JP6123151B2 - POSITIONING PLACE IDENTIFICATION DEVICE, POSITIONING PLACE IDENTIFICATION METHOD, PROGRAM, AND POSITIONING PLACE IDENTIFICATION SYSTEM - Google Patents

Description

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

  Conventionally, a technique for automatically generating a map from the trajectory of a moving body such as a terminal has been considered. For example, Patent Document 1 identifies a trajectory of a moving body as a road, and identifies attributes of features such as stairs and doors from changes in the state of the moving body. And the technique which produces | generates a map automatically from the attribute of the identified road and a feature is disclosed.

JP 2007-333998 A

  However, since the technique described in Patent Document 1 identifies all the trajectories of the moving body as roads, the location of the acquired trajectory is identified, for example, whether the place to which the trajectory belongs is a road or other building interior. Identification was very difficult.

  This invention is made | formed in view of such a condition, and it aims at identifying the state of the place where a locus | trajectory is located from the acquired locus | trajectory.

In order to achieve the above object, a positioning location identification device according to an aspect of the present invention includes an acquisition unit that acquires data of a plurality of positioning positions that are each positioned as a current position of a terminal, spaced apart in a time direction; Movement measuring means for measuring movement in which the movement direction and movement amount of the terminal are measured, and the movement direction and movement amount measured by the movement measurement are added to the positioning position serving as a reference point, and the terminal Calculation position generation means for generating calculated position data indicating the current position of the calculation position data, and the calculation position data generated by the calculation position generation means, the data before and after the calculation position data of the plurality of positioning positions and correcting means for correcting the measured position, Preparations and positional accuracy acquiring means for acquiring the data accuracy of the located position, the positional accuracy calculating means for calculating the accuracy of the data of the calculated position, the The position accuracy calculation means is configured to calculate the position of the calculated position based on a period continuously measured by the movement measurement and accuracy of the data of the positioning position measured by the position accuracy acquisition means before and after the period. It is characterized by calculating the accuracy of data.

  According to the present invention, it is possible to identify the state of the place where the trajectory is located from the acquired trajectory.

It is a system configuration figure showing the composition of the map generation system as one embodiment of the system using the positioning place discernment device concerning the present invention. It is a block diagram which shows the hardware constitutions of the terminal of the map production | generation system of FIG. It is a block diagram which shows the hardware constitutions of the server 12 among the map production | generation systems of FIG. It is a schematic diagram explaining the principle of identification of states other than a road among identification of a state. It is a schematic diagram explaining the principle of the identification of a road state among identification of a state. It is a functional block diagram which shows the functional structure for performing a map generation process among the functional structures of the map generation system of FIG. It is a functional block diagram which shows the functional structure for performing a locus | trajectory acquisition process among the functional structures of the map generation system of FIG. It is a functional block diagram which shows the functional structure for performing a state identification process among the functional structures of the map generation system of FIG. It is a functional block diagram which shows the functional structure for performing autonomous navigation positioning accuracy estimation process among the functional structures of the map generation system of FIG. It is a schematic diagram for demonstrating estimation of autonomous navigation positioning accuracy. It is a functional block diagram which shows the functional structure for performing a map data generation process among the functional structures of the map generation system of FIG. It is a flowchart explaining the flow of the map production | generation process which the terminal of FIG. 2 and the map production | generation apparatus of FIG. 3 perform. It is a flowchart explaining the detailed flow of the locus | trajectory acquisition process of step S1 of the map generation process of FIG. It is a flowchart explaining the detailed flow of the state identification process of step S2 of the map generation process of FIG. It is a flowchart explaining the detailed flow of the positioning precision estimation process of step S59 of the map generation process of FIG. It is a flowchart explaining the detailed flow of the map drawing process of step S3 of the map generation process of FIG. It is a system block diagram which shows the structure of the map generation system which concerns on the 2nd Embodiment of this invention. It is a flowchart explaining the detailed flow of the state identification process which concerns on 2nd Embodiment.

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

FIG. 1 is a system configuration diagram showing a configuration of a map generation system as an embodiment of a positioning location identification system according to the present invention.
In the example of FIG. 1, the map generation system is configured by connecting three terminals 11A to 11C and a server 12 to each other via a network N.
Hereinafter, when it is not necessary to individually distinguish the terminals 11A to 11C, these terminals are collectively referred to as “terminal 11”. Thus, when the last alphabet of a code | symbol is abbreviate | omitted and called, the last alphabet of the code | symbol attached | subjected to the component of the terminal 11 is also abbreviate | omitted.

The terminal 11 can be operated in GPS so that it can receive signals from several GPS (Global Positioning System) satellites in the sky and measure the position of its own device. It has a function. Further, the terminal 11 has a function capable of acquiring a movement amount or the like accompanying the movement of the terminal 11.
Using these functions, the terminal 11 acquires its own location information and transmits it to the server 12. In FIG. 1, three terminals 11 are shown, but this is merely an example. Even if there is only one device, this system can be operated, and three or more terminals 11 may be used in order to expand the map and improve the accuracy.

  The server 12 has a function capable of exchanging information with the terminal 11 or the like via a network N such as the Internet. The server 12 receives position information from the terminal 11 and generates map data indicating a new map by adding building and road information to a known map based on the position information from the terminal 11. .

  FIG. 2 is a block diagram showing a hardware configuration of the terminal 11 in the map generation system of FIG.

  The terminal 11 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, a bus 24, an input / output interface 25, a GPS unit 26, a sensor unit 27, , An input unit 28, an output unit 29, a storage unit 30, a communication unit 31, a drive 32, and a battery 33.

  The CPU 21 executes various processes according to a program recorded in the ROM 22 or a program loaded from the storage unit 30 to the RAM 23.

  The RAM 23 appropriately stores data necessary for the CPU 21 to execute various processes.

  The CPU 21, ROM 22, and RAM 23 are connected to each other via a bus 24. An input / output interface 25 is also connected to the bus 24. An input unit 28, an output unit 29, a storage unit 30, a communication unit 31, and a drive 32 are connected to the input / output interface 25.

  The GPS unit 26 receives GPS signals from a plurality of GPS satellites St via a GPS receiving antenna. Based on the GPS signal received by the GPS unit 26, the CPU 21 calculates latitude, longitude, and altitude data indicating the current position of the terminal 11 (hereinafter also referred to as “positioning position data” as appropriate).

The sensor unit 27 measures a change in the state of the terminal 11 as a movement amount. In the present embodiment, the sensor unit 27 includes a triaxial geomagnetic sensor and a triaxial acceleration sensor.
The triaxial geomagnetic sensor outputs triaxial geomagnetic data representing the triaxial (X, Y, Z) components of geomagnetism detected using, for example, an MI element whose impedance changes in accordance with a change in the external magnetic field.
The triaxial acceleration sensor detects triaxial acceleration components by a piezoresistive type or capacitance type detection mechanism and outputs acceleration data for each triaxial component. Note that the triaxial components detected by the triaxial acceleration sensor correspond to the triaxial (X, Y, Z) components of the triaxial geomagnetic sensor, respectively.

