connected to each other via a bus. The computer device 20 is connected to the network NW via the network interface 28.

  In FIG. 26, the trajectory analysis apparatus 10 includes a processor 21, a memory 22, a hard disk device 23, and a network interface 28.

  The optical drive device 26 described above can be mounted with a removable disk 27 such as an optical disk, and reads and records information recorded on the mounted removable disk 27.

  The input device 25 illustrated in FIG. 26 is, for example, a keyboard or a mouse. The user of the trajectory analysis device 10 operates the input device 25 to collect, for example, movement information and intensity information from each terminal device UE with respect to the trajectory analysis device 10 or based on the collected information. An instruction to start the process of analyzing the trajectory may be input.

  The memory 22 illustrated in FIG. 26 stores an application program for executing the process of analyzing the trajectory described above by the processor 21 together with the operating system of the computer apparatus 20. Note that an application program for executing the above-described process of analyzing the trajectory can be recorded and distributed on a removable disk 27 such as an optical disk, for example. Then, by loading the removable disk 27 in the optical drive device 26 and performing a reading process, an application program for executing a process for analyzing the trajectory may be stored in the memory 22 and the hard disk device 23. Further, an application program for executing a process of analyzing a trajectory may be read into the memory 22 and the hard disk device 23 via the network interface 28 and a network such as the Internet.

  The processor 21 may fulfill the functions of the generation unit 11, the collection unit 12, the estimation unit 13, the extraction unit 14, and the specification unit 15 illustrated in FIG. 1 by executing an application program stored in the memory 22. . Further, the processor 21 may realize the strength information holding unit 122 by storing information acquired via the network interface 28 in the process of executing the application program described above in the memory 22 or the hard disk device 23.

  Similarly, the processor 21 may realize the trajectory database 112 by storing the information acquired and the generated information in the process of executing the application program described above in the memory 22 or the hard disk device 23.

  Prior to the execution of the application program described above, the processor 21 desirably performs a process of measuring the signal intensity in a room in which each signal source including the signal source R shown in FIG. 2 is installed. The threshold value table 132 shown in FIG. 6 is realized by storing the threshold value determined based on the signal intensity obtained by the measurement in the hard disk device 23 or the like corresponding to the BSSID indicating each signal source R. Also good.

  That is, the image processing apparatus 10 disclosed herein can be realized by, for example, cooperation of the processor 21, the memory 22, the hard disk device 23, and the network interface 28 included in the computer apparatus 20 described above.

  FIG. 27 shows an example of a flowchart of trajectory analysis processing. Each process of step 301 to step 306 shown in FIG. 27 is an example of a process included in the application program for the trajectory analysis process. In addition, each processing of step 301 to step 306 is executed by the processor 21.

  First, the processor 21 collects movement information and intensity information from each terminal device UE (step 301). Next, the processor 21 generates a trajectory Tr of each terminal device UE based on the movement information collected from each terminal device UE (step 302). In the course of the processing of steps 301 and 302, the processor 21 holds the movement information collected from each terminal device UE and information representing the generated locus Tr in, for example, the locus database 112 provided in the hard disk device 23. Also good. The processor 21 may hold the intensity information collected in step 301 in the intensity information holding unit 122 provided in the hard disk device 23.

  Next, the processor 21 estimates the reference time as shown in FIG. 28 based on the intensity information collected from each terminal apparatus UE (step 303).

  FIG. 28 shows an example of a flowchart of processing for estimating the reference time. Each process of step 311 to step 317 illustrated in FIG. 28 is an example of a process included in the application program for the process of estimating the reference time. An application program for processing for estimating the reference time is included in the application program for trajectory analysis processing. In addition, each processing of step 311 to step 317 is executed by the processor 21.

  First, the processor 21 obtains information indicating the strength of the signal received by the terminal device UE from the signal source of interest, from the strength information held corresponding to each signal source in the strength information holding unit 122 provided in the hard disk device 23. Read (step 311).

  Next, the processor 21 acquires a threshold value corresponding to the signal source of interest by referring to the threshold value table 132 provided in the hard disk device 23 (step 312).

  Next, the processor 21 searches the intensity information read in step 311 for a portion where the signal intensity changes across the above-described threshold (step 313). As described above, the processor 21 executes the search process of step 313, thereby realizing the function of the detection unit 131 illustrated in FIG.

