JP6210636B2 - Current position complement device and current position complement method - Google Patents

Description

  The present invention relates to an apparatus and a method for enabling so-called autonomous navigation in a navigation device for pedestrians and for forming so-called probe information including a more accurate current position in a portable terminal.

  For example, Patent Document 1 discloses an invention relating to a shoe in which pressure detection means is provided on a shoe so that the number of steps can be accurately counted even when walking or running. Patent Document 2 discloses an invention relating to an athletic shoe that provides a shoe with a pressure sensor and collects information on the exercise for walking or running. According to Patent Document 3, calorie consumption can be accurately calculated by providing a pressure sensor on a shoe and accurately classifying whether it is a resting state, a standing state, or a walking state. An invention relating to a health measuring device is disclosed.

  Further, Patent Document 4 discloses an invention relating to a shoe step count measuring instrument for measuring the number of steps and the number of runs by generating an electric power by an operation of walking or running to operate a pressure detection unit or the like. Furthermore, Non-Patent Document 1 includes information on a device that allows a user to collect and manage history information regarding exercises such as walking and jogging performed by a user with a detection unit for the number of steps worn on shoes and a portable terminal. Has been.

  In this way, by providing pressure detection means on the shoes, various technologies have been developed to accurately count the number of steps during walking, jogging, running, and accurately grasp the amount of exercise and present it to the user. It's being used. As a result, the amount of exercise actually performed by the user can be appropriately grasped by the user himself, and it is utilized as a material for motivation to continue the exercise or a material for adjusting the amount of exercise.

JP-A-5-49505 JP-A-6-14803 JP 2007-300951 A JP 2011-238209 A

"Http://www.apple.com/jp/ipod/nike/"

  In recent years, the GPS (Global Positioning System) function is used to measure the current position of the aircraft, and a map including the current location of the aircraft is displayed on the display screen. An in-vehicle navigation device that performs position guidance by indicating a position is widely used. In-vehicle navigation devices may not be able to properly receive GPS signals from GPS satellites in long tunnels or high-rise buildings, and thus may not be able to properly measure the current position.

  In such a case, the in-vehicle navigation device receives the supply of speed information, steering wheel operation information, etc. from the vehicle, and performs the current position complementation process using these information, thereby accurately determining the current position of the own device. Can be specified. As a result, the navigation process can be continued without interruption. As described above, the function of appropriately grasping the current position of the own device based on the speed information from the automobile and the operation information of the steering wheel and continuing the navigation process is called an autonomous navigation function.

  In recent years, mobile terminals such as high-functional mobile phone terminals called smartphones and tablet PCs (Personal Computers) have become widespread, and pedestrian navigation devices using such mobile terminals have been realized and widely used. It has become to. However, in the case of a pedestrian navigation device, unlike an in-vehicle navigation device, various information cannot be automatically obtained from a user (pedestrian) who is a moving subject.

  The technologies disclosed in the above-mentioned patent documents and non-patent documents appropriately grasp information related to the amount of exercise performed by the user such as walking, jogging, and running, and are intended to grasp further information. Absent. However, it is considered that more diverse information can be collected through a pressure sensor provided on the user's shoes, and is one of the solutions to the new problem of realizing the autonomous navigation function in the pedestrian navigation device. It is thought that it suggests.

  In view of the above, an object of the present invention is to enable autonomous navigation in a pedestrian navigation apparatus and to form so-called probe information about a pedestrian having an accurate current position.

In order to solve the above-mentioned problem, a current position complementing device according to claim 1 is provided.
A current position complementing device comprising a shoe sensor device and a mobile terminal,
The shoe sensor device comprises:
Pressure detecting means for sequentially detecting the pressure received from the surface with which the user's sole contacts,
Transmission means for sequentially transmitting the detection output from the pressure detection means by wireless communication ,
The portable terminal is
Receiving means for sequentially receiving the detection outputs transmitted from the transmitting means of the shoe sensor device;
Current position acquisition means for acquiring the current position;
Considering the acquisition result by the current position acquisition means, and performing the complementary process based on the movement situation grasped by analyzing the detection output sequentially received through the reception means, the latest current position on the map Supplementary means to identify,
With
The complementing means obtains the number of steps by counting the occurrence of a constant pressure value based on the detection outputs sequentially received through the receiving means, and grasps the operating state based on the occurrence frequency of the constant pressure value. The moving distance is grasped by multiplying the obtained number of steps and the stride according to the grasped operation state .