The input unit 28 includes various buttons and the like, and inputs various types of information according to user instruction operations.
The output unit 29 includes a display, a speaker, and the like, and outputs an image and sound.
The storage unit 30 is configured by a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various information data. The storage unit 30 stores, for example, data related to the trajectory of the terminal 11 and data related to map generation.
The communication unit 31 controls communication performed with other devices including the other terminals 11 and the server 12 via the network N including the Internet.

  A removable medium 41 composed of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately attached to the drive 32. The program read from the removable medium 41 by the drive 32 is installed in the storage unit 30 as necessary. The removable medium 41 can also store various data such as information data stored in the storage unit 30 in the same manner as the storage unit 30.

  The battery 33 is constituted by, for example, a lithium ion secondary battery, and is a power supply source that supplies driving power to the terminal 11.

  FIG. 3 is a block diagram showing a hardware configuration of the server 12 in the map generation system of FIG.

  The server 12 includes a CPU 61 to a drive 70. Each of the CPU 61 to the drive 70 has basically the same function and configuration as each of the CPU 21 to the drive 32 of FIG. 2 described above. Therefore, the individual description of the CPU 61 to the drive 70 is omitted here.

  In the map generation system configured as described above, the server 12 specifies the movement trajectory of the terminal 11 from a plurality of current position data sequentially acquired by the moving terminal 11, and based on the trajectory. The road and the inside of the building are identified, and map data indicating a map including the identified road and the inside of the building is generated. In the present embodiment, the generation of map data includes not only generating map data from the beginning, but also correcting existing map data and generating new map data again. In the following embodiments, an example will be described in which a new map data is generated by making a modification to add a road or the inside of a building to an existing map.

In this example, the server 12 is based on a plurality of positioning position data (GPS data) acquired by the terminal 11 and the first positioning position before the positioning of the current position of the terminal 11 becomes impossible, The distance between the second positioning position after the positioning of the current position becomes possible again is obtained, and the state of the place between the first positioning position and the second positioning position is determined based on the distance. To do.
In addition, although the state of a place is not specifically limited, In this embodiment, the following description will be given on the assumption that there are two types, a state where a road exists and the inside of a building.

Next, the principle of identifying the state of the place to which the locus belongs will be described below with reference to FIGS.
First, of the state identification, the principle other than the road, that is, the principle of identifying the inside of the building will be described with reference to FIG. 4, and then the principle of identifying the state of the road among the state identification will be described. This will be described with reference to FIG.
Here, the locus is a set of positioning positions acquired by GPS or autonomous navigation, and is a movement route of the terminal holder derived from the transition of the positioning position of the terminal.

  FIG. 4 is a schematic diagram for explaining the principle of identifying a state other than the road among the identification of the state of the place, and (a) is a schematic diagram illustrating an example of an actual operation of the terminal holder entering and leaving the building. It is a figure, (b) is a schematic diagram which showed an example at the time of arrange | positioning the locus | trajectory in the example of (a) in the place, (c) is a schematic diagram which shows an example of the map produced | generated from (b). is there.

  In the example of Fig.4 (a), the case where a terminal holder goes in and out of a building is shown. In this case, since the radio wave can be received from the GPS satellite St outside the building, the position is measured by GPS and the trajectory of the own device is acquired. After that, when entering a building, radio waves from the GPS satellite St cannot be received, so that the trajectory of the own aircraft is determined from the moving direction and moving amount acquired by autonomous navigation instead of positioning by GPS.

  Therefore, when the trajectory of the aircraft acquired in this way is developed on the map, it becomes as shown in FIG. 4B, and the trajectory of the two-dot chain line autonomous navigation is ahead of the circled GPS trajectory. It is displayed in an arc shape, and a circular GPS locus is further displayed at the end of the arc.

  When the state of the display result in FIG. 4B is identified, the position of the road is identified from the locus determined by the GPS, and the position (first positioning position) determined by the GPS before and after the locus determined by autonomous navigation. And the second positioning position) are close to each other, the portion of the locus determined by autonomous navigation is identified as the inside of the building. If this identification result is drawn on a map, as shown in FIG.4 (c), two roads connected to the building and the building can be generated.

  FIG. 5 is a schematic diagram for explaining the principle of the road state identification among the state identifications, and (a) is a schematic diagram showing an example of an actual operation until the terminal holder enters the tunnel and exits. (B) is a schematic diagram showing an example when the locus in the example of (a) is arranged at the place, and (c) is a schematic diagram showing an example of a map generated from (b). .

  In the example of FIG. 5A, a case where the terminal holder enters the tunnel and then exits is shown. In this case, since the radio wave can be received from the GPS satellite St outside the tunnel, the position is measured by GPS and the trajectory of the own device is acquired. After that, when entering the tunnel, radio waves from the GPS satellite St cannot be received, so that the trajectory of the own aircraft is determined from the moving direction and moving amount acquired by autonomous navigation instead of positioning by GPS.

  Therefore, when the trajectory of the aircraft acquired in this way is developed on the map, it becomes as shown in FIG. 5B, and the trajectory of the two-dot chain line autonomous navigation is ahead of the circled GPS trajectory. It is displayed in a straight line, and a round GPS locus is displayed at the end of the straight line.

  When the state of the display result of FIG. 5 (b) is identified, the position of the road is identified from the locus determined by GPS, and the position (first positioning position) determined by GPS before and after the locus determined by autonomous navigation. Since the second positioning position is far away, the portion of the locus determined by autonomous navigation is identified as the road inside the tunnel. When this identification result is drawn on the map, a road passing through the tunnel can be generated as shown in FIG.

FIG. 6 is a functional block diagram showing a functional configuration for executing map generation processing among the functional configurations of such a map generation system.
The “map generation process” refers to a series of processes until a map is generated based on the trajectory of the terminal 11 acquired from the terminal 11. In the “map generation process”, as a specific process, the terminal 11 performs a trajectory acquisition process and a state identification process, and the server 12 performs a map data generation process.
FIG. 6 shows a functional configuration example in the case where the positioning location identification device to which the present invention is applied is configured by the server 12. Of course, the positioning location identification apparatus to which the present invention is applied may be configured by the terminal 11, but the functional configuration in this case will be described later with reference to FIG.

When the terminal 11 executes the map generation process, as shown in FIG. 6, the CPU 21 includes a main control unit 91, a locus acquisition processing unit 92, a storage control unit 93, and a communication control unit 94. Function.
The main control unit 91 controls the entire execution of the trajectory acquisition process in the map generation process.
The trajectory acquisition processing unit 92 performs processing for acquiring a trajectory of movement of the terminal 11. Specifically, the trajectory acquisition processing unit 92 acquires a movement trajectory in the outdoors where the radio waves of the GSP satellite St can be received from the GPS unit 26, and acquires a state change of the terminal 11 from the sensor unit 27. In other words, the trajectory acquisition processing unit 92 acquires data of positioning positions that are respectively positioned as the current position of the terminal 11 while being separated in the time direction.
Details of the trajectory acquisition process executed by the trajectory acquisition processing unit 92 will be described later.
For example, the storage control unit 93 controls the storage unit 30 to store various data such as data related to the trajectory of the terminal 11 (GPS positioning data and autonomous navigation positioning data respectively measured as the current position of the terminal 11).
The communication control unit 94 controls the communication unit 31 to transmit and receive various data such as data related to the trajectory of the terminal 11, for example.

