JP6060548B2 - Positioning device, positioning method and program - Google Patents

Description

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

Conventionally, a positioning device having an autonomous navigation function for autonomously positioning using various positioning sensors is known. With the autonomous navigation function, for example, the absolute position of a reference point is measured using positioning means such as GPS (Global Positioning System), and an autonomous navigation sensor such as an acceleration sensor or a direction sensor is used as position information of the reference point. This is a function of calculating the position information of each point on the movement route by integrating the displacement information acquired by using.
In the positioning device, when the position information calculation and GPS positioning by the automatic navigation function are performed at the same time, the position information of the point is corrected based on the GPS positioning result, or the measurement error of the autonomous navigation sensor There has been proposed a correction technique for correcting the signal based on the GPS positioning result (see, for example, Patent Document 1).

JP-A-11-230772

  However, if the positioning device is attached to the arm, the direction of gravity constantly changes due to arm swinging while walking, and thus the traveling direction cannot be calculated using the triaxial geomagnetic sensor. In this case, if continuous positioning by GPS is performed in order to obtain a movement route, there arises a problem that power consumption for positioning operation increases.

  Therefore, an object of the present invention is to provide a positioning device, a positioning method, and a program that can appropriately specify a movement route without performing continuous positioning of the current position.

In order to solve the above problems, the positioning device according to the present invention is:
Receiving a signal transmitted from a positioning satellite, the absolute position measurement of Kreis that measuring position means of the apparatus main body, a first calculating means for calculating an amount of movement of the apparatus main body, the moving direction of the device body detection means for detecting a change, the calculated movement direction said each time a change in the moving direction by a predetermined number of times detected, from a plurality of absolute position of the apparatus body that is positioning the front Kihaka position means by said detecting means and second calculating means, before the absolute position of the apparatus main body in the positioning point by Kihaka position means, by the first calculating means changing point as a reference is calculated movement direction and the movement direction is changed by the second calculating means Specifying means for specifying a movement route of the apparatus main body based on the calculated movement amount, and the second calculation means further includes a first position of the apparatus main body from the first positioning point by the positioning means. 1 move And the specifying means further detects the detection based on the movement amount of the apparatus main body along the first movement direction from the first positioning point calculated by the first calculation means. The position of the first change point where the change in the moving direction is detected by the means is specified .

  According to the present invention, it is possible to appropriately specify the movement route without performing continuous positioning of the current position.

It is a block diagram which shows schematic structure of the positioning apparatus of one Embodiment to which this invention is applied. It is a flowchart which shows an example of the operation | movement which concerns on the positioning process by the positioning apparatus of FIG. 3 is a flowchart showing an example of an operation related to a movement direction change detection process in the positioning process of FIG. 2. 3 is a flowchart illustrating an example of an operation related to a movement route specifying process in the positioning process of FIG. 2. It is a figure for demonstrating the output change of the sensor part in the positioning process of FIG. It is a figure for demonstrating the movement path | route identification process of FIG. FIG. 5 is a diagram for explaining correction of a locus of a movement route in the movement route identification process of FIG. 4.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.
The positioning device 100 according to this embodiment is carried by a user (pedestrian) (especially worn on an arm), and is positioned using GPS (Global Positioning System) (GPS positioning) and positioning using an autonomous navigation sensor ( This is an apparatus that sequentially records a series of position data representing the locus of a user's movement route L (see FIG. 6) in combination with autonomous navigation positioning.

FIG. 1 is a block diagram showing a schematic configuration of a positioning apparatus 100 according to an embodiment to which the present invention is applied.
As shown in FIG. 1, the positioning device 100 includes a central control unit 1, a GPS processing unit 2, a sensor unit 3, an autonomous navigation control processing unit 4, a data storage unit 5, and a moving direction change detection unit 6. , A moving direction calculating unit 7, a moving path specifying unit 8, a time measuring unit 9, a display unit 10, an operation input unit 11 and the like.

The central control unit 1 comprehensively controls each unit of the positioning device 100. Specifically, the central control unit 1 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, although not shown. Then, the central control unit 1 performs various control operations according to various processing programs for the positioning device 100, and causes the display unit 10 to display the results of the control operations as necessary. At that time, the CPU stores various processing results in a storage area in the RAM, and displays the processing results on the display unit 10 as necessary.
The RAM includes, for example, a program storage area for expanding a processing program executed by the CPU, a data storage area for storing input data, a processing result generated when the processing program is executed, and the like.
The ROM stores programs stored in the form of computer-readable program codes, specifically, system programs that can be executed by the positioning device 100, various processing programs that can be executed by the system programs, and execution of these various processing programs. The data used for the storage is stored. For example, the ROM stores a program for walking positioning processing that acquires position data of each point on the moving route L by continuous autonomous navigation positioning and intermittent GPS positioning.

The GPS processing unit (first positioning means) 2 receives a signal transmitted from a GPS (Global Positioning System) satellite (positioning satellite) S and intermittently measures the position of the apparatus body.
That is, the GPS processing unit 2 receives data transmitted from the GPS satellite S via the reception antenna 2a. Specifically, the receiving antenna 2a is a GPS signal (for example, almanac (rough orbit information)) transmitted from a plurality of GPS satellites (positioning satellites; only one is shown in FIG. 1) launched into a low earth orbit. And ephemeris (detailed trajectory information) are received at a predetermined timing. Then, the receiving antenna 2a outputs the received GPS signal to the GPS processing unit 2.

The GPS processing unit 2 obtains various transmission data of the GPS satellite S by performing demodulation processing of the GPS signal received via the receiving antenna 2a. Then, the GPS processing unit 2 performs a predetermined positioning calculation based on the acquired transmission data, thereby positioning the absolute two-dimensional current position (latitude, longitude) of the apparatus main body to the position. Such position data (for example, coordinate information of latitude and longitude) is acquired as a positioning result.
In addition, the GPS processing unit 2 sequentially acquires position data related to the current position of the apparatus main body at predetermined time intervals.

  The sensor unit 3 includes a triaxial geomagnetic sensor 3a, a triaxial acceleration sensor 3b, and an atmospheric pressure sensor 3c as autonomous navigation sensors.