  As a result, even if the current position acquired by the current position acquisition unit is inaccurate or the current position cannot be acquired by the current position acquisition unit, depending on the analysis result of the detection output from the shoe sensor device. The current position can be accurately identified by the complement processing. By using this, a so-called autonomous navigation function of the pedestrian navigation device can be realized, or so-called pedestrian probe information including information such as a more accurate current position of the pedestrian can be appropriately generated.

  According to the present invention, it is possible to enable autonomous navigation in a pedestrian navigation device or to form so-called probe information about a pedestrian having an accurate current position.

It is a figure for demonstrating the outline | summary of the present position complementation apparatus of embodiment. It is a block diagram for demonstrating the structural example of the shoe sensor apparatus. It is a figure for demonstrating the example of arrangement | positioning to the shoes which the user uses the pressure sensor. It is a figure for demonstrating an example of the transmission signal formed and transmitted in the short distance radio | wireless part. 4 is a block diagram for explaining a configuration example of a mobile terminal 2. FIG. It is a figure for demonstrating the detection information regarding the movement state of a user, and its detection method. It is a figure for demonstrating the example of the user's grasped operation condition. FIG. 3 is a block diagram for explaining a configuration example of a server 4. 5 is a flowchart for explaining navigation processing executed in the mobile terminal 2. It is a figure for demonstrating the example of the display screen displayed on display part 210D of the portable terminal 2. FIG.

  Hereinafter, an embodiment of the apparatus and method of the present invention will be described with reference to the drawings.

[Outline of current position complementer]
FIG. 1 is a diagram for explaining the outline of the current position complementing device of this embodiment. The present position complementing device of this embodiment is composed of a shoe sensor device 1 provided on a user's shoes and a portable terminal 2 that the user uses in his / her hand.

  As will be described in detail later, the shoe sensor device 1 has a function of sequentially detecting pressure received from a surface (ground, floor surface, etc.) with which the user's sole comes into contact, and sequentially transmitting the pressure by short-range wireless communication. . The portable terminal 2 is a terminal device that has at least a short-range wireless communication function, can receive and use a detection output transmitted from the shoe sensor device 1, and includes a display unit with a relatively large display screen.

  Moreover, the portable terminal 2 has a GPS (Global Positioning System) function, and can realize a pedestrian navigation function. The mobile terminal 2 can be realized by various mobile terminals such as a notebook PC (personal computer), a tablet PC, and a mobile phone terminal. In this embodiment, in order to simplify the description, the mobile terminal 2 will be described as a high-function mobile phone terminal called a smartphone that has been widely used in recent years.

  The network 3 is mainly the Internet, but connects the Internet to a mobile terminal 2 such as a wide-area communication network (wide-area network) such as a mobile phone network or a public switched telephone network, or a WiFi (registered trademark) wireless LAN. It includes various networks. Note that WiFi is an abbreviation for “Wireless Fidelity” and is a registered trademark of Wi-Fi Alliance.

  A map information providing server device (hereinafter simply referred to as a server) 4 is provided on the network 3 and provides map information and the like in response to requests from various terminal devices connected to the network 3. The GPS satellite 5 (1) is one of many artificial satellites that transmit a GPS signal necessary for a terminal device on the ground having a GPS function to measure the current position of its own device. The terminal device on the ground having the GPS function can measure the current position of its own device by receiving and processing GPS signals from at least three GPS satellites such as the GPS satellite 5 (1).