Further, when the server 12 executes the map generation process, as shown in FIG. 6, in the CPU 61, the main control unit 111, the state identification processing unit 112, the map data generation processing unit 113, and the storage control unit 114 and the communication control unit 115 function.
The main control unit 111 controls the entire execution of the state identification process and the map data generation process in the map generation process.
The state identification processing unit 112 identifies the state of the place to which the locus belongs based on the locus information received from the terminal 11 via the communication unit 69. Specifically, the state identification processing unit 112 identifies a state where the region corresponding to the trajectory is a road or other than a road. That is, the state identification processing unit 112, based on the data of a plurality of positioning positions acquired by the trajectory acquisition processing unit 92, the first positioning position before the current position of the terminal 11 becomes impossible, and the terminal 11 The position between the first positioning position and the second positioning position is obtained based on the distance from the second positioning position after the current position of the current position can be measured again. Identify
Details of the state identification processing executed by the state identification processing unit 112 will be described later.
The map data generation processing unit 113 reflects the state identified by the state identification processing unit 112 on the map, that is, draws a state other than the road and the road on the map. That is, the map data generation processing unit 113 generates map data indicating a map reflecting the state of the place identified by the state identification processing unit 112.
Details of the map data generation process executed by the map data generation processing unit 113 will be described later.
The storage control unit 114 controls the storage unit 68 so as to store various data such as data relating to the acquired trajectory of the terminal 11 and data relating to map generation.
The communication control unit 115 controls the communication unit 69 so as to transmit and receive various data such as data related to the trajectory of the terminal 11, for example.

FIG. 7 is a functional block diagram showing a functional configuration for executing the trajectory acquisition process among the functional configurations of the map generation system.
The “trajectory acquisition process” is a series of processes for acquiring the movement trajectory of the own device from the terminal 11.

When the terminal 11 executes the trajectory acquisition process, as shown in FIG. 7, the CPU 21 includes a main control unit 91, a trajectory acquisition processing unit 92, a storage control unit 93, and a communication control unit 94. Function.
Specifically, in the trajectory acquisition processing unit 92, a GPS positioning data acquisition unit 131, a GPS positioning status determination unit 132, a GPS positioning accuracy calculation unit 133, a GPS positioning accuracy determination unit 134, and an autonomous navigation positioning data acquisition unit 135 function.

The GPS positioning data acquisition unit 131 acquires GPS positioning data from the GPS unit 26.
The GPS positioning data acquired by the GPS positioning data acquisition unit 131 is associated with data related to the position of the measured latitude and longitude (hereinafter referred to as GPS positioning position) and the time when the GPS positioning data is acquired (hereinafter referred to as GPS). Data such as positioning time).

  The GPS positioning status determination unit 132 determines whether the GPS positioning data acquisition unit 131 has acquired GPS positioning data from the GPS unit 26.

  The GPS positioning accuracy calculation unit 133 calculates the GPS positioning accuracy of the GPS positioning data from the GPS unit 26.

  The GPS positioning accuracy determination unit 134 determines whether the GPS positioning accuracy calculated by the GPS positioning accuracy calculation unit 133 is high. That is, the GPS positioning accuracy determination unit 134 determines whether or not the GPS positioning data can be used. If the GPS positioning accuracy is high, the GPS positioning data is used. If the GPS positioning accuracy is low, Use positioning data by autonomous navigation.

  The autonomous navigation positioning data acquisition unit 135 acquires autonomous navigation positioning data from the sensor unit 27 based on the determination results of the GPS positioning status determination unit 132 and the GPS positioning accuracy determination unit 134.

FIG. 8 is a functional block diagram showing a functional configuration for executing the state identification process among the functional configurations of the map generation system.
The “state identification process” is a series of processes for identifying a state to be reflected on a map, that is, a state of a road or a building, based on information related to the trajectory of the terminal 11 acquired from the terminal 11. In the present embodiment, the “state identification process” is configured to include a series of processes for setting weighting of positioning data based on the GPS positioning accuracy and the autonomous navigation positioning accuracy. “Weighting positioning data” is for determining the reliability of positioning data. When the “weighting of positioning data” is low, the reliability of the positioning data is low, and the reliability of the generated map is low. For this reason, in the map generation system, the reliability of the map can be improved by generating a lot of positioning data.

When the server 12 executes the state identification process, as shown in FIG. 8, the CPU 61 includes a main control unit 111, a state identification processing unit 112, a storage control unit 114, and a communication control unit 115. Function.
Specifically, in the state identification processing unit 112, the data acquisition unit 151, the data extraction unit 152, the GPS positioning data determination unit 153, the state identification unit 154, the autonomous navigation positioning data correction unit 155, and the autonomous navigation positioning. The accuracy estimation unit 156 and the weighting unit 157 function.

The data acquisition unit 151 acquires various positioning data. Specifically, the data acquisition unit 151 acquires GPS positioning data transmitted from the terminal 11, GPS positioning accuracy data corresponding to the GPS positioning data, and autonomous navigation positioning data.
The data extraction unit 152 extracts GPS positioning data before and after the autonomous navigation positioning data. That is, the data extraction unit 152 extracts the latest GPS positioning data at the start and end of the autonomous navigation positioning data.
The GPS positioning data determination unit 153 determines whether the GPS positioning data before and after the autonomous navigation positioning data extracted by the data extraction unit 152 match. Specifically, the GPS positioning data determination unit 153 compares the positioning positions of the GPS positioning data before the autonomous navigation positioning data and the GPS positioning data after the autonomous navigation positioning data, and whether the positioning positions match. Determine whether or not.
In the present embodiment, the coincidence of the GPS positioning data determined by the GPS positioning data determination unit 153 includes not only complete matching but also a case where they are almost the same, that is, a case where the positioning positions are close.

The state identifying unit 154 identifies the state of the positioning position based on the determination result of the GPS positioning data determining unit 153.
Specifically, when the GPS positioning data determination unit 153 determines that the GPS positioning data matches, the state identification unit 154 identifies that the state is “other than the road”. That is, the position where the identification is determined is treated as belonging to other than the road. The state other than the road is, for example, the inside of a building.
On the other hand, when the GPS positioning data determination unit 153 determines that the GPS positioning data does not match, the state identification unit 154 identifies that the state is “road”. That is, the position where the identification is determined is treated as belonging to the road.

  The autonomous navigation positioning data correction unit 155 corrects the autonomous navigation positioning data with the preceding and following GPS positioning data. That is, the autonomous navigation positioning data correction unit 155 performs correction for specifying the position of the autonomous navigation positioning data based on the GPS positioning data before and after the autonomous navigation positioning data.