  In the course of the search process in step 313, when the signal strength having a value sandwiching the above-described threshold is detected in the strength information, the processor 21 determines that the search in step 313 has been successful, and affirmative in step 314. The process proceeds to step 315 according to the determination route.

  In step 315, the processor 21 calculates a time at which the signal strength is estimated to be equal to the threshold value based on the time held in the strength information holding unit 122 corresponding to the two signal strengths detected in the processing in step 313. To do. Further, the processor 21 holds the calculated time in the trajectory database 112 provided in the hard disk device 23 as a reference time indicating the time when it passes through the doorway of the room where the signal source of interest is arranged.

  On the other hand, when the intensity information read in step 311 does not include a signal intensity having a value sandwiching the above-described threshold, the processor 21 determines that the search in step 313 has failed, and in step 314 The process proceeds to step 316 according to the negative determination route.

  In step 316, the processor 21 stores in the trajectory database 112 provided in the hard disk device 23 that there is no reference time corresponding to the signal source of interest.

  The affirmative determination route and the negative determination route in step 314 merge at step 317. In step 317, the processor 21 determines whether there is an unprocessed signal source. If there is still a signal source for which the reference time estimation process has not been completed, the processor 21 returns to step 311 according to the affirmative determination route of step 317 and starts processing for intensity information corresponding to the new signal source. .

  In this way, by repeating steps 311 to 317, when the processing for the intensity information corresponding to all the signal sources is completed, the processor 21 estimates the reference time according to the negative determination route of step 317. End the process.

  The processor 21 executes the above-described processing of step 311 to step 317 for the strength information held in the strength information holding unit 122 corresponding to each terminal device UE. Thus, the processor 21 can implement the functions of the estimation unit 13 illustrated in FIG. 6 by executing the above-described processing of step 311 to step 317 for each terminal device UE.

  Next, in step 304 shown in FIG. 27, the processor 21 sequentially extracts the reference range from each locus as shown in FIG. 29, with the locus for which the reference time was obtained in step 303 being sequentially processed.

  FIG. 29 shows an example of a flowchart of processing for extracting a reference range. Each process of step 321 to step 325 shown in FIG. 29 is an example of a process included in the application program for the process of extracting the reference range. The application program for the process of extracting the reference range is included in the application program for the trajectory analysis process. In addition, each processing of step 321 to step 325 is executed by the processor 21.

  Based on the movement information held in the trajectory database 112, the processor 21 generates information indicating the time change of the change amount dθ of the deviation angle θ per predetermined time (step 321). The processor 21 changes, for example, the difference between the deflection angle θ (t) corresponding to each sample number included in the movement information and the deflection angle θ (t + 2) obtained by sampling after 2 seconds per predetermined time. What is necessary is just to calculate as change amount d (theta) (t) which shows the time change of quantity d (theta). As described above, the processor 21 executes the process of step 321, thereby realizing the function of the change amount calculation unit 143 illustrated in FIG. 10.

  Next, the processor 21 divides the trajectory into a plurality of linear sections as described with reference to FIG. 12 based on the information generated in step 321 and the information representing the trajectory held in the trajectory database 112. Each division point is detected (step 322). In the process of step 322, the processor 21 calculates a passage time corresponding to each detected division point, and includes information including a passage time calculated for each division point and coordinates indicating the position of each division point. It may be added to the trajectory database 112. As described above, the processor 21 executes the processing of step 322, thereby realizing the function of the dividing point detection unit 144 illustrated in FIG.

  Next, the processor 21 calculates the length of each straight section obtained by dividing the trajectory at these division points based on the coordinates of the respective division points detected as described above (step 323). . Further, the processor 21 holds array data including the length of each straight section calculated in the process of step 323 as an element in the trajectory database 112 corresponding to the trajectory to be processed. As described above, the processor 21 executes the process of step 323, thereby realizing the function of the distance calculation unit 145 shown in FIG.

  Thereafter, the processor 21 compares the time corresponding to each division point obtained in step 322 described above with the reference time estimated in step 303 described above, thereby obtaining a straight line interval corresponding to the period including the reference time. A determination is made (step 324). When the reference time is estimated corresponding to a plurality of signal sources with respect to the locus to be processed, the processor 21 executes the process of step 324 for each reference time, thereby including a period including each reference time. The straight line section corresponding to is determined. As described above, the processor 21 executes step 324, thereby realizing the function of the determination unit 142 illustrated in FIG.