The triaxial geomagnetic sensor 3a detects the magnitudes of geomagnetism in the triaxial directions orthogonal to each other. Then, the triaxial geomagnetic sensor 3a outputs the detected detection signal of each axis to the autonomous navigation control processing unit 4.
The triaxial acceleration sensor 3b is an autonomous navigation sensor and detects accelerations in three axial directions orthogonal to each other. The triaxial acceleration sensor 3b samples the detected signals of the respective axes at a predetermined frequency and outputs the sampled signals to the autonomous navigation control processing unit 4.
The atmospheric pressure sensor 3c is a sensor that detects atmospheric pressure in order to obtain a height difference. Further, the atmospheric pressure sensor 3 c outputs a detection signal of the detected atmospheric pressure to the autonomous navigation control processing unit 4.

The autonomous navigation control processing unit 4 continuously performs positioning calculation of autonomous navigation based on detection data detected by the triaxial geomagnetic sensor 3a, the triaxial acceleration sensor 3b, the atmospheric pressure sensor 3c, and the like.
That is, the autonomous navigation control processing unit 4 performs autonomous navigation positioning using the autonomous navigation sensor of the sensor unit 3 in an environment where signal reception is not performed by the receiving antenna 2a such as indoors. Specifically, the autonomous navigation control processing unit 4 acquires detection data detected by the triaxial geomagnetic sensor 3a and the triaxial acceleration sensor 3b at a predetermined sampling period, and moves the positioning device 100 from these detection data. The direction and amount of movement are calculated.
For example, the autonomous navigation control processing unit 4 extracts an output fluctuation pattern specific to walking that appears in the output of the triaxial geomagnetic sensor 3a, and calculates the moving direction of the pedestrian (device main body).
Further, the movement amount calculation unit (first calculation means) 4a of the autonomous navigation control processing unit 4 calculates the number of steps of the pedestrian as the movement amount of the apparatus main body based on the detection result by the triaxial acceleration sensor 3b. That is, the movement amount calculation unit 4a specifies an acceleration component related to the arm swing of the arm to which the apparatus main body is attached from the output of the three-axis acceleration sensor 3b, and determines the number of arm swings (number of steps) from the change of the acceleration component. Is calculated (see FIG. 5B). Then, the movement amount calculation unit 4a calculates the movement amount due to walking by multiplying the calculated number of steps by preset step length data.
In addition to the calculation of the movement direction and the movement amount, the autonomous navigation control processing unit 4 also calculates the movement amount in the height direction from the change in the output value of the atmospheric pressure sensor 3c.

Further, the autonomous navigation control processing unit 4 includes the calculated moving direction and moving amount in the position data of the position of the apparatus main body immediately before the detection data is acquired (for example, the first positioning point A after positioning). By adding relative vector data, position data, which is a positioning result of autonomous navigation, is calculated. In addition, the autonomous navigation control processing unit 4 obtains the position data of the apparatus main body by continuously calculating the position data at predetermined time intervals.
In addition, a series of position data related to the movement route L calculated by autonomous navigation positioning is accumulated in the storage unit 5.

  As described above, the sensor unit 3 and the autonomous navigation control processing unit 4 continuously detect the movement direction and the movement amount of the apparatus main body, and the position data of a predetermined point on the movement route L that has been previously measured by the GPS processing unit 2. By accumulating the movement direction and movement amount of the apparatus main body, the position data of each point on the movement route L is acquired.

The data storage unit 5 is composed of, for example, a non-volatile memory and stores control data 5a for position measurement, movement history data 5b, a map database 5c, and the like.
Is remembered.

  The control data 5a is position measurement data necessary for walking positioning processing for acquiring position data of each point on the moving route L. That is, as the control data 5a, for example, position data obtained by intermittently performing GPS positioning, or total movement obtained by autonomous navigation positioning from the reference point where the most recent GPS positioning was performed to the current position. For example, the amount, stride data representing an average stride set and input by the user in advance, and the like can be given.

In the movement history data 5b, a series of position data along the movement route L acquired by the walking positioning process during movement of the device is sequentially registered. That is, in the walking positioning process, the GPS positioning is intermittently performed, while the autonomous navigation positioning is continuously performed in the meantime, and the position history data 5b is obtained by acquiring the position data of each point on the moving route L. It is formed.
Further, the movement history data 5b includes, for example, an index number “No.” indicating the acquisition order of the position data, time data indicating the time when the position data is acquired, position data, accompanying the series of position data. A correction flag indicating whether or not is already corrected is registered.

In the map database 5c, for example, map data for displaying a map within a predetermined range on the display unit 10 is stored in association with position coordinates. That is, the map database 5c includes address information such as administrative divisions and addresses such as prefectures and municipalities, map data representing information on buildings, facilities, stores, parks, railways, terrain information, road information, etc., latitude, longitude Are associated with coordinate information such as altitude.
The above-described map database 5c is an example and is not limited to this, and the contents of information stored in the database can be arbitrarily changed as appropriate.

The movement direction change detection unit 6 detects a change in the movement direction of the apparatus main body.
That is, the movement direction change detection unit (detection means) 6 detects a change in the movement direction of a pedestrian carrying the apparatus main body based on the detection result by the triaxial geomagnetic sensor 3a. Specifically, the movement direction change detection unit 6 determines a predetermined angle (for example, 90 °) in the movement direction of the apparatus main body (pedestrian) from a relative change in the output (for example, geomagnetic intensity) of the triaxial geomagnetic sensor 3a. Etc.) The above change is detected (see FIG. 5A).
That is, the movement direction change detection unit 6 detects whether a pedestrian carrying the apparatus main body is traveling straight or has turned a corner.