The autonomous navigation positioning accuracy estimation unit 156 estimates the autonomous navigation positioning accuracy from the autonomous navigation positioning data using the preceding and following GPS positioning data. That is, the autonomous navigation positioning accuracy estimation unit 156 performs the autonomous navigation based on the period continuously measured by the autonomous navigation measurement and the GPS positioning accuracy data calculated by the GPS positioning accuracy calculation unit 133 before and after the period. Estimate positioning accuracy data.
Details of the positioning accuracy estimation process executed by the autonomous navigation positioning accuracy estimation unit 15 will be described later.

  The weighting unit 157 sets the weight of each positioning data based on the GPS positioning accuracy corresponding to the GPS positioning data and the autonomous navigation positioning accuracy corresponding to the autonomous navigation positioning data.

FIG. 9 is a functional block diagram showing a functional configuration for executing the positioning accuracy estimation process among the functional configurations of the map generation system.
When the server 12 executes the positioning accuracy estimation process, as shown in FIG. 9, the autonomous navigation positioning accuracy estimation unit 156 and the storage control unit 114 function in the CPU 61.
Specifically, in the autonomous navigation positioning accuracy estimation unit 156, a GPS positioning accuracy acquisition unit 171, a GPS positioning time acquisition unit 172, and an estimation unit 173 function.

The GPS positioning accuracy acquisition unit 171 acquires the GPS positioning accuracy from the storage unit 68.
The GPS positioning time acquisition unit 172 acquires the GPS positioning time from the storage unit 68.
The estimation unit 173 estimates the autonomous navigation positioning accuracy from the GPS positioning accuracy acquired by the GPS positioning accuracy acquisition unit 171 and the GPS positioning time acquired by the GPS positioning time acquisition unit 172.

FIG. 10 is a schematic diagram illustrating an example of estimation of autonomous navigation positioning accuracy.
In the example of FIG. 10, the vehicle passes through a tunnel from an outdoor road, passes through an indoor underground passage, and moves again to the outdoor road.

In this case, GPS positioning is performed in the portion excluding the tunnel and the underground mall (GPS positioning in the figure). On the other hand, the tunnel and the underground shopping area are positioned by autonomous navigation (autonomous navigation positioning in the figure).
In the portion where positioning by autonomous navigation is performed, the positioning accuracy by autonomous navigation is determined according to the positioning accuracy closest to the start point and end point of positioning. In addition, the positioning accuracy by autonomous navigation decreases as the distance from the start point and end point of the positioning increases.

  The positioning accuracy of the autonomous navigation corresponding to the tunnel of this example is estimated according to the latest GPS positioning accuracy (time t5) before the positioning start point (time t6), and the positioning end point (time t8). The positioning accuracy is estimated according to the latest GPS positioning accuracy after (time t9). The positioning accuracy at time 7 located between the positioning start point (time t6) and the positioning end point (time t8) is determined according to the positioning start point (time t6) and the positioning end point (time t8). Is done.

  In addition, the positioning accuracy of the autonomous navigation corresponding to the underground shopping center in this example is estimated according to the latest GPS positioning accuracy (time t13) before the positioning start point (time t14), and the positioning end point (time) The positioning accuracy is estimated according to the latest GPS positioning accuracy (time t24) after 23).

  In addition, the time t18 and the time t19 that are farthest from the positioning start point (time 14) and the positioning end point (time t23) are the changes in the positioning accuracy of the positioning start point (time 14) and the positioning end point (time t23), respectively. It is determined accordingly. That is, the positioning accuracy decreases as the distance from the positioning start point (time t14) increases according to the degree of decrease from the GPS positioning accuracy (time t13) to the positioning start point (time t14). In addition, the positioning accuracy decreases as the distance from the positioning start point (time t23) increases according to the degree of decrease from the GPS positioning accuracy (time t24) to the positioning end point (time t23). Since the positioning position that is the basis for the decrease in accuracy is different, the time t19 is slightly more accurate than the time t18.

FIG. 11: is a functional block diagram which shows the functional structure for performing map data generation processing among the functional structures of a map generation system.
When the server 12 executes map generation processing, the map data generation processing unit 113 and the storage control unit 114 function in the CPU 61.

  Specifically, in the map data generation processing unit 113, a positioning data arrangement unit 191, a road center line determination unit 192, and a road width setting unit 193 function.

The positioning data placement unit 191 places the trajectory data identified as a road corresponding to the coordinate position of the map.
The road centerline determination unit 192 determines the centerline of the road by connecting the trajectory data arranged by the trajectory arrangement unit in the map.
The road width setting unit 193 sets the road width of the road based on the center line of the road determined by the road center line determination unit 192.

Next, map generation processing executed by the terminal 11 of FIG. 2 and the server 12 of FIG. 3 having the functional configuration of FIG. 6 will be described with reference to FIGS.
FIG. 12 is a flowchart for explaining the flow of map generation processing executed by the terminal 11 of FIG. 2 and the server 12 of FIG.
When the map generation process is executed, each functional block of FIG. 6 functions in the CPU 21, GPS unit 26, sensor unit 27, storage unit 30, and communication unit 31 of the terminal 11, and the CPU 61, storage unit 68, and Each function block in FIG. 6 functions in the communication unit 69, and the following processing is executed. That is, in the hardware, the operation subjects of the following steps are the CPU 21 of the terminal 11, the GPS unit 26, the sensor unit 27, the storage unit 30 and the communication unit 31, and the CPU 61, the storage unit 68 and the communication unit 69 of the server 12. Is applicable. However, in order to facilitate understanding of the present invention, the functions of the CPU 21, GPS unit 26, sensor unit 27, storage unit 30 and communication unit 31 of the terminal 11, and CPU 61, storage unit 68 and communication unit 69 of the server 12 are described. Assuming that each functional block is an operation subject, the processing of each step below will be described.
The map generation process starts when an input operation for instructing the input unit 28 of the terminal 11 to start the map generation process is performed.

  In step S1, the main control unit 91 and the trajectory acquisition processing unit 92 of the terminal 11 execute a trajectory acquisition process. Thereby, the terminal 11 acquires the movement locus | trajectory of an own machine. Details of the trajectory acquisition process will be described later with reference to FIG.

  In step S2, the main control unit 111 and the state identification processing unit 112 of the server 12 execute a state identification process. As a result, the server 12 identifies the state of the place corresponding to the trajectory acquired in the trajectory acquisition process. Details of the state identification process will be described later with reference to FIGS. 14 and 15.

  In step S3, the map data generation processing unit 113 of the server 12 executes a map data generation process. Thereby, the server 12 reflects the state of the place identified in the state identification process in the existing map data, and newly generates map data. The details of the map data generation process will be described later with reference to FIG. When the map data generation process is performed, the map generation process ends.

  Next, among such map generation processing, details of each of the trajectory acquisition processing in step S1, the state identification processing in step S2, and the map data generation processing in step S3 will be described individually in that order.

  FIG. 13 is a flowchart for explaining the detailed flow of the trajectory acquisition process in step S1 of the map generation process of FIG.

  In step S21, the GPS positioning data acquisition unit 131 performs GPS positioning. That is, the GPS positioning data acquisition unit 131 acquires GPS positioning data from the GPS unit 26.