  Next, the processor 21 extracts n consecutive straight line segments as a reference range from a plurality of straight line segments corresponding to the trajectory to be processed based on the determination result obtained in the process of step 324 ( Step 325). For example, for the n elements including the element indicating the length of the straight line section determined in step 324 among the elements included in the array data described above, the processor 21 sets a flag indicating that these elements are included in the reference range. The reference range may be extracted by setting. Note that, when the straight line sections corresponding to a plurality of reference times are determined in the process of step 324, the processor 21 executes the process of step 324 for each determination result, thereby corresponding to each reference time. Each reference range is extracted.

  In this way, the processor 21 implements the function of the extraction unit 13 illustrated in FIG. 10 by executing the processing of step 321 to step 325 with the trajectory corresponding to each terminal device UE being sequentially processed. Can do.

  Next, in step 305 shown in FIG. 27, the processor 21 performs topological matching on the trajectory from which the reference range is obtained in step 304 as shown in FIG. 30, focusing on the arrangement order of the lengths of the straight sections. . Prior to the processing in step 305, the processor 21 may classify a plurality of trajectories held in the trajectory database 112 based on the presence or absence of a reference range corresponding to each signal source. Hereinafter, a case will be described in which topology matching is performed on a plurality of trajectories each including a reference range corresponding to the wireless LAN access point AP shown in FIG.

  FIG. 30 shows an example of a flowchart of reference range topology matching processing. Each process of step 331 to step 339 shown in FIG. 30 is an example of a process included in the application program for the reference range topology matching process. The application program for the reference range topology matching process is included in the application program for the trajectory analysis process. In addition, each processing of step 331 to step 339 is executed by the processor 21.

  In step 331, the processor 21 selects two trajectories as a target for the collation process from a plurality of trajectories each including the reference range corresponding to the above-described wireless LAN access point AP. At this time, it is desirable that the processor 21 sets, for example, a value larger than the above-described threshold value The as the initial value as the minimum value emin of the evaluation value used in the processing described later.

  Next, the processor 21 reads information indicating the length of each straight section included in the reference range from the array data respectively held in the trajectory database 112 corresponding to the two selected trajectories (step 332). For example, the processor 21 may read out the n elements set with the flag described in the process of step 325 described above as the elements of the arrays A (n) and B (n) from each array data. As described above, the processor 21 executes the processing of step 332, thereby realizing the function of the reading unit 154 shown in FIG.

  Next, the processor 21 describes the combinations obtained by changing the variables j and k indicating the collation ranges for the arrays A (n) and B (n), respectively, in the range of 1 to n−2. The evaluation values ef and er are calculated using the equations (1) and (2) (step 333). For example, when the number of straight sections included in the reference range is 5, the processor 21 selects one from combinations obtained by changing the variables j and k in the range of 1 to 3, and selects the selected combination. Evaluation values ef and er are calculated for the collation range indicated by.

  Next, the processor 21 compares the smaller one of the evaluation values ef and er calculated in Step 333 with the above-described minimum value emin of the evaluation values (Step 334).

  When at least one of the evaluation values ef and er is smaller than the above-described minimum value emin of the evaluation values, the processor 21 proceeds to the process of step 335 according to the affirmative determination route of step 334. In step 335, the processor 21 holds the collation range indicated by the combination of the variables j and k selected in the processing of step 333 as a candidate for an overlapping range in which the trajectories to be collated overlap each other, and the evaluation value The minimum value emin is updated. Thereafter, the processor 21 proceeds to the process of step 336.

  On the other hand, when both the evaluation values ef and er are equal to or greater than the above-described minimum evaluation value emin, the processor 21 skips the process of step 335 according to the negative determination route of step 334 and proceeds to the process of step 336. .

  In step 336, the processor 21 determines whether or not the calculation of the evaluation value has been completed for all the collation ranges indicated by the combination of the variables j and k.

  When there is a collation range for which an evaluation value has not yet been calculated, the processor 21 returns to the process of step 333 according to the negative determination route of step 336, and the collation range indicated by the new combination of variables j and k. Start processing.

  In this way, in the process of repeating the above-described processing from step 333 to step 336 for the combination of variables j and k, the processor 21 executes the processing of step 333, whereby the function of the calculation unit 151 shown in FIG. Can be realized.

  Further, as described above, when the calculation of the evaluation values for all the collation ranges is completed, the processor 21 proceeds to the process of step 337 according to the affirmative determination route of step 336.