The movement direction calculation unit 7 calculates the movement direction from a plurality of absolute positions of the apparatus main body intermittently measured by the GPS processing unit 2.
That is, the movement direction calculation unit (second calculation means) 7 is configured so that the GPS processing unit 2 detects a predetermined time interval every time the movement direction change detection unit 6 detects a change in the movement direction a predetermined number of times (for example, twice). The position data of a plurality of absolute positions measured with a gap is obtained to calculate the movement direction of the apparatus main body.
Specifically, the movement direction calculation unit 7 calculates a first movement direction of the apparatus main body from the first positioning point A by the GPS processing unit 2. For example, the movement direction calculation unit 7 is the position data of the apparatus main body that is measured at the first positioning point A by the GPS processing unit 2 before the movement direction change detection unit 6 detects the first change in the movement direction. And based on the position data of the apparatus main body in the positioning point just before the said 1st positioning point A, the 1st movement direction of an apparatus main body is calculated (refer FIG. 7).
Further, the movement direction calculation unit 7 calculates a second movement direction of the apparatus main body up to the second positioning point B different from the first positioning point A by the GPS processing unit 2. For example, the movement direction calculation unit 7 may include the position data of the apparatus main body measured at the second positioning point B by the GPS processing unit 2 after the movement direction change detection unit 6 detects the second change in the movement direction. Based on the position data of the apparatus body at the positioning point after (for example, immediately after) the second positioning point B, the second movement direction is calculated (see FIG. 7).

The movement path specifying unit 8 specifies the movement path L of the apparatus main body.
That is, the movement path identification unit (identification means) 8 is the absolute position of the apparatus main body at the positioning point by the GPS processing unit 2 and the movement direction calculated by the movement direction calculation unit 7 (for example, the first movement direction and the second movement direction The movement path L of the apparatus main body is specified based on the movement amount calculated on the basis of the change point C of the movement direction by the movement amount calculation unit 4a.
Specifically, the movement path specifying unit 8 moves based on the movement amount of the apparatus main body along the first movement direction from the first positioning point (starting point) A calculated by the movement amount calculation unit 4a. The position coordinate of the first change point (start point side change point) C1 at which the first change in the moving direction is detected by the direction change detection unit 6 is specified. For example, the movement route specifying unit 8 is calculated by the movement amount calculation unit 4a until the first change in the movement direction is detected by the movement direction change detection unit 6 with respect to the position coordinates of the first positioning point A. The position coordinates of the first change point C1 are specified by adding the moved amounts along the first moving direction.
Further, the movement path specifying unit 8 detects the movement direction change based on the movement amount of the apparatus main body along the second movement direction up to the second positioning point (end point) B calculated by the movement amount calculation unit 4a. The position coordinate of the second change point (end-point side change point) C2 where the change in the moving direction is detected by the unit 6 is specified. For example, the movement path specifying unit 8 is calculated by the movement amount calculation unit 4a after the second change in the movement direction is detected by the movement direction change detection unit 6 until the second positioning point B is measured. By adding the movement amount to the position coordinates of the second positioning point B along the second movement direction, the position coordinates of the second change point C2 are specified.
And the movement path | route specific | specification part 8 pinpoints the movement path | route L of an apparatus main body based on the position coordinate of the specified 1st change point C1 and 2nd change point C2.

  Moreover, the movement path | route specific | specification part 8 comprises the change point distance calculation part 8a and the correction | amendment part 8b.

The inter-change point distance calculation unit (third calculation means) 8a is configured to change the first change point C1 and the second change based on the position coordinates of the first change point C1 and the position coordinates of the second change point C2. The distance between the point C2 is calculated.
That is, the inter-change point distance calculation unit 8a performs a predetermined calculation based on the position coordinates of the first change point C1 and the position coordinates of the second change point C2 specified by the movement path specifying unit 8. Then, a linear distance (distance between change points) between the first change point C1 and the second change point C2 is calculated.

The correction unit 8b corrects the movement route L between the first positioning point A and the second positioning point B of the apparatus main body.
In other words, the correction unit (correction unit) 8b moves between the linear distance (distance between change points) between the first change point C1 and the second change point C2 calculated by the distance calculation unit 8a. Based on the movement amount between the first change point C1 and the second change point C2 calculated by the amount calculation unit 4a, the first positioning point A and the second positioning point B of the apparatus main body The trajectory of the movement path L in between is corrected.
Specifically, the correction unit 8b determines the linear distance between the first change point C1 and the second change point C2, and the amount of movement between the first change point C1 and the second change point C2. By changing the step size multiplied by the number of steps between the first positioning point A and the second positioning point B by the movement amount calculation unit 4a so as to match Correct. For example, the correction unit 8b may be configured such that the first distance between the start point (first positioning point A) of the movement route L and the first change point C1, and between the first change point C1 and the second change point C2. The step length of the stride data while maintaining the second distance and the ratio of the third distance (distance between the change points) between the second change point C2 and the end point (second positioning point B) of the movement route L. The trajectory of the movement route L between the first positioning point A and the second positioning point B is corrected by changing the size of (see FIG. 7).

Although not shown in the figure, the timer unit 9 includes, for example, a timer and a timer circuit, and measures the current time to acquire time information. And the time measuring part 9 outputs the acquired time information to memory.
The timekeeping unit 9 may specify a calendar such as a date or day of the week based on the acquired time information.

  The display unit 10 is, for example, a liquid crystal display panel, and reads image data for display such as various types of information and images and displays them on a display screen.

  The operation input unit 11 inputs various instructions to the positioning device 100 main body based on a predetermined operation by the user. Specifically, the operation input unit 11 includes, for example, a power button, up / down / left / right cursor buttons, a determination button (all not shown), and the like.

Next, the positioning process by the positioning device 100 of this embodiment will be described with reference to FIGS.
FIG. 2 is a flowchart illustrating an example of an operation related to the positioning process.

<Positioning process>
As shown in FIG. 2, first, the sensor unit 3 determines whether or not the apparatus main body is stable based on an input of a control command output from the CPU of the central control unit 1 (step S1). Specifically, the sensor unit 3 specifies the direction of gravity based on, for example, the 0 Hz frequency component of the detection signal of each axis by the triaxial acceleration sensor 3b, and determines whether or not the direction of gravity is stable. To determine whether the device body is stable.
Here, when the direction of gravity is not stable (step S1; NO), for example, it is considered that the device main body is mounted on the arm of the pedestrian and is swinging.