In step S <b> 22, the GPS positioning status determination unit 132 determines whether the GPS can be positioned. That is, the GPS positioning status determination unit 132 determines whether the GSP unit 27 receives radio waves from the GPS satellite St and the GPS positioning data acquisition unit 131 has acquired GPS positioning data.
If it is determined that the GPS can be measured, it is determined as YES in step S22, and the process proceeds to step S23.

  In step S23, the GPS positioning accuracy calculation unit 133 calculates GSP positioning accuracy. That is, the GPS positioning accuracy calculation unit 133 calculates the GPS positioning accuracy from the GPS positioning data acquired by the GPS positioning data acquisition unit 131.

In step S24, the GPS positioning accuracy determination unit 134 determines whether the GPS positioning accuracy is high. That is, the GPS positioning accuracy determination unit 134 determines whether the GPS positioning accuracy calculated by the GPS positioning accuracy calculation unit 133 is higher than a predetermined accuracy.
If it is determined that the GPS positioning accuracy is high, it is determined as YES in Step S24, and the process proceeds to Step S25.

  In step S25, the storage control unit 93 controls the storage unit 30 so as to store GPS positioning data and GPS positioning accuracy data. Thereafter, the processing proceeds to step S28.

  On the other hand, when it is determined that GPS positioning is not possible, it is determined as NO in Step S22, and the process proceeds to Step S26. Similarly, if it is determined that the GPS positioning accuracy is low, it is determined as NO in step S24, and the process proceeds to step S26.

  In step S26, the autonomous navigation positioning data acquisition unit 135 performs autonomous navigation positioning (uncorrected). That is, the autonomous navigation positioning data acquisition unit 135 acquires autonomous navigation positioning data from the sensor unit 27. At this time, the autonomous navigation positioning data acquisition unit 135 performs control to switch from the acquisition of GPS positioning data in the GPS unit 26 to the acquisition of autonomous navigation positioning data in the sensor unit 27 for the autonomous navigation positioning data from the sensor unit 27. . That is, the autonomous navigation positioning data acquisition unit 135 performs control to switch the operation so that the operation of the GPS unit 26 is stopped and the operation of the sensor unit 27 is started.

  In step S27, the storage control unit 93 controls the storage unit 30 to store autonomous navigation positioning data (uncorrected).

In step S28, the main control unit 91 ends positioning. That is, the main control unit 91 performs control to end the acquisition of GPS positioning data or the acquisition of autonomous navigation positioning data. At this time, the communication control unit 94 controls the communication unit 31 to transmit various positioning data (GPS positioning data, GPS positioning accuracy data, and autonomous navigation positioning data) stored in the storage unit 30 to the server 12. .
Thereby, the locus | trajectory acquisition process of step S1 of the map generation process of FIG. 12 is complete | finished, and a process progresses to step S2.

  FIG. 14 is a flowchart for explaining the detailed flow of the state identification process in step S2 of the map generation process of FIG.

In step S52, the main control unit 111 determines whether there is uncorrected autonomous navigation positioning data. That is, the main control unit 111 determines whether there is autonomous navigation positioning data (uncorrected) among the data acquired by the data acquisition unit 151.
If there is uncorrected autonomous navigation positioning data, it is determined as YES in step S53, and the process proceeds to step S53.

  In step S53, the data extraction unit 152 extracts GPS positioning data before and after the autonomous navigation positioning data. That is, the data extraction unit 152 extracts the GPS positioning data closest to the start point and end point of the acquired series of autonomous navigation positioning data from the data acquired by the data acquisition unit 151.

In step S53, the GPS positioning data determination unit 153 determines whether the preceding and following GPS positioning data match. That is, the GPS positioning data determination unit 153 determines whether the positioning positions of the GPS positioning data before and after the autonomous navigation positioning data extracted by the data extraction unit 152 match.
If the preceding and following GPS positioning data match, it is determined YES in step S54, and the process proceeds to step S55.

  In step S55, the state identifying unit 154 identifies the state other than the road. That is, since the GPS positioning data determination unit 153 determines that the preceding and following GPS positioning data match, the state identification unit 154 is other than the road (building) as in the example of FIG. It is identified as an internal state.

  In step S56, the main control unit 111 discards the autonomous navigation positioning data. That is, since the place corresponding to the autonomous navigation positioning data is identified as the state inside the building other than the road by the state identifying unit 154, the main control unit 111, as shown in the example of FIG. Since this information is no longer needed, the autonomous navigation positioning data is discarded.

  On the other hand, if it is determined that the preceding and following GPS positioning data do not match, it is determined NO in step S54, and the process proceeds to step S57.

  In step S57, the state identifying unit 154 identifies the road state. That is, since the GPS positioning data determination unit 153 determines that the preceding and following GPS positioning data do not match, the state identification unit 154 is in a road state as in the example of FIG. 5B. Identify.

  In step S58, the autonomous navigation positioning data correction unit 155 corrects the autonomous navigation positioning data with the preceding and following GPS positioning data. That is, the autonomous navigation positioning data correction unit 155 corrects the positioning position of autonomous navigation according to the GPS positioning data before and after the autonomous navigation positioning data. Specifically, the autonomous navigation positioning data correction unit 155 performs correction for determining the positioning position of autonomous navigation in accordance with the positioning position of the GPS positioning data.

In step S59, the autonomous navigation positioning accuracy estimation unit 156 performs positioning accuracy estimation processing. Specifically, the autonomous navigation positioning accuracy estimation unit 156 estimates the positioning accuracy of the autonomous navigation positioning data. Thereafter, the estimated positioning accuracy of the autonomous navigation positioning data is stored in the storage unit 68 by the storage control unit 114. Details of the positioning accuracy estimation process will be described later.
When the positioning accuracy estimation process is executed, the process proceeds to step S60.
On the other hand, if it is determined that there is no uncorrected autonomous navigation positioning data, it is determined NO in step S52, and the process proceeds to step S60.

In step S60, the weighting unit 157 sets the weighting of the positioning data based on the positioning accuracy. Specifically, the weighting unit 157 weights the GPS positioning data and the autonomous navigation positioning data according to the level of the GPS positioning accuracy and the autonomous navigation positioning accuracy in order to recognize the reliability of the data.
Thereby, the state identification process of step S2 of the map generation process of FIG. 12 is completed, and the process proceeds to step S3.

  FIG. 15 is a flowchart for explaining the detailed flow of the positioning accuracy estimation process in step S59 of the map generation process of FIG.

  In step S81, the GPS positioning accuracy acquisition unit 171 acquires the GPS positioning accuracy of the start point used for correction. That is, the GPS positioning accuracy acquisition unit 171 acquires the GPS positioning accuracy corresponding to the GPS positioning data before the starting point of the autonomous navigation positioning data used in the correction in step S58 of FIG.