  In step 337, the processor 21 compares the minimum value emin of the evaluation value updated in the process described above with a threshold value The for determining whether or not the two loci have a range where they overlap.

  When the minimum value emin of the evaluation value is smaller than the above-described threshold value The, the processor 21 determines that the two trajectories to be collated overlap in a portion held as a candidate for the overlapping range, and follows the affirmative determination route of step 337. Proceed to step 338.

  In step 338, the processor 21 performs coordinate conversion focusing on the overlapping range as described with reference to FIG. The processor 21 obtains a coordinate transformation matrix that superimposes the overlapping range in the other trajectory on the overlapping range in one of the trajectories to be collated, and executes the coordinate transformation for the latter trajectory using the obtained coordinate transformation matrix. do it. Thereafter, the processor 21 proceeds to the process of step 339.

  On the other hand, when the minimum value emin of the evaluation value is equal to or greater than the above-described threshold The, the processor 21 determines that the two trajectories to be collated do not have an overlapping portion, and directly follows the negative determination route of step 337. Proceed to step 339.

  In step 339, the processor 21 determines whether there is a combination of unselected trajectories. If there is a combination of trajectories for which the collation processing has not been completed, the processor 21 returns to the processing of step 331 according to the affirmative determination route of step 339, and starts collation processing for the two newly selected trajectories. .

  The processor 21 repeatedly executes the processing of step 331 to step 339 for all combinations for selecting two trajectories from a plurality of trajectories each including the reference range corresponding to the above-described wireless LAN access point AP.

  In this way, in the process of repeatedly executing the processing of Step 331 to Step 339, the processor 21 executes the processing of Step 334, Step 335 and Step 337 described above, whereby the function of the determination unit 152 shown in FIG. Can be realized. Similarly, in the process of repeatedly executing the processing of step 331 to step 339, the processor 21 executes the processing of step 338 in the affirmative determination route of step 337 described above, whereby the coordinate conversion unit shown in FIG. 153 functions can be realized.

  Further, as described above, when the collation processing is completed for all combinations of selecting two trajectories from a plurality of trajectories included in the target of the collation processing, the processor 21 performs collation according to the affirmative determination route of step 339. End the process.

  Finally, the processor 21 executes the process of step 306 shown in FIG. In step 306, the processor 21 performs a process of presenting the locus after coordinate conversion to the user for each combination of the locus determined to have overlapping ranges that overlap each other in the process of step 337 described above. For example, as illustrated in FIGS. 22 to 24, the processor 21 may create display data that represents each combination of trajectories in association with each other. Then, by displaying the created display data on the display device 24 shown in FIG. 25, it is easy to intuitively grasp the result of specifying the relative positions of the trajectories by the trajectory analysis device 10 of the present disclosure. It can be presented to the user as graphic information.

  As described above, the processor 21 of the computer device 20 illustrated in FIG. 26 executes the application program for the trajectory analysis process, thereby realizing the trajectory analysis device 10 disclosed herein.

  As described above, the trajectory analysis apparatus 10 according to the present disclosure realized using the computer device 20 can specify the relative positions of a plurality of trajectories with high accuracy as described above.