When it is determined in step S1 that the apparatus main body is not stable (step S1; NO), the GPS processing unit 2 determines that the apparatus is based on the input of the GPS positioning command output from the CPU of the central control unit 1. Positioning of the current position where the main body exists (GPS positioning processing) is performed (step S2). Then, the GPS processing unit 2 transfers the position data of the current position calculated based on the GPS signal received by the receiving antenna 2a to the data storage unit 5, and corresponds to the time data timed by the time measuring unit 9. In addition, it is stored in the movement history data 5b.
Subsequently, the movement direction change detection unit 6 performs a movement direction change detection process (see FIG. 3) based on the input of the control command output from the CPU of the central control unit 1 (step S3).

<Moving direction change detection processing>
Hereinafter, the movement direction change detection process will be described in detail with reference to FIG.
FIG. 3 is a flowchart illustrating an example of an operation related to the movement direction change detection process.

  As shown in FIG. 3, the moving direction change detection unit 6 sequentially acquires detection data of the magnitude of the geomagnetism in the triaxial direction by the triaxial geomagnetic sensor 3a (step S31). Then, the movement direction change detection unit 6 averages the detection data by the triaxial geomagnetic sensor 3a acquired within a predetermined period (step S32), and the geomagnetic intensity is predetermined based on the detection result by the triaxial geomagnetic sensor 3a. It is determined whether or not the value has changed by more than the value (step S33). For example, as shown in FIG. 5 (a), when the geomagnetism intensity arranged on the time axis has changed relatively greatly, the moving direction of the apparatus main body has changed by a predetermined angle or more (bent around the corner). I will do it.

If it is determined in step S33 that the detection result by the triaxial geomagnetic sensor 3a has changed (step S33; YES), the movement direction change detection unit 6 is a predetermined angle in the movement direction of the pedestrian carrying the apparatus main body. The above change (bending angle) is detected (step S34). The position where the change in the moving direction is detected becomes a change point C (for example, the first change point C1, the second change point C2, etc.).
Subsequently, the movement direction change detection unit 6 determines whether or not a predetermined time corresponding to the time interval of GPS positioning has elapsed based on the time measurement result by the time measurement unit 9 (step S35). Further, when it is determined in step S33 that the detection result by the triaxial geomagnetic sensor 3a has not changed (step S33; NO), the moving direction change detection unit 6 skips step S34 and performs a predetermined time. It is determined whether or not elapses (step S35).

If it is determined in step S35 that the predetermined time has not elapsed (step S35; NO), the movement direction change detection unit 6 returns the process to step S31, and in the same manner as described above, each of the steps after step S31. Execute the process.
Each process of steps S31 to S34 is repeatedly executed until it is determined in step S35 that a predetermined time has elapsed (step S35; YES).
If it is determined in step S35 that the predetermined time has elapsed (step S35; YES), the movement direction change detection process is terminated.

Returning to FIG. 2, the movement direction calculation unit 7 determines whether or not the apparatus main body is moving straight based on the result of the movement direction change detection process (step S <b> 4).
Here, if it is determined that the apparatus main body is not moving straight (step S4; NO), the CPU of the central control unit 1 returns the process to step S2, and performs each process after step S2 in substantially the same manner as described above. Let it run. That is, the GPS processing unit 2 performs GPS positioning processing (step S2), and then the movement direction change detection unit 6 performs movement direction change detection processing (step S3).
The processes in steps S2 and S3 are repeatedly executed until it is determined in step S4 that the apparatus main body is moving straight (step S4; YES).

If it is determined in step S4 that the main body of the apparatus is traveling straight (step S4; YES), the autonomous navigation control processing unit 4 moves from the output fluctuation pattern unique to walking that appears in the output of the triaxial geomagnetic sensor 3a. A direction is calculated and movement direction data is generated (step S5). The generated movement direction data is temporarily stored in the data storage unit 5.
Next, the movement path specifying unit 8 refers to the data storage unit 5 to determine whether or not the position data and the movement direction data of the start and end points of the movement path L of the apparatus main body are stored (step S6). .
Here, as described later, when the moving direction has not changed twice, it is considered that there is at least no position data of the end point of the moving route L.

If it is determined in step S6 that the position data and movement direction data of the start point and end point of the movement route L are not stored (step S6; NO), the autonomous navigation control processing unit 4 is the CPU of the central control unit 1. The autonomous navigation positioning process is performed based on the input of the autonomous navigation positioning command output from (step S7).
Specifically, for example, the autonomous navigation control processing unit 4 specifies an acceleration component related to arm swing from the output of the three-axis acceleration sensor 3b, and calculates the number of arm swings as the number of steps from the change of the acceleration component. (See FIG. 5 (b)). Then, the autonomous navigation control processing unit 4 adds the vector data including the moving direction and the moving amount to the position data of the position (starting point of the moving path L) of the apparatus main body immediately before the detection data is acquired, thereby autonomously The position data which is the positioning result of the navigation is calculated. Then, the autonomous navigation control processing unit 4 transfers the position data of the position calculated by the positioning to the data storage unit 5, and stores it in the movement history data 5b in association with the time data timed by the time measuring unit 9.

Subsequently, the movement direction change detection unit 6 performs a movement direction change detection process (see FIG. 3) based on the input of the control command output from the CPU of the central control unit 1 (step S8).
The movement direction change detection process here is substantially the same as the process in step S3 described above, and a detailed description thereof will be omitted.

Next, the CPU of the central control unit 1 determines whether or not an instruction to end the positioning process has been input (step S9). For example, the CPU of the central control unit 1 determines whether an instruction to end the positioning process is input based on a predetermined operation of the operation input unit 11 by the user.
If it is determined in step S9 that the positioning process end instruction has not been input (step S9; NO), the CPU of the central control unit 1 moves the apparatus main body based on the result of the movement direction change detection process. It is determined whether or not the direction has changed twice (step S10).

If it is determined in step S10 that the moving direction of the apparatus main body has not changed twice (step S10; NO), the CPU of the central control unit 1 returns the process to step S7, and substantially the same as above. Each process after step S7 is executed.
Each process of steps S7 to S9 is repeatedly executed until it is determined in step S10 that the moving direction of the apparatus main body has changed twice (step S10; YES).