  In step S83, the GPS positioning time acquisition unit 172 acquires the GPS positioning time from the start point to the end point. That is, the GPS positioning time acquisition unit 172 acquires the time from the start point to the end point of the autonomous navigation positioning data from the acquisition time of the GPS positioning data. Specifically, the GPS positioning time acquisition unit 172 acquires the GPS positioning time from the start point to the end point of the autonomous navigation positioning data from the difference between the positioning times of the GPS positioning data nearest to the start point and the end point of the autonomous navigation positioning data. To do.

In step S84, the estimation unit 173 estimates the positioning accuracy of each autonomous navigation positioning data from the GPS positioning accuracy of the start point and the end point and the time interval. That is, as shown in the example of FIG. 10, the estimation unit 173 estimates the positioning accuracy of the start point and end point of the autonomous navigation positioning data according to the positioning accuracy of the GPS positioning data nearest to the start point and end point of the autonomous navigation positioning data. To do. Next, the positioning accuracy of other autonomous navigation positioning data is estimated from the time interval.
Thereby, the positioning accuracy estimation process ends, and the process in FIG. 14 proceeds to step S60.

  FIG. 16 is a flowchart illustrating a detailed flow of the map data generation process in step S3 of the map generation process of FIG.

  In step S101, the positioning data arrangement unit 191 arranges each weighted positioning data. That is, the positioning data placement unit 191 places GPS positioning data and autonomous navigation positioning data on an existing map as in the example of FIG. 5B.

In step S102, the road centerline determination unit 192 determines the road centerline from each of the arranged positioning data.
In step S103, the road width setting unit 193 sets the road width based on the road center line.
In step S104, the storage control unit 114 stores the map data to which the road has been added in the storage unit 68.
Thereby, the map data generation process ends, and a series of processes of the map generation process ends.

Next, a second embodiment of the present invention will be described.
FIG. 17: is a functional block diagram which shows the functional structure for performing a map generation process among the functional structures of the map generation system which concerns on the 2nd Embodiment of this invention. In addition, it demonstrates using the same code | symbol as 1st Embodiment, and abbreviate | omits the description about the structure demonstrated in 1st Embodiment.

In the above-described embodiment (the first embodiment), the server 12 is configured to execute the state identification process.
On the other hand, in the map generation system of 2nd Embodiment, it comprises so that a state identification process may be performed with the terminal 11. FIG. For this reason, in the map generation system of 2nd Embodiment, as shown in FIG. 17, the state identification part 95 which is a functional structure for performing a state identification process is comprised so that the terminal 11 may function.

FIG. 18 is a flowchart for explaining a detailed flow of the state identification process according to the second embodiment.
As described above, the map generation system according to the second embodiment is configured to execute the state identification process on the terminal 11. Therefore, in the terminal 11, in order to perform the state identification process in parallel with the acquisition of the positioning data, the positioning data exchange process (a process corresponding to step S51 in FIG. 14) or the positioning data extraction process ( The process corresponding to step S53 in FIG.
In the present embodiment, the server 12 is configured to execute the process of setting the weighting of the positioning data from the positioning accuracy data (the process corresponding to step S58 in FIG. 14).

The map generation system configured as described above includes a terminal 11 and a server 12 that are connected to each other via a network N.
The terminal 11 or the server 12 is separated in the time direction, and acquires data of a plurality of positioning positions respectively measured as the current position of the terminal 11.
In addition, the terminal 11 or the server 12 is configured such that the first positioning position before positioning of the current position of the terminal 11 becomes impossible based on the data of the plurality of positioning positions acquired by the terminal 11 and the current position of the terminal 11. The distance between the first positioning position and the second positioning position is determined based on the distance from the second positioning position after the positioning becomes possible again. .

  Therefore, in the map generation system, the terminal 11 or the server 12 is based on the distance between the first positioning position and the second positioning position based on the data of the plurality of positioning positions acquired by the terminal 11. The state of the place between the first positioning position and the second positioning position is determined. Thereby, in a map production | generation system, the state of the place where a locus | trajectory is located can be identified from the acquired locus | trajectory.

Further, the map generation system includes a trajectory acquisition processing unit 92 and a state identification processing unit 112.
The trajectory acquisition processing unit 92 acquires data of a plurality of positioning positions respectively positioned as the current position of the terminal 11 while being separated in the time direction.
Based on the data of the plurality of positioning positions acquired by the trajectory acquisition processing unit 92, the state identification processing unit 112, the first positioning position before the positioning of the current position of the terminal 11 becomes impossible, and the current position of the terminal 11 The distance between the second positioning position after the position positioning becomes possible again is obtained, and the state of the place between the first positioning position and the second positioning position is determined based on the distance. To do.

  Therefore, in the map generation system, the state identification processing unit 112 is based on the data of the plurality of positioning positions acquired by the trajectory acquisition processing unit 92, and the distance between the first positioning position and the second positioning position. Thus, the state of the place between the first positioning position and the second positioning position is determined. Thereby, in a map production | generation system, the state of the place where a locus | trajectory is located can be identified from the acquired locus | trajectory.

In addition, the state identification processing unit 112 identifies that the place state is a state where a road exists when the obtained distance is equal to or greater than the threshold value, and if the obtained distance is less than the threshold value, the place state The state is identified as a state in which a building exists.
Therefore, in the map generation system, the state of the place to which the locus belongs can be determined as either a road or a building.

In addition to the position measurement in which the current position is measured, the terminal 11 performs measurement by autonomous navigation in which the movement direction and the movement amount are further measured, and based on the position measurement state of the GPS position measurement, Switching between autonomous navigation and measurement.
The state identification processing unit 112 determines whether or not positioning of the current position of the terminal 11 is possible based on switching between positioning by GPS and measurement by autonomous navigation.
Therefore, in the map generation system, when GPS positioning cannot be performed, for example, GPS radio waves cannot be received, it is determined whether or not positioning of the current position of the terminal 11 is possible by switching to measurement by autonomous navigation. can do.

Further, in the map generation system, the movement direction and the movement amount measured by the measurement by the autonomous navigation are integrated with the GPS positioning position as the reference point, and autonomous navigation positioning data indicating the current position of the terminal 11 is generated. The
The map generation system includes a GPS positioning accuracy calculation unit 133 and an autonomous navigation positioning accuracy estimation unit 156.
The GPS positioning accuracy calculation unit 133 calculates the accuracy of the GPS positioning data.
The autonomous navigation positioning accuracy estimation unit 156 calculates the accuracy of the autonomous navigation positioning data.
The storage control unit 114 stores the GPS positioning data and accuracy in the storage medium in association with each other, and stores the autonomous navigation positioning data and accuracy in the storage unit 68 in association with each other.
Therefore, in the map generation system, the data of each position and the accuracy data can be stored in association with each other.

The map generation system further includes a weighting unit 157 that weights the GPS positioning data and the autonomous navigation positioning data whose storage is controlled by the storage control unit 114 in accordance with the accuracy of each.
Therefore, the weighting of the GPS positioning data and the autonomous navigation positioning data makes it possible to confirm the reliability of the GPS positioning data and the autonomous navigation positioning data by weighting. Further, in a place where GPS positioning data and autonomous navigation positioning data with low reliability are applicable, the reliability can be improved by further acquiring data.