  The mobile terminal 2 accesses the server 4 through the network 3, requests the server 4 to search for a route from the departure point to the destination according to an instruction from the user, and provides search results and map information. receive. The mobile terminal 2 displays a map image corresponding to the map information from the server 4 on its own display unit, and displays the searched route on the map. Further, the mobile terminal 2 measures the current position of the own device that changes sequentially using the GPS function installed in the own device, and displays this on the displayed map, whereby navigation for the pedestrian (route) Guidance).

  As described above, the GPS function processes the GPS signals from a plurality of GPS satellites such as the GPS satellite 5 (1) and measures the current position of the own device. However, a GPS signal from a GPS satellite may be difficult to receive due to weather conditions, or a so-called coherent fading phenomenon may occur in a building street and may not be received properly. In such a case, the current position of the mobile terminal 2 cannot be specified, and navigation (route guidance) cannot be performed appropriately.

  Therefore, the portable terminal 2 of this embodiment is based on the detection output (pressure received from the surface (ground, floor surface, etc.) with which the user's sole comes into contact) transmitted from the shoe sensor device 1 by short-range wireless communication. To identify the user's movement status. Based on this identified travel situation. The portable terminal 2 accurately specifies the current position of the own device by performing a complement process for the current position. Using the identified current position, the mobile terminal 2 can appropriately continue navigation without interruption. Thus, the portable terminal 2 realizes the autonomous navigation function in the navigation device for pedestrians by cooperating with the shoe sensor device 1, and as a navigation device for pedestrians properly at all times without relying only on the GPS function. It can function.

  Below, the configuration of the shoe sensor device 1 and the mobile terminal 2 constituting the current position complementing device of this embodiment and the configuration of the server 4 will be clarified, and the specific operation of the current location complementing device will be described.

[Configuration Example of Shoe Sensor Device 1]
FIG. 2 is a block diagram for explaining a configuration example of the shoe sensor device 1. As shown in FIG. 2, the shoe sensor device 1 includes a pressure sensor 11, an A / D (Analog / Digital) converter 12, a short-range wireless unit 13, and a short-range wireless antenna 13A, which are used by the user. As a whole, the shoe sensor device 1 is configured by being provided in the shoe.

  As described above, the pressure sensor 11 sequentially detects the pressure that the user's sole receives from the contact surface (the ground surface, the floor surface, etc.), and is provided on the shoe sole portion of the shoe used by the user. For example, it is configured using a strain gauge. In the shoe sensor device 1 of this embodiment, a plurality of pressure sensors are provided on the shoe sole portion of the shoe used by the user in order to grasp the user's movement state in more detail. FIG. 3 is a diagram for explaining an arrangement example of the pressure sensor 11 on a shoe used by a user.

  FIG. 3 shows a case where the shoe sole of the right foot shoe used by the user is viewed from the side facing the shoe sole. As shown in FIG. 3, in this embodiment, four pressure sensors 11 (1) to 11 (4) are arranged in the shoe sole portion. That is, the pressure sensor 11 (1) on the toe side, the pressure sensor 11 (2) on the heel side, the pressure sensor 11 (3) on the left side of the lower part of the base of the finger, and the pressure sensor 11 on the right side. (4) is arranged. The detection output from these four pressure sensors 11 (1) to 11 (4) will be described in detail later, but the number of steps, the operating state (whether walking, running or stopped), flat Whether it is a road, uphill, downhill, right / left turn, etc. can be detected.

  The A / D converter 12 converts the detection output as an analog signal from the pressure sensors 11 (1) to 11 (4) into a digital signal, and supplies the converted digital signal to the short-range wireless unit 13. . The short-range wireless unit 13 forms a transmission signal using the digital signal from the A / D conversion unit 12, and transmits this by short-range wireless. In this embodiment, the short-range wireless unit 13 transmits a transmission signal by a short-range wireless system of Bluetooth (registered trademark) standard.