If it is determined in step S10 that the moving direction of the apparatus main body has changed twice (step S10; YES), the CPU of the central control unit 1 returns the process to step S2, and in substantially the same manner as described above, step S2 Each subsequent process is executed.
That is, the GPS processing unit 2 performs GPS positioning processing (step S2), and then the movement direction change detection unit 6 performs movement direction change detection processing (step S3). Then, the movement direction calculation unit 7 determines whether or not the apparatus main body is moving straight on the basis of the result of the movement direction change detection process (step S4). Here, after each process described above is repeatedly executed until it is determined that the apparatus main body is traveling straight (step S4; YES), in step S5, the autonomous navigation control processing unit 4 is substantially the same as described above. The movement direction is calculated to generate movement direction data.

Thereafter, the movement route specifying unit 8 determines whether or not the position data and the movement direction data of the start point and the end point of the movement route L are stored in the same manner as described above (step S6).
Here, if it is determined that the position data of the start point and end point of the movement route L and the movement direction data are stored (step S6; YES), the movement route identification unit 8 is output from the CPU of the central control unit 1. Based on the input of the control command, the movement path specifying process (see FIG. 4) is performed (step S11).

<Movement route identification process>
Hereinafter, the movement route specifying process will be described in detail with reference to FIG.
FIG. 4 is a flowchart illustrating an example of an operation related to the movement route specifying process.

As shown in FIG. 4, first, the movement direction calculation unit 7 calculates the first movement direction of the apparatus main body at the first positioning point A that is the starting point of the movement path L (step S111). Specifically, the moving direction calculation unit 7 converts the position data of the apparatus main body measured at the first positioning point A and the position data of the apparatus main body at the positioning point immediately before the first positioning point A. Based on this, a first movement direction of the apparatus main body is calculated, and movement direction data of the first movement direction is generated (see FIG. 6 and the like).
Next, the movement direction calculation unit 7 calculates the second movement direction of the apparatus main body at the second positioning point B that is the end point of the movement route L (step S112). Specifically, the moving direction calculation unit 7 converts the position data of the apparatus main body measured at the second positioning point B and the position data of the apparatus main body at the positioning point after the second positioning point B. Based on this, the second movement direction of the apparatus main body is calculated to generate movement direction data (see FIG. 6 and the like).
The order of the first movement direction calculation process (step S111) and the second movement direction calculation process (step S112) may be reversed.

And the movement path | route specific | specification part 8 pinpoints the position coordinate of the 1st change point C1 based on the movement amount along the 1st movement direction from the 1st positioning point A calculated by the movement amount calculation part 4a. (Step S113). Specifically, the movement path specifying unit 8 acquires the position data of the first positioning point A from the data storage unit 5, and first moves in the movement direction with respect to the position coordinates of the first positioning point A. The amount of movement until a change is detected is added along the first movement direction to specify the position coordinates of the first change point C1.
Subsequently, the movement path specifying unit 8 determines the position coordinates of the second change point C2 based on the movement amount along the second movement direction to the second positioning point B calculated by the movement amount calculation unit 4a. Specify (step S114). Specifically, the movement path specifying unit 8 acquires the position data of the second positioning point B from the data storage unit 5, and the second positioning point B is detected after the second change in the moving direction is detected. The movement amount calculated until the positioning is added to the position coordinates of the second positioning point B along the second movement direction, and the position coordinates of the second change point C2 are specified.
The order of the first change point C1 specifying process (step S113) and the second change point C2 specifying process (step S114) may be reversed.

  Next, the inter-change point distance calculation unit 8a of the movement path specifying unit 8 performs a predetermined calculation based on the position coordinates of the first change point C1 and the position coordinates of the second change point C2, and performs the first calculation. The linear distance between the change point C1 and the second change point C2 is calculated (step S115). Subsequently, after the correction unit 8b of the movement path specifying unit 8 acquires the movement amount between the first change point C1 and the second change point C2 calculated by the movement amount calculation unit 4a (step S116). Whether the difference between the linear distance between the first change point C1 and the second change point C2 and the amount of movement between the first change point C1 and the second change point C2 is within a predetermined range. Is determined (step S117).

In step S117, the difference between the linear distance between the first change point C1 and the second change point C2 and the amount of movement between the first change point C1 and the second change point C2 is within a predetermined range. When it is determined that it is not within (step S117; NO), the correction unit 8b determines the linear distance between the first change point C1 and the second change point C2, the first change point C1, and the second change point C2. The trajectory of the movement route L is corrected so as to match the movement amount with the change point C2 (step S118).
Specifically, the correction unit 8b includes a first distance between the start point (first positioning point A) of the movement route L and the first change point C1, and the first change point C1 and the second change point. While the second distance between C2 and the ratio of the third distance between the second change point C2 and the end point (second positioning point B) of the movement route L are maintained, each distance is calculated by the movement amount calculation unit 4a. The step size multiplied by the number of steps is changed. Thereby, the correction | amendment part 8b correct | amends the locus | trajectory of the movement path | route L between the 1st positioning point A and the 2nd positioning point B (refer FIG. 7).
Then, the movement path | route specific | specification part 8 returns a process to step S113, and performs each process after step S113 substantially like the above.

  On the other hand, in step S117, the difference between the linear distance between the first change point C1 and the second change point C2 and the amount of movement between the first change point C1 and the second change point C2 is calculated. If it is determined that it is within the predetermined range (step S117; YES), the movement route specifying process is terminated.

  Returning to FIG. 2, the CPU of the central control unit 1 controls the execution of each process after step S <b> 7, and when it is determined in step S <b> 9 that an instruction to end the positioning process is input (step S <b> 9; YES). End the positioning process.

On the other hand, when it is determined in step S1 that the apparatus main body is stable (step S1; YES), the autonomous navigation control processing unit 4 inputs the autonomous navigation positioning command output from the CPU of the central control unit 1. Based on the above, autonomous navigation positioning processing is performed (step S12).
The autonomous navigation positioning process here is substantially the same as the process in step S7 described above, and a detailed description thereof will be omitted.