The autonomous navigation positioning accuracy estimation unit 156 is based on the period continuously measured by the measurement by autonomous navigation and the GPS positioning accuracy data calculated by the GPS positioning accuracy calculation unit 133 before and after the period. Guess the data.
Therefore, in the map generation system, autonomous navigation positioning accuracy data can be acquired from the acquired GPS positioning data.

  The map generation system further includes a map data generation processing unit 113 that generates map data indicating a map reflecting the state of the place identified by the state identification processing unit 112.

  In addition, this invention is not limited to the above-mentioned embodiment, The deformation | transformation in the range which can achieve the objective of this invention, improvement, etc. are included in this invention.

  Further, in the above-described embodiment, when it is determined that the road is not in the road state, the data of the sensor unit 27 is ignored and the deletion or the like is performed. For example, an area that is not a road, that is, a shape inside a building may be specified based on the data of the sensor unit 27.

  In the above-described embodiment, the trajectory acquisition process, the state identification process, and the map data generation process are executed by the terminal 11 in the first embodiment, and the state identification and the map data generation are performed. In the second embodiment, the trajectory acquisition and state identification are executed by the terminal 11, and the state identification and map data generation are executed by the server 12. However, the present invention is not limited to this. I can't. Each process may be configured to be executed by either the terminal 11 or the server 12.

The series of processes described above can be executed by hardware or can be executed by software.
In other words, the functional configuration of FIGS. 2 and 3 is merely an example, and is not particularly limited. That is, it is sufficient that the terminal 11 and the server 12 have a function capable of executing the above-described series of processing as a whole, and what functional blocks are used to realize this function are particularly shown in FIGS. It is not limited to examples.
In addition, one functional block may be constituted by hardware alone, software alone, or a combination thereof.

When a series of processing is executed by software, a program constituting the software is installed on a computer or the like from a network or a recording medium.
The computer may be a computer incorporated in dedicated hardware. The computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose personal computer.

  The recording medium including such a program is not only configured by the removable media 41 and 81 shown in FIGS. 2 and 3 distributed separately from the apparatus main body in order to provide the program to the user, but is also preinstalled in the apparatus main body. The recording medium is provided to the user in a state of being recorded. The removable media 41 and 81 are constituted by, for example, a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. The optical disk is composed of, for example, a CD-ROM (Compact Disk-Read Only Memory), a DVD (Digital Versatile Disk), or the like. The magneto-optical disk is configured by an MD (Mini-Disk) or the like. The recording medium provided to the user in a state of being preinstalled in the apparatus main body includes, for example, the ROMs 22 and 62 in FIGS. 2 and 3 in which programs are recorded, and the storage units 30 and 68 in FIGS. The hard disk etc. included in

In the present specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in time series along the order, but is not necessarily performed in time series, either in parallel or individually. The process to be executed is also included.
Further, in the present specification, the term “system” means an overall device configured by a plurality of devices, a plurality of means, and the like.

  As mentioned above, although several embodiment of this invention was described, these embodiment is only an illustration and does not limit the technical scope of this invention. The present invention can take other various embodiments, and various modifications such as omission and replacement can be made without departing from the gist of the present invention. These embodiments and modifications thereof are included in the scope and gist of the invention described in this specification and the like, and are included in the invention described in the claims and the equivalent scope thereof.

The invention described in the scope of claims at the beginning of the filing of the present application will be appended.
[Appendix 1]
Acquisition means for acquiring data of a plurality of positioning positions that are respectively positioned as the current position of the terminal, separated in the time direction;
Based on the data of the plurality of positioning positions acquired by the acquiring means, the first positioning position before positioning of the current position of the terminal becomes impossible and the positioning of the current position of the terminal becomes possible again. State determining means for determining a distance between the first positioning position and the second positioning position based on the distance, and determining a distance between the second positioning position after the second positioning position;
A positioning location identification device comprising:
[Appendix 2]
The state determination means includes
If the determined distance is greater than or equal to a threshold, the state of the place is identified as a state where a road exists,
If the determined distance is less than a threshold, the state of the place is identified as a state in which a building exists.
The positioning location identification device according to supplementary note 1, characterized in that:
[Appendix 3]
In the terminal,
In addition to the position measurement in which the current position is measured, movement measurement in which a movement direction and a movement amount are measured is performed,
Based on the positioning state of the position positioning, the position positioning and the movement measurement are switched,
The state determination means determines whether or not positioning of the current position of the terminal is possible based on switching between the position positioning and the movement measurement.
The positioning location identification device according to attachment 1 or 2.
[Appendix 4]
The movement direction and the movement amount measured by the movement measurement are integrated into the positioning position serving as a reference point, and data of a calculated position indicating the current position of the terminal is generated,
The positioning location identification device is
Position accuracy acquisition means for acquiring the accuracy of the data of the positioning position;
Position accuracy calculating means for calculating the accuracy of the data of the calculated position;
Storage control means for associating and storing the positioning position data and the accuracy in a storage medium, and associating and storing the calculated position data and the accuracy in the storage medium;
The positioning location identification device according to supplementary note 3, further comprising:
[Appendix 5]
Integration means for integrating the data of the positioning position and the data of the calculated position whose storage is controlled by the storage control means by performing weighting corresponding to each accuracy;
The positioning location identification device according to appendix 4, further comprising:
[Appendix 6]
The position accuracy calculation unit is configured to calculate the data of the calculated position based on a period continuously measured by the movement measurement and the accuracy of the data of the positioning position measured by the position accuracy acquisition unit before and after the period. To calculate the accuracy of
The positioning location identification device according to appendix 5, characterized in that:
[Appendix 7]
The positioning location identification according to any one of appendices 1 to 6, further comprising: map generation means for generating map data indicating a map reflecting the status of the location determined by the status determination means. apparatus.
[Appendix 8]
The positioning location identification device is configured by the terminal.
The positioning location identification device according to any one of appendices 1 to 7, characterized in that:
[Appendix 9]
The positioning location identification device includes a server connected to the terminal via a network.
The positioning location identification device according to any one of appendices 1 to 7, characterized in that:
[Appendix 10]
A positioning location identification method executed by a positioning location identification device that determines the status of a location based on data of a plurality of positioning locations each positioned as a current location of a terminal separated in a time direction,
Based on the data of the plurality of positioning positions, a first positioning position before positioning of the current position of the terminal becomes impossible, and a second positioning after positioning of the current position of the terminal becomes possible again. A positioning location comprising a state determination step of determining a distance between the location and determining a status of the location between the first positioning location and the second positioning location based on the distance Identification method.
[Appendix 11]
A computer that processes data of a plurality of positioning positions that are respectively positioned as the current position of the terminal, separated in the time direction,
Based on the data of the plurality of positioning positions, a first positioning position before positioning of the current position of the terminal becomes impossible, and a second positioning after positioning of the current position of the terminal becomes possible again. A program that obtains a distance to a position and functions as a state determination unit that determines a state of a place between the first positioning position and the second positioning position based on the distance. .
[Appendix 12]
In a positioning location identification system comprising a terminal and a server connected to each other via a network,
The terminal or the server is separated in the time direction, and acquires data of a plurality of positioning positions each positioned as the current position of the terminal,
The terminal or the server, based on the data of the plurality of positioning positions acquired by the terminal, the first positioning position before positioning of the current position of the terminal becomes impossible, and the current position of the terminal The distance between the second positioning position after positioning becomes possible again is obtained, and the state of the place between the first positioning position and the second positioning position is identified based on the distance. To
A positioning location identification system characterized by that.