Regarding the above description, the following items are further disclosed.
(Appendix 1)
A generating unit that generates a trajectory of each terminal device based on movement information that indicates in time series the displacement from the position at the start of movement and the declination from the direction at the start of movement for each of the plurality of terminal devices;
A collection unit that collects intensity information that indicates the intensity of signals arriving at each terminal device from a signal source in a time-series manner;
An estimation unit configured to estimate a reference time indicating a time at which each of the terminal devices has passed a predetermined reference point based on a temporal change in the strength of the signal indicated by the strength information collected for each of the terminal devices by the collection unit; ,
An extraction unit (14) for extracting, as a reference range, a range in which the terminal device has moved in a predetermined period including a reference time corresponding to the terminal device, from a trajectory generated corresponding to each terminal device;
A trajectory analysis device comprising: a specifying unit that identifies relative positions of the plurality of trajectories by collating topological features of a reference range extracted from the trajectories of the terminal devices. .
(Appendix 2)
In the trajectory analysis device according to attachment 1,
The signal source is arranged in a room with an entrance and exit,
The estimation unit includes
For each of the terminal devices, a detection unit that detects a time at which the intensity of the signal changes across a predetermined threshold;
The trajectory analysis apparatus characterized in that the time detected by the detection unit is specified as a reference time when the terminal device passes through the reference point that is the doorway.
(Appendix 3)
In the trajectory analysis device according to attachment 2,
The signal source has a characteristic of transmitting a radio signal having the room as a reachable range,
The trajectory analysis apparatus, wherein the threshold value is set to a value indicating an intensity lower than an average value of the intensity of the radio signal in the room.
(Appendix 4)
In the trajectory analysis device according to any one of appendix 1 to appendix 3,
The extraction unit includes:
A dividing unit that divides each locus of each terminal device into a plurality of linear sections;
A discriminating unit that discriminates, as a reference segment, a straight segment including a position at the reference time from the plurality of straight segments for each terminal device,
A trajectory analysis apparatus, wherein a predetermined number of straight sections including the reference section are extracted as the reference range for each terminal device.
(Appendix 5)
In the trajectory analysis device according to attachment 4,
The specific part is:
For each of the two trajectories, a calculation unit that calculates an evaluation value indicating the magnitude of a difference in topological features by checking the length of each straight section included in the reference range;
A trajectory analysis apparatus comprising: a determination unit that determines that the two trajectories overlap each other in at least a part of the reference range when an evaluation value obtained by the calculation unit is smaller than a predetermined threshold value.
(Appendix 6)
In the trajectory analysis device according to attachment 4,
The dividing unit is
Based on information indicating the time change of the declination included in the movement information, a change amount calculation unit that obtains a change amount of the declination per predetermined time in a time series,
A division point detection unit that detects, as a division point, a location where the moving direction changes more than a predetermined angle in the trajectory based on a temporal change in the amount of change;
The trajectory analysis apparatus characterized in that the plurality of straight line sections are generated by dividing the trajectory at the division points detected by the change point detection unit.
(Appendix 7)
Based on the movement information indicating the displacement from the position at the start of movement and the declination from the direction at the start of movement for each of the plurality of terminal devices in time series, the trajectory of each terminal device is generated,
Collecting strength information indicating the strength of signals arriving at each terminal device from a signal source in time series,
Based on the time change of the intensity of the signal indicated by the intensity information collected for each terminal device, estimate a reference time indicating the time when each terminal device passed through a predetermined reference point,
From the trajectory generated corresponding to each terminal device, a range in which the terminal device has moved in a predetermined period including a reference time corresponding to the terminal device is extracted as a reference range,
A trajectory analysis program that causes a computer to execute a process of identifying relative positions of the plurality of trajectories by collating topological features of a reference range extracted from the trajectories of the terminal devices.
(Appendix 8)
In the locus analysis program described in appendix 7,
The process of estimating the reference time is
For each terminal device, detect the time when the intensity of the signal from the signal source arranged in the room with the doorway has changed across a predetermined threshold,
A trajectory analysis program comprising: a process of specifying the detected time as a reference time when the terminal device passes a reference point that is the doorway.
(Appendix 9)
In the trajectory analysis program described in appendix 8,
The process of detecting the time is
Including a process of setting a value indicating an intensity lower than an average value of the intensity of the radio signal in the room as a threshold value to be compared with an intensity of the radio signal transmitted from the signal source and reaching the room. Trajectory analysis program characterized by
(Appendix 10)
In the trajectory analysis program described in appendix 7 or appendix 8,
The process of extracting the reference range is:
Dividing each locus of each terminal device into a plurality of straight sections,
For each of the terminal devices, from the plurality of straight sections, a straight section including a position at the reference time is determined as a reference section,
A trajectory analysis program comprising a process of extracting a predetermined number of straight line segments including the reference segment as the reference range for each terminal device.
(Appendix 11)
In the locus analysis program described in appendix 10,
The process of specifying the relative position between the trajectories is as follows:
By comparing the length of each straight section included in the reference range for each of the two trajectories, an evaluation value indicating the magnitude of the difference in topological features is calculated,
A trajectory analysis program comprising: a process of determining that the two trajectories overlap each other in at least a part of the reference range when the evaluation value is smaller than a predetermined threshold value.
(Appendix 12)
In the locus analysis program described in appendix 10,
The process of dividing the trajectory is as follows:
Based on the information indicating the time variation of the declination included in the movement information, a change amount of the declination per predetermined time is obtained in time series,
On the basis of the temporal change in the amount of change, a location where the moving direction has changed more than a predetermined angle in the locus is detected as a dividing point,
A trajectory analysis program comprising a process of generating the plurality of straight line sections by dividing the trajectory at the detected division points.