  FIG. 4 is a diagram for explaining an example of a transmission signal that is formed and transmitted in the short-range wireless unit 13. As shown in FIG. 4, the short-range wireless unit 13 includes a right and left section, a sequence number. The pressure detection output consists of front, rear, left and right columns. The left and right sections are information indicating whether the detection output from the pressure sensor provided on the right foot shoe or the detection output from the pressure sensor provided on the left foot shoe. Sequence No. Is a number assigned so that the detection order does not change before and after on the receiving side. As shown in FIG. 4, the columns of the pressure sensors 11 (1), 11 (2), 11 (3), and 11 (4) are sequentially displayed in the columns before, after, left, and right of the pressure detection output. The digital value of the detection output is input.

  The left and right sections, sequence numbers Is given by the short-range wireless unit 13. Further, as described above, the front, rear, left, and right pressure detection outputs are detected by the pressure sensors 11 (1), 11 (2), 11 (3), and 11 (4), and are subjected to A / D conversion. What is converted into a digital signal by the unit 12 is used.

  The shoe sensor device 1 is always operated when the user is walking. The shoe sensor device 1 operates as a whole by a constant clock signal. For example, the pressure sensor 11 (1), 11 (2), 11 (3), 11 (4) detects pressure about several times per second. And sequentially performing the process of A / D conversion, forming a transmission signal, and transmitting. Of course, when not in use, the operation can be stopped by turning off the power. In FIG. 2, the description of the power supply system is omitted for the sake of simplicity.

  Moreover, the shoe sensor apparatus 1 demonstrated using FIGS. 2-4 should just be provided in at least one of shoes of right and left. Of course, it is also possible to use the detection output from the shoe sensor device 1 of both the left and right shoes by providing the shoes on both the left and right shoes.

[Configuration example of mobile terminal 2]
FIG. 5 is a block diagram for explaining a configuration example of the mobile terminal 2. In the portable terminal 2 shown in FIG. 5, the wireless communication unit 201 converts the signal received through the network 3 into data that can be processed by the own device, or converts various data for transmission into signals that comply with the protocol. For example, the data is converted and sent to the network 3. The wireless communication unit 201 is connected to a transmission / reception antenna 201A. The control unit 202, the storage device 203, and the operation unit 204 are parts that realize basic functions of the terminal device 2.

  The time control unit 205 manages the current date, current day, and current time. The sensor unit 206 includes a gyro sensor, an acceleration sensor, a direction sensor (geomagnetic sensor), an altitude sensor, and the like. The gyro sensor detects the angular velocity and rotation direction of the mobile terminal 2, and the acceleration sensor detects the acceleration applied to the mobile terminal 2. The azimuth sensor detects which direction the mobile terminal 2 is facing by detecting geomagnetism. The altitude sensor detects altitude (altitude above sea level) based on information such as atmospheric pressure.

  By these sensors, the orientation and orientation of the mobile terminal 2 are specified and the display is appropriately controlled, so that a navigation function and the like can be appropriately provided. And in the portable terminal 2 of this embodiment, the detection output from the sensor unit 206 is to complement the detection output from the shoe sensor device 1 so as to make the autonomous navigation highly accurate, as will be described later. Used for.

  The short-range wireless unit 207 and the short-range wireless antenna 207 </ b> A perform signal transmission / reception using a Bluetooth (registered trademark) standard short-range wireless system. In this embodiment, the short-range wireless unit 207 and the short-range wireless antenna 207A of the mobile terminal 2 mainly receive the detection output of the pressure sensor attached to the shoe transmitted from the shoe sensor device 1 described above. Used in cases.

  The wireless LAN unit 208 and the wireless LAN antenna 208A correspond to, for example, a Wi-Fi standard wireless LAN, and transmit and receive signals to and from nearby Wi-Fi standard APs (access points). The wireless LAN unit 208 also has a function of detecting an SSID that identifies an AP that is a transmission source of the received signal from the received signal, and detecting a received electric field strength of the received signal.

  For this reason, the control unit 202 specifies an approximate current position of the own device by making an inquiry to a predetermined server based on the SSIDs and reception field strengths of a plurality of neighboring APs detected by the wireless LAN unit 208. You can do it. The specification of the current position using the function of the wireless LAN unit 208 is used to complement the current position specified by the function of the GPS unit 209 described later.