  Next, the CPU of the central control unit 1 outputs a GPS positioning command, and starts the GPS positioning process by the GPS processing unit 2 (step S13). Thereby, the GPS processing unit 2 calculates the position data of the current position based on the GPS signal received by the receiving antenna 2a, and the data storage unit 5 stores the position data of the current position transferred from the GPS processing unit 2. Are stored in association with time data.

Subsequently, the CPU of the central control unit 1 determines whether or not a predetermined time corresponding to the time interval of GPS positioning has elapsed based on the timing result by the timing unit 9 (step S14).
If it is determined that the predetermined time has not elapsed (step S14; NO), the CPU of the central control unit 1 returns the process to step S13. On the other hand, if it is determined that the predetermined time has elapsed (step S14; YES), the CPU of the central control unit 1 outputs a GPS positioning stop command and stops the GPS positioning process by the GPS processing unit 2 (step S15). ).

And the movement path | route specific | specification part 8 determines whether the position data of the starting point of the movement path | route L and the end point are memorize | stored in the data storage part 5 (step S16).
Here, when the GPS positioning is not performed twice, it is considered that there is no position data of at least the end point of the moving route L.

  If it is determined in step S16 that the position data of the start point and end point of the movement route L are not stored (step S16; NO), the CPU of the central control unit 1 determines whether or not an instruction to end the positioning process has been input. Is determined (step S17). For example, the CPU of the central control unit 1 determines whether an instruction to end the positioning process is input based on a predetermined operation of the operation input unit 11 by the user.

If it is determined in step S17 that an instruction to end the positioning process has not been input (step S17; NO), the CPU of the central control unit 1 has passed a predetermined time based on the timing result by the timing unit 9. Is determined (step S18).
Here, if it is determined that the predetermined time has not elapsed (step S18; NO), the CPU of the central control unit 1 returns the process to step S17, and an instruction to end the positioning process is input in substantially the same manner as described above. It is determined whether or not it has been done.

If it is determined in step S18 that the predetermined time has elapsed (step S18; YES), the CPU of the central control unit 1 returns the process to step S113, and performs each process after step S13 in substantially the same manner as described above. Run.
That is, in step S13, the GPS processing unit 2 measures the end point of the moving route L by performing GPS positioning processing. Thereby, if it is determined in step S16 that the position data of the start point and end point of the movement route L are stored (step S16; YES), the movement route specifying unit 8 performs a movement route correction process (step S16). S19).

  Here, the movement route correction process is a known process. For example, the movement route identification unit 8 uses the movement route L that has been subjected to autonomous navigation positioning based on the position data of the start point and the end point of the movement route L that has been subjected to GPS positioning. The position data of each point between the start point and the end point is corrected so that the shape of the trajectory is maintained. Specifically, the movement route specifying unit 8 multiplies the difference amount between the end point of the movement route L obtained by GPS positioning and the end point of the movement route L obtained by autonomous navigation measurement by a ratio according to the movement amount from the start point, Further, the position data of each point is corrected by adding a displacement amount obtained by adding a rotation amount corresponding to the angular displacement from the start point with the start point as a center to the position data of each point on the movement path L from the start point. To do.

  Thereafter, in step S17, the CPU of the central control unit 1 determines whether or not an instruction to end the positioning process is input in substantially the same manner as described above. If it is determined in step S17 that an instruction to end the positioning process has been input (step S17; YES), the positioning process ends.

As described above, according to the positioning device 100 of the present embodiment, each time a change in the movement direction of the device main body is detected a predetermined number of times (for example, twice), a plurality of absolute positions of the measured device main body are used. The movement direction is calculated, and the movement path L of the apparatus main body is specified based on the calculated movement direction, the absolute position of the apparatus main body at the positioning point, and the movement amount calculated based on the change point C at which the movement direction has changed. Therefore, for example, even when the traveling direction using the triaxial geomagnetic sensor 3a cannot be calculated because the apparatus main body is mounted on the pedestrian's arm, the current position is continuously measured by the GPS processing unit 2. The travel route L can be specified appropriately without any problem. That is, when the apparatus main body is worn on the arm, the traveling direction cannot be calculated using the three-axis geomagnetic sensor 3a, but walking based on the detection result by the three-axis geomagnetic sensor 3a. A change in the direction of movement of the person can be detected appropriately. Further, the number of steps of the pedestrian can be appropriately calculated as the movement amount of the apparatus main body based on the detection result by the triaxial acceleration sensor 3b.
Therefore, without performing continuous positioning of the current position by the GPS processing unit 2, the position of the start point and the end point of the movement path L subjected to GPS positioning, and the movement amount based on the change point C of the movement direction from the start point to the end point Based on the movement direction (first movement direction and second movement direction) based on the start point and end point obtained by GPS positioning, the travel path L from the start point to the end point via the change point C in the movement direction is properly set. Can be identified.
In addition, since it is not necessary to perform continuous positioning of the current position by the GPS processing unit 2, an increase in power consumption for the positioning operation can be suppressed.

  The position of the first change point C1 at which the change in the movement direction of the apparatus main body is detected based on the movement amount along the first movement direction from the first positioning point (starting point) A that is GPS-positioned. Can be specified. Further, based on the amount of movement along the second movement direction to the second positioning point (end point) B for GPS positioning, the position of the second change point C2 where the change in the movement direction of the apparatus body is detected. Can be specified. Therefore, it is possible to appropriately specify the positions of the first change point C1 and the second change point C2 where the change in the moving direction of the apparatus main body is detected, and the first change point C1 and the second change point C2 from the start point. It is possible to appropriately specify the movement route L to the end point via the change point C2.

  Further, based on the identified linear distance between the first change point C1 and the second change point C2 and the amount of movement of the apparatus main body between the first change point C1 and the second change point C2. Since the movement path L between the first positioning point (start point) A and the second positioning point (end point) B of the apparatus main body is corrected, the first change point C1 and the second change point C2 are corrected. When the preset stride data used when calculating the amount of movement between and the pedestrian is different from the actual stride of the pedestrian, the first positioning point A and the second positioning point B by the correction process It is possible to appropriately specify the movement route L between the two.