  DESCRIPTION OF SYMBOLS 11 ... Terminal, 12 ... Server, 21.61 ... CPU, 22.62 ... ROM, 23.63 ... RAM, 24.64 ... Bus, 25.65 ... Input / output interface, 26 ... GPS unit, 27 ... sensor unit, 28.66 ... input unit, 29.67 ... output unit, 30.68 ... storage unit, 31.69 ... Communication unit, 32.70 drive, 33 battery, 41.81 removable media, 91 main control unit, 92 trajectory acquisition processing unit, 93 storage control 94, communication control unit, 111 ... main control unit, 112 ... state identification processing unit, 113 ... map data generation processing unit, 114 ... storage control unit, 115 ... communication Control unit, 131 ... GPS positioning data acquisition unit, 132 ... GPS positioning Situation determination unit, 133 ... GPS positioning accuracy calculation unit, 134 ... GPS positioning accuracy determination unit, 135 ... Autonomous navigation positioning data acquisition unit, 151 ... Data acquisition unit, 152 ... Data extraction unit 153, GPS positioning data determination unit, 154, state identification unit, 155, autonomous navigation positioning data correction unit, 156, autonomous navigation positioning accuracy estimation unit, 157, weighting unit, 171, ..GPS positioning accuracy acquisition unit, 172 ... GPS positioning time acquisition unit, 173 ... estimation unit, 191 ... positioning data placement unit, 192 ... road center line determination unit, 193 ... road width setting Part

Claims (12)

Acquisition means for acquiring data of a plurality of positioning positions, each being positioned as the current position of the terminal, separated in the time direction;
Movement measuring means for measuring movement in which the movement direction and movement amount of the terminal are measured;
A calculation position generation means for generating data of a calculation position indicating the current position of the terminal by accumulating the movement direction and the movement amount measured by the movement measurement to the positioning position serving as a reference point;
Correction means for correcting the data of the calculated position generated by the calculated position generating means by the positioning positions before and after the data of the calculated position among the plurality of positioning positions;
Position accuracy acquisition means for acquiring the accuracy of the data of the positioning position;
Position accuracy calculating means for calculating the accuracy of the data of the calculated position;
With
The position accuracy calculation means is based on the period of time continuously measured by the movement measurement and the accuracy of the data of the positioning position acquired by the position accuracy acquisition means before and after the period. A positioning location identification device characterized by calculating the accuracy of the positioning. Based on the data of the plurality of positioning positions acquired by the acquiring means, the first positioning position before positioning of the current position of the terminal becomes impossible and the positioning of the current position of the terminal becomes possible again. State determining means for determining a distance between the first positioning position and the second positioning position based on the distance, and determining a distance between the second positioning position after the second positioning position;
The positioning location identification apparatus according to claim 1, further comprising: The state determination means includes
If the determined distance is greater than or equal to a threshold, the state of the place is identified as a state where a road exists,
If the determined distance is less than a threshold, the state of the place is identified as a state in which a building exists.
The positioning location identification apparatus according to claim 2, wherein In the terminal,
Based on the positioning state of the position positioning, the position positioning and the movement measurement are switched,
The state determination means determines whether or not positioning of the current position of the terminal is possible based on switching between the position positioning and the movement measurement.
The positioning location identification device according to claim 2 or 3, characterized in that. The positioning location identification device is
Storage control means for associating and storing the positioning position data and the accuracy in a storage medium, and associating and storing the calculated position data and the accuracy in the storage medium;
The positioning location identification device according to claim 4, further comprising: Integration means for integrating the data of the positioning position and the data of the calculated position whose storage is controlled by the storage control means by performing weighting corresponding to each accuracy;
The positioning location identification device according to claim 5, further comprising: Map generation means for generating map data indicating a map reflecting the state of the place determined by the state determination means;
The positioning location identification apparatus according to claim 2, further comprising: The positioning location identification device is configured by the terminal.
The positioning location identification device according to any one of claims 1 to 7, The positioning location identification device includes a server connected to the terminal via a network.
The positioning location identification device according to any one of claims 1 to 7, A positioning location identification method executed by a positioning location identification device that determines the status of a location based on data of a plurality of positioning locations each positioned as a current location of a terminal separated in a time direction,
A movement measurement step for measuring movement in which the movement direction and movement amount of the terminal are measured;
A calculation position generation step of generating data of a calculation position indicating the current position of the terminal by accumulating the movement direction and the movement amount measured by the movement measurement to the positioning position serving as a reference point;
A correction step of correcting the data of the calculated position generated in the calculated position generation step by the positioning positions before and after the data of the calculated position among the plurality of positioning positions;
A position accuracy acquisition step of acquiring the accuracy of the data of the positioning position;
A position accuracy calculation step of calculating the accuracy of the data of the calculated position,
The position accuracy calculation step is based on the period of time continuously measured by the movement measurement and the accuracy of the data of the positioning position measured by the position accuracy acquisition step before and after the period. A positioning location identification method characterized by calculating the accuracy of the positioning. A computer that processes data of a plurality of positioning positions that are respectively positioned as the current position of the terminal, separated in the time direction,
Movement measuring means for measuring movement in which the movement direction and movement amount of the terminal are measured,
A calculation position generation means for generating data of a calculation position indicating the current position of the terminal by integrating the movement direction and the movement amount measured by the movement measurement to the positioning position as a reference point;
Correction means for correcting the data of the calculated position generated by the calculated position generating means by the positioning positions before and after the data of the calculated position among the plurality of positioning positions;
Position accuracy acquisition means for acquiring the accuracy of the data of the positioning position;
Position accuracy calculating means for calculating the accuracy of the data of the calculated position;
Function as
The position accuracy calculation unit is configured to calculate the data of the calculated position based on a period continuously measured by the movement measurement and the accuracy of the data of the positioning position measured by the position accuracy acquisition unit before and after the period. A program characterized by calculating the accuracy of. In a positioning location identification system comprising a terminal and a server connected to each other via a network,
The terminal or the server is separated in the time direction, and acquires data of a plurality of positioning positions each positioned as the current position of the terminal,
The movement measurement in which the movement direction and the movement amount of the terminal are measured,
The movement direction and the movement amount measured by the movement measurement are added to the positioning position as a reference point, and data of a calculated position indicating the current position of the terminal is generated.
The calculated position data is corrected by the positioning positions before and after the calculated position data among the plurality of positioning positions,
Get the accuracy of the positioning position data,
Calculating the accuracy of the data at the calculated position;
Calculating the accuracy of the data of the calculated position based on the period continuously measured by the movement measurement and the accuracy of the data of the positioning position measured before and after the period;
A positioning location identification system characterized by that.

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