  The GPS unit 209 and the GPS antenna 209A realize a function of measuring the current position of the own device. The display unit 210D and the touch pad 210P constitute a touch panel 211, and realize a display function and an operation input receiving function in the terminal device 2. The audio output unit 212 and the speaker 213 realize an audio output function.

  The route search request unit 214 forms a route search request including necessary information such as a departure point and a destination according to an instruction input from a user received through the touch panel 211, and sends the route search request to the server 4 through the wireless communication unit 201 and the transmission / reception antenna 201A. Send to. In response to this, the route search result and map information provided from the server 4 are received through the transmission / reception antenna 201A and the wireless communication unit 201, stored in the recording medium of the storage device 203, and used for navigation processing.

  As described above, the guidance processing unit 215 executes navigation processing based on the route search result and map information provided from the server 4 in response to a request from the own device and the current position acquired through the GPS unit 209 or the like. . Specifically, the guidance processing unit 215 displays a map showing the searched route and the current position of the own device on the display unit 210D, and performs processing for guiding the route (route) to the user. In this case, the guidance processing unit 215 reads out audio data instructing a corner or the like from the storage device 203 as necessary and supplies the audio data to the audio output unit 212, and the sound corresponding to this is emitted from the speaker 213. However, users can be guided by voice messages.

  Further, as described above, the current position can be supplemented using the SSID and the received electric field strength of the neighboring AP that performs communication through the wireless LAN unit 208. In addition, the current position of the own device can be supplemented using information indicating the current position of the own device from the mobile terminal location information server of the mobile phone company provided on the network 3.

  Thus, since the current position measured through the GPS unit 209 usually includes a certain amount of error, the current position of the own device can be obtained more accurately by complementing the current position using the function of the wireless LAN unit 208 or the like. It is done. However, GPS signals and wireless LAN signals cannot be received indoors or in tunnels, and may not be received properly in facades due to the influence of fading phenomenon. Therefore, the mobile terminal 2 of this embodiment uses the detection output from the shoe sensor device 1 to grasp the user's movement status and complement the current position.

  The complementary processing unit 216 analyzes the detection output from the shoe sensor device 1 received through the short-range wireless unit 207, grasps the movement status of the user, and based on this, complements the current position of the own device, Appropriately grasp the current position so that navigation (route guidance) can be continued. In other words, the complement processing unit 216 realizes an autonomous navigation function based on the detection output from the shoe sensor device 1.

  The internal sensor utilization unit 217 performs processing for complementing the current position of the own device and making it more accurate in consideration of the current time provided by the time control unit 205 and the sensor output from the sensor unit 206. As described above, in the portable terminal 2 of this embodiment, the function of the internal sensor using unit 217 is also used, and the current position of the own device can be specified more accurately.

  Here, the supplement processing for the current position realized mainly by the function of the complement processing unit 216 will be specifically described. FIG. 6 is a diagram for explaining detection information regarding a user's movement status detected by the complementary processing unit 216 of the portable terminal 2 and a detection method thereof based on the detection output from the shoe sensor device 1 received through the short-range wireless unit 207. FIG.

  As shown in FIG. 6, in the complementary processing unit 216, based on the detection output from the shoe sensor device 1, the number of steps of the user, the operating state (whether running, walking, or stopped), It is possible to detect the movement distance, the gradient of the movement path, the occurrence of a left / right turn, U-turn, and the like. Here, for example, it is assumed that the shoe sensor device 1 is configured only for the right foot shoe.

  As shown in FIG. 6, the number of steps can be detected by counting occurrences of a detection output from the shoe sensor device 1 above a certain pressure value. In this example, since the shoe sensor device 1 is configured only for the shoes for the right foot, the occurrence frequency of the detection output from the shoe sensor device 1 above a certain pressure value is longer than, for example, every 2 seconds (1 When the occurrence frequency per step is longer than 1 second), it can be detected that the user is walking. On the contrary, when the occurrence frequency of the detection output from the shoe sensor device 1 exceeding a certain pressure value is shorter than, for example, every 2 seconds (when the occurrence frequency per step is shorter than 1 second), the user runs. Can be detected. The pressure value for detecting the number of steps and the operation state is obtained by using only one of the four pressure sensors 11 (1), 11 (2), 11 (3), and 11 (4). Alternatively, the total value of any two or more detection outputs may be used.