The present invention is not limited to the above-described embodiment, and various improvements and design changes may be made without departing from the spirit of the present invention.
For example, in the above-described embodiment, the moving route specifying unit 8 includes the inter-change point distance calculating unit 8a and the correcting unit 8b. However, the configuration of the moving route specifying unit 8 can be arbitrarily changed as appropriate. It is. That is, in the present embodiment, it is not always necessary to correct the movement path L between the first positioning point A and the second positioning point B of the apparatus main body. Whether or not the correction unit 8b is provided can be arbitrarily changed as appropriate.

In the above embodiment, the detection result of the triaxial geomagnetic sensor 3a is used to detect the change in the movement direction of the pedestrian carrying the apparatus body. However, the detection method of the change in the movement direction is an example. However, the present invention is not limited to this, and can be arbitrarily changed as appropriate.
Further, in the above embodiment, the detection result by the triaxial acceleration sensor 3b is used for calculating the number of steps of the pedestrian as the movement amount of the apparatus main body, but the movement amount calculation method is an example. It is not restricted to this, It can change arbitrarily arbitrarily.

  In addition, the configuration of the positioning device 100 is merely an example illustrated in the above embodiment, and is not limited thereto.

In addition, in the above embodiment, the functions of the first positioning means, the first calculating means, the detecting means, the second calculating means, and the specifying means are performed by GPS processing under the control of the CPU of the central control unit 1. 2, the movement amount calculation unit 4 a, the movement direction change detection unit 6, the movement direction calculation unit 7, and the movement route identification unit 8 are driven. The configuration may be realized by executing a predetermined program or the like by the unit 1.
That is, a program including a first positioning process routine, a first calculation process routine, a detection process routine, a second calculation process routine, and a specific process routine is stored in a program memory (not shown) that stores the program. Then, the CPU of the central control unit 1 receives the signal transmitted from the positioning satellite by the first positioning processing routine and functions as the first positioning means for intermittently positioning the absolute position of the apparatus main body. Also good. Further, the CPU of the central control unit 1 may function as first calculation means for calculating the movement amount of the apparatus main body by the first calculation processing routine. Further, the CPU of the central control unit 1 may function as a detection unit that detects a change in the moving direction of the apparatus main body by a detection processing routine. Further, the CPU of the central control unit 1 is moved from a plurality of absolute positions of the apparatus main body measured by the first positioning means each time the change of the moving direction is detected by the detecting means a predetermined number of times by the second calculation processing routine. You may make it function as the 2nd calculation means which calculates a direction. Further, the CPU of the central control unit 1 uses the specific processing routine as a reference for the absolute position of the apparatus main body at the positioning point by the first positioning means, the moving direction calculated by the second calculating means, and the change point C at which the moving direction has changed. As an example, based on the movement amount calculated by the first calculation means, it may function as a specifying means for specifying the movement path L of the apparatus main body.

  Similarly, the third calculation unit and the correction unit may be realized by a predetermined program executed by the CPU of the central control unit 1.

  Furthermore, as a computer-readable medium storing a program for executing each of the above processes, a non-volatile memory such as a flash memory or a portable recording medium such as a CD-ROM is applied in addition to a ROM or a hard disk. Is also possible. A carrier wave is also used as a medium for providing program data via a predetermined communication line.

Although several embodiments of the present invention have been described, the scope of the present invention is not limited to the above-described embodiments, but includes the scope of the invention described in the claims and equivalents thereof.
The invention described in the scope of claims attached to the application of this application will be added below. The item numbers of the claims described in the appendix are as set forth in the claims attached to the application of this application.
[Appendix]
<Claim 1>
First positioning means for receiving a signal transmitted from a positioning satellite and intermittently positioning the absolute position of the apparatus body;
First calculating means for calculating a movement amount of the apparatus body;
Detecting means for detecting a change in the moving direction of the apparatus body;
A second calculating means for calculating a moving direction from a plurality of absolute positions of the apparatus body measured by the first positioning means each time a change in the moving direction is detected a predetermined number of times by the detecting means;
The absolute position of the apparatus main body at the positioning point by the first positioning means, the movement direction calculated by the second calculation means, and the movement amount calculated by the first calculation means with reference to the change point at which the movement direction has changed. Based on the identification means for identifying the movement path of the apparatus body,
A positioning device comprising:
<Claim 2>
The second calculating means further calculates a first moving direction of the apparatus main body from the first positioning point by the first positioning means,
The specifying unit is further configured to detect the moving direction by the detecting unit based on a movement amount of the apparatus main body along the first moving direction from the first positioning point calculated by the first calculating unit. The positioning device according to claim 1, wherein the position of the first change point where the change in the frequency is detected is specified.
<Claim 3>
The second calculation means further calculates a second movement direction of the apparatus main body to a second positioning point different from the first positioning point by the first positioning means,
The specifying means is further configured to detect the moving direction by the detecting means based on a moving amount of the apparatus main body along the second moving direction to the second positioning point calculated by the first calculating means. The positioning device according to claim 2, wherein the position of the second change point where the change in the frequency is detected is specified.
<Claim 4>
The specifying means further includes:
Third calculation means for calculating a distance between the first change point and the second change point based on the position of the first change point and the position of the second change point;
A distance between the first change point and the second change point calculated by the third calculation means; and the first change point and the second change calculated by the first calculation means. And a correction unit that corrects a movement path between the first positioning point and the second positioning point of the apparatus main body based on a movement amount between the points. Item 4. The positioning device according to item 3.
<Claim 5>
Further comprising a geomagnetic sensor for detecting the magnitude of the geomagnetism,
The said detection means detects the change of the moving direction of the said pedestrian who has the said apparatus main body based on the detection result by the said geomagnetic sensor, The Claim 1 characterized by the above-mentioned. Positioning device.
<Claim 6>
An acceleration sensor for detecting acceleration in a predetermined axial direction;
The said 1st calculation means calculates the number of steps of the said pedestrian as a moving amount | distance of the said apparatus main body based on the detection result by the said acceleration sensor, The Claim 1 characterized by the above-mentioned. Positioning device.
<Claim 7>
A positioning method using a positioning device,
A process of receiving a signal transmitted from a positioning satellite and intermittently positioning the absolute position of the device body;
Processing for calculating the amount of movement of the device body;
Processing for detecting a change in the direction of movement of the device body;
Each time a change in the moving direction is detected a predetermined number of times, a process of calculating the moving direction from a plurality of absolute positions of the measured device body; and
A process for identifying the movement path of the apparatus main body based on the absolute position of the apparatus main body at the positioning point, the calculated movement direction, and the amount of movement calculated based on the change point at which the movement direction has changed;
A positioning method comprising:
<Claim 8>
Positioning device computer,
First positioning means for receiving a signal transmitted from a positioning satellite and intermittently positioning the absolute position of the apparatus body;
First calculating means for calculating a movement amount of the apparatus body;
Detecting means for detecting a change in the moving direction of the apparatus body;
A second calculating means for calculating a moving direction from a plurality of absolute positions of the apparatus body measured by the first positioning means each time a change in the moving direction is detected a predetermined number of times by the detecting means;
The absolute position of the apparatus main body at the positioning point by the first positioning means, the movement direction calculated by the second calculation means, and the movement amount calculated by the first calculation means with reference to the change point at which the movement direction has changed. Based on the specification means for specifying the movement path of the apparatus body,
A program characterized by functioning as