DESCRIPTION OF SYMBOLS 1 ... Acceleration sensor; 2 ... Angular velocity sensor; 3 ... Movement information calculation part; 4, 16 ... Communication processing part; 5 ... Signal intensity measurement part; 10 ... Trajectory analysis apparatus; 11 ... Generation part; 14: Extraction unit; 15 ... Identification unit; 111 ... Movement information extraction unit; 112 ... Trajectory database; 113 ... Trajectory calculation unit; 121 ... Intensity information extraction unit; 122 ... Intensity information holding unit; 132 ... threshold table; 141 ... dividing unit; 142 ... discriminating unit; 143 ... change amount calculating unit; 144 ... division point detecting unit; 145 ... distance calculating unit; 151 ... calculating unit; 152 ... determining unit; 154: Reading unit; 20 ... Computer device; 21 ... Processor; 22 ... Memory; 23 ... Hard disk device (HDD); 24 ... Display device; 25 ... Input device; 26 ... Optical drive device; 28: network interface; NW ... network; AP ... wireless LAN access point; UE, UE1, UE2 ... terminal equipment; R, R '... signal source; EN ... gateway; Hw ... corridor; CP ... branch point; , C2, C3, C4, C5, C6, C7 ... room; Tr1, Tr2, Tr3, Tr4, Tr5, Tr6, Tr7 ... locus

Claims (5)

A generating unit that generates a trajectory of each terminal device based on movement information that indicates in time series the displacement from the position at the start of movement and the declination from the direction at the start of movement for each of the plurality of terminal devices;
A collection unit that collects intensity information that indicates the intensity of signals arriving at each terminal device from a signal source in a time-series manner;
An estimation unit configured to estimate a reference time indicating a time at which each of the terminal devices has passed a predetermined reference point based on a temporal change in the strength of the signal indicated by the strength information collected for each of the terminal devices by the collection unit; ,
An extraction unit that extracts, as a reference range, a range in which the terminal device has moved in a predetermined period including a reference time corresponding to the terminal device, from a trajectory generated corresponding to each terminal device;
By matching the topological characteristics of the reference range of the extracted from the trajectory of each terminal device, the identifying unit for identifying the relative position between the plurality of trajectories overlap each other in at least a part of the reference range A trajectory analysis device characterized by comprising: The trajectory analysis apparatus according to claim 1,
The signal source is arranged in a room with an entrance and exit,
The estimation unit includes
For each of the terminal devices, a detection unit that detects a time at which the intensity of the signal changes across a predetermined threshold;
The trajectory analysis apparatus characterized in that the time detected by the detection unit is specified as a reference time when the terminal device passes through the reference point that is the doorway. In the trajectory analysis device according to claim 1 or 2,
The extraction unit includes:
A dividing unit that divides each locus of each terminal device into a plurality of linear sections;
A discriminating unit that discriminates, as a reference segment, a straight segment including a position at the reference time from the plurality of straight segments for each terminal device,
A trajectory analysis apparatus, wherein a predetermined number of straight sections including the reference section are extracted as the reference range for each terminal device. The trajectory analysis apparatus according to claim 3,
The specific part is:
For each of the two trajectories, a calculation unit that calculates an evaluation value indicating the magnitude of a difference in topological features by checking the length of each straight section included in the reference range;
A trajectory analysis apparatus comprising: a determination unit that determines that the two trajectories overlap each other in at least a part of the reference range when an evaluation value obtained by the calculation unit is smaller than a predetermined threshold value. Based on the movement information indicating the displacement from the position at the start of movement and the declination from the direction at the start of movement for each of the plurality of terminal devices in time series, the trajectory of each terminal device is generated,
Collecting strength information indicating the strength of signals arriving at each terminal device from a signal source in time series,
Based on the time change of the intensity of the signal indicated by the intensity information collected for each terminal device, estimate a reference time indicating the time when each terminal device passed through a predetermined reference point,
From the trajectory generated corresponding to each terminal device, a range in which the terminal device has moved in a predetermined period including a reference time corresponding to the terminal device is extracted as a reference range,
By matching the topological characteristics of the reference range extracted from the trajectory of the respective terminal devices, the process of identifying the relative position between the plurality of trajectories overlap each other in at least a part of the reference range A trajectory analysis program characterized by being executed by a computer.

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