  Further, when there is no change in the pressure value of the detection output from the shoe sensor device 1, or when the change in the pressure value is equal to or less than a certain pressure value, it can be detected that the vehicle is stopped. It is also possible to classify the status of occurrence frequency above a certain pressure value in more detail and detect the user's operating status in more detail, such as walking, jogging, running etc. Is possible.

  Here, to simplify the explanation, the frequency of occurrence per step when walking is set to a frequency of 1 second or more, and the frequency of occurrence per step when running is set to a frequency shorter than 1 second. However, it is not limited to this. For the frequency of occurrence per step when walking and the frequency of occurrence per step when running, for example, based on actual measurement values or statistical data of actual measurement values, obtain more appropriate values and carry them. It can be stored in the storage device 203 of the terminal 2 and used.

  The distance traveled can be obtained by multiplying the stride when running and the number of steps when running (the number of steps when running) based on the detected movement state. . Further, when the user is walking, it can be obtained by multiplying the step length when walking and the number of steps when walking (the number of steps when walking). In this example, as described above, since the shoe sensor device 1 is configured only for the shoes for the right foot, the number of steps including the left foot is doubled.

  Further, when the user is running, the stride while running can be obtained by accumulating each time the number of steps is detected. Similarly, when the user is walking, the stride while walking can be obtained by accumulating each time the number of steps is detected. In this case, each time the number of steps is detected, the moving distance can be appropriately obtained by accumulating twice the step length.

In addition, for the stride when running or the stride when walking, an actual measurement value obtained by actual measurement can be registered in the storage device 203 and used. For simplicity,
Running stride = user height x 0.6
Walking length when walking = user height x 0.4
In this way, a value obtained by a predetermined calculation formula can be used as the stride. Note that the calculation formula is not limited to the above-described formula, and any appropriate formula can be used, such as changing a value to be multiplied with height.

  The gradient means the gradient (tilt) on the moving route, and the moving route based on the pressure applied to the front (toe portion) of the shoe and the pressure applied to the back (heel portion) of the shoe. It is possible to detect whether the vehicle is uphill, downhill, or flat. Specifically, when moving uphill, the pressure applied to the back of the shoe (the toe) rather than the pressure applied to the front of the shoe (the toe) compared to when moving on a flat route. Is bigger. Also, when moving downhill, the pressure applied to the front of the shoe (toe) is more than the pressure applied to the back of the shoe (heel) than when moving on a flat path. growing. Based on this fact, the gradient on the moving route can be detected. In addition, when the moving route is flat, for example, the statistical difference that the difference between the pressure applied to the front of the shoe (toe portion) and the pressure applied to the back of the shoe (heel portion) is within a certain range. Detectable based on facts grasped by

  The occurrence of a left or right turn can be easily detected based on the pressure applied to the left and right of the shoe. That is, pressure is applied to the right side of the shoe when making a right turn, and pressure is applied to the left side of the shoe when making a left turn. By detecting this, a right turn and a left turn can be detected. In addition, by detecting the duration when pressure is applied to the right side of the shoe or the duration when pressure is applied to the left side of the shoe, it is possible to make a U-turn from the right side or a U-turn from the left side. It can be detected.

  As described with reference to FIG. 3, the shoe sensor device 1 according to this embodiment has a configuration in which four pressure sensors are provided in a shoe sole portion specified by a user. For this reason, in addition to the above-mentioned right / left turn and U-turn, the detection output of each of the four pressure sensors when the user moves in various ways of walking and running is analyzed in advance, and more of the user It is also possible to detect the operation status of In other words, collect the detection output of each of the four pressure sensors when the user moves in various ways of walking and running, perform statistical analysis, and prepare pattern data associated with the characteristics of the user's movement This makes it possible to grasp the user's movement status in more detail.

  FIG. 7 is a diagram for explaining an example of the user's operation status grasped by the complementing processing unit 216. As described above, the complementary processing unit 216 analyzes the detection output from the shoe sensor device 1 to start the movement of the user, the operating state (whether walking, running, or stopped), The occurrence of a left or right turn can be detected. Furthermore, it is possible to detect the number of steps, the moving distance, and the gradient of the moving route.

  Accordingly, in the case of the example shown in FIG. 7, the complement processing unit 216 first detects that the user has started moving by analyzing the detection output from the shoe sensor device 1 of the user, and then the user. Is detected to have moved 14 steps (9.8 m) on a flat route. In this example, the moving distance is calculated with the step length when walking as 70 cm.

  After that, the user makes a right turn, walks on a flat route, moves 100 steps (70 m), stops, then resumes moving, walks uphill and moves 43 steps (30 m), It has been detected that 50 steps (50 m) have moved downhill. In this example, the moving distance is calculated with the stride when running as 100 cm.

  As described above, the complementary processing unit 216 of the mobile terminal 2 according to this embodiment can grasp the movement status of the user by analyzing the detection output from the shoe sensor device 1 received through the short-range wireless unit 207. Then, it is assumed that the current position of the portable terminal 2 is appropriately measured by the GPS unit 209 and the like, and the current position of the portable terminal 2 is not properly measured by the GPS unit 209 and the like thereafter. In this case, taking into account the current position that has been properly positioned and the moving direction thereof, it is understood how the mobile terminal 2 has moved on the map by the complementary processing using the analysis result by the complementary processing unit 216. Thereby, the current position of the mobile terminal 2 can be properly grasped on the map, and navigation (route guidance) can be continued.

  The mobile terminal 2 can also use the current time provided by the time control unit 205 and the sensor output from the sensor unit 206. For this reason, the detection output from the shoe sensor device 1 received through the short-range wireless unit 207 is associated with the current time provided by the time control unit 205 and the sensor output from the sensor unit 206 (for example, the moving direction and altitude). Therefore, it is possible to grasp the movement situation of the user more accurately.

  That is, as shown in FIG. 7, the user starts to move at 10:30, and then the user walks on a flat route for 14 steps (9. 8m), moving in the south direction, and it is detected that the altitude of the moving route is 10m. After that, the user moves to the west by making a right turn at 10:30:15, and walks along the flat route for 100 steps (70m) until 10:31:55. ), Moving in the west direction, and it is detected that the altitude of the moving route is 10 m.

  After this, the direction of movement remains the west direction, pauses until 10:32:10, resumes movement at 10:32:11, and walks uphill until 10:32:55 for 43 steps. (30m) It has been detected that the altitude of the moving route is 15m. After this, the user moves 50 steps (50 m) downhill and travels down to 10:33:20, with the direction of travel remaining west, and the altitude of the travel path is detected to be 10 m. Yes. Thus, by grasping the time, the moving direction, the altitude of the moving route, and the like, the actual moving route on the map can be traced more accurately and the current position of the user can be grasped.

  In addition, the information which grasps | ascertains the movement condition which consists of detection information etc. which were demonstrated using FIG. 7 is memorize | stored sequentially in the memory | storage device 203, for example, can be referred as needed, and can perform autonomous navigation. Further, even if the current position can be measured or specified through the GPS unit 209 or the like, it is possible to perform a complementary process based on the information shown in FIG. 7 and to always specify a more accurate current position. .

  Note that acquisition of the current time from the time control unit 205 and the orientation (direction) of the mobile terminal from the sensor unit 206 is performed by the internal sensor using unit 217 under the control of the control unit 202, and the complement processing unit 216 and the like. Made available at. In addition, the internal sensor utilization unit 217 checks the detection output from the acceleration sensor when turning right or left, improves the detection accuracy of the occurrence of right or left turn, and incorporates the number of steps if a vibration sensor is incorporated. It is possible to compare the count value with the vibration sensor and confirm the certainty of the number of steps. In addition, if the sensor unit 206 can detect the altitude of the place where the mobile terminal 2 is located, the altitude (altitude) detected by the sensor unit 206 is compared with the altitude of the current position of the map information (altitude). It is also possible to confirm the certainty of the current position.

  Thus, although the portable terminal 2 of this embodiment implement | achieves the navigation function for pedestrians, it has also provided the autonomous navigation function which was not implement | achieved conventionally in the navigation for pedestrians. .

  Note that the mobile terminal 2 is a high-function mobile phone terminal as described above. However, in FIG. 5, each part such as a call processing unit, a receiver, a transmitter, etc. for realizing a call function that is not directly related to the navigation process is omitted, and the description of the part is also omitted.

[Configuration example of server 4]
FIG. 8 is a block diagram for explaining a configuration example of the server 4. In the server 4 shown in FIG. 8, the communication I / F 401, the control unit 402, and the storage device 403 are parts that realize basic functions of the server 4, such as a communication function and an information processing function.

  Each of the map DB 404, the road network DB 405, the pedestrian network DB 406, and the public transportation network DB 407 is formed on a large-capacity recording medium such as a hard disk, and stores and holds predetermined data. Here, the character “DB” is an abbreviation for database.

  The map DB 404 stores and holds various map information (map data) such as vector data, raster data, and annotation (annotation) data for drawing a map in association with latitude / longitude information. Specifically, the map information accumulated in the map DB 404 is formed for each predetermined type (for each layer) such as a road, a railway, a river, a mountain, a commercial facility, a financial institution, a house, and a sign.

  The road network DB 405 stores and holds road network data including node data and link data. The node data represents points such as landmarks, buildings, facilities, intersections, branch points, and bending points. The link data indicates routes through which automobiles such as highways, national roads, prefectural roads, municipal roads, and private roads can pass through line segments connecting node data. Each link data is associated with information such as the number of the node constituting the link, the link cost, and the link type.

  The link cost represents the load applied to the user when traveling on the road represented by the link. In this embodiment, the link cost is set according to the length of the road represented by the link. The link cost may be set according to the time required to travel on the road represented by the link. The link cost is referred to when a route that minimizes the link cost is searched by the so-called Dijkstra method. The link type corresponds to a road attribute and is information indicating whether the link part is an expressway, a national road, a prefectural road, a municipal road, or a private road. In addition, the link data includes detailed information such as the width of the link.

  The basic data configuration of the pedestrian network DB 406 is the same as that of the road network DB 405. However, link data managed by the pedestrian network DB 406 includes general roads that pedestrians can pass, sidewalks associated with various roads, pedestrian crossings, pedestrian bridges, pedestrian paths that can pass through buildings and parks, etc. It is about the road where pedestrians can pass.

  The public transport network DB 407 stores and holds network data such as trains, buses, monorails, airplanes, and ferries (ships), timetables, tolls, and the like as public transports. The train network data is composed of station node data and inter-station link data for each line of each railway company, transfer link data between lines, access / egress link data, and the like. The station node data includes information such as an operating entity, route name, and station name, and the inter-station link data includes information such as an operating entity, route name, distance, speed, and fare. The transfer link data has information such as distance, speed, and fare.

  The link from the departure point to the nearest station is an access link, and the link from the stop station to the destination is an egress link. An access egress link simply means various links to station nodes other than the inter-station link. The train network data also includes schedule information for each route of the train. With the train network data of this train network data, it is possible to realize the search and guidance of the route that the user should travel by train on the route from the departure point to the destination.

  In addition, for public transportation such as buses, monorails, airplanes, and ferries (ships) other than trains, basically, as with the train network data, a boarding point node for each public transportation operating company. It consists of data, link data between boarding points, transfer link data between routes, access / egress link data, and the like. With the public transportation network DB 407 equipped with these data, a comprehensive navigation service that can search and guide the route from the departure point to the destination using various transportation means is realized. it can.

  The request extraction unit