DESCRIPTION OF SYMBOLS 100 Positioning device 1 Central control part 2 GPS processing part 2a Reception antenna 3 Sensor part 3a Triaxial geomagnetic sensor 3b Triaxial acceleration sensor 4 Autonomous navigation control processing part 4a Movement amount calculation part 6 Movement direction change detection part 7 Movement direction calculation part 8 Movement path specifying unit 8a Distance changing point calculation unit 8b Correction unit

Claims (8)

Receiving a signal transmitted from a positioning satellite, a measuring position means that Kreis measuring the absolute position of the apparatus main body,
First calculating means for calculating a movement amount of the apparatus body;
Detecting means for detecting a change in the moving direction of the apparatus body;
A second calculating means for calculating a moving direction from said each time a change in the moving direction by a predetermined number of times detected, a plurality of absolute position of the apparatus body that is positioning the front Kihaka position means by said detecting means,
Absolute position, the movement amount calculated by said first calculating means on the basis of the change point where the calculated movement direction and the movement direction is changed by the second calculation means of the apparatus main body in the positioning point by prior Kihaka position means Based on the identification means for identifying the movement path of the apparatus body,
Equipped with a,
The second calculation means further calculates a first movement direction of the apparatus main body from the first positioning point by the positioning means,
The specifying unit is further configured to detect the moving direction by the detecting unit based on a movement amount of the apparatus main body along the first moving direction from the first positioning point calculated by the first calculating unit. A positioning device that identifies a position of a first change point at which a change in the position is detected . The positioning device according to claim 1, wherein the positioning unit intermittently measures the absolute position . It said second calculating means further calculates a second moving direction of the apparatus main body to the first second positioning point different from the positioning point by prior Kihaka position means,
The specifying means is further configured to detect the moving direction by the detecting means based on a moving amount of the apparatus main body along the second moving direction to the second positioning point calculated by the first calculating means. positioning device according to claim 1 or 2 changes of and identifies the position of the second change point detected. The specifying means further includes:
Third calculation means for calculating a distance between the first change point and the second change point based on the position of the first change point and the position of the second change point;
A distance between the first change point and the second change point calculated by the third calculation means; and the first change point and the second change calculated by the first calculation means. And a correction unit that corrects a movement path between the first positioning point and the second positioning point of the apparatus main body based on a movement amount between the points. Item 4. The positioning device according to item 3. Further comprising a geomagnetic sensor for detecting the magnitude of the geomagnetism,
Said detecting means, based on a detection result of the geomagnetic sensor, as claimed in any one of claims 1 to 4, characterized in that detecting a change in the moving direction of the pedestrian you owns the device body Positioning device. An acceleration sensor for detecting acceleration in a predetermined axial direction;
It said first calculation means, on the basis of the acceleration sensor according to the detection result, according to any one of claims 1 to 5, and calculates the number of steps of the amount of movement to pedestrians of the apparatus main body Positioning device. A positioning method using a positioning device,
Receiving a signal transmitted from a positioning satellite, the positioning process of position measuring an absolute position of the apparatus main body,
A first calculation process for calculating a movement amount of the apparatus body;
A detection process for detecting a change in the moving direction of the apparatus body;
A second calculation process for calculating a moving direction from a plurality of absolute positions of the measured apparatus body each time a change in the moving direction is detected a predetermined number of times;
A specifying process for identifying the movement path of the apparatus main body based on the absolute position of the apparatus main body at the positioning point, the calculated movement direction, and the movement amount calculated based on the change point at which the movement direction has changed;
Only including,
The second calculation process further calculates a first moving direction of the apparatus main body from the first positioning point by the positioning process,
The specifying process is further based on the amount of movement of the apparatus main body along the first movement direction from the first positioning point calculated by the first calculation process, and the movement direction by the detection process. A positioning method characterized in that the position of the first change point at which a change in the position is detected is specified . Positioning device computer,
Receiving a signal transmitted from a positioning satellite, the absolute position measurement of Kreis that measuring position means of the apparatus main body,
First calculating means for calculating a movement amount of the apparatus body;
Detecting means for detecting a change in the moving direction of the apparatus body;
Second calculating means for calculating a moving direction from said each time a change in the moving direction by a predetermined number of times detected, a plurality of absolute position of the apparatus body that is positioning the front Kihaka position means by said detecting means,
Absolute position, the movement amount calculated by said first calculating means on the basis of the change point where the calculated movement direction and the movement direction is changed by the second calculation means of the apparatus main body in the positioning point by prior Kihaka position means Based on the specification means for specifying the movement path of the apparatus body,
To function as,
The second calculation means further calculates a first movement direction of the apparatus main body from the first positioning point by the positioning means,
The specifying unit is further configured to detect the moving direction by the detecting unit based on a movement amount of the apparatus main body along the first moving direction from the first positioning point calculated by the first calculating unit. A program characterized by specifying a position of a first change point at which a change in the number is detected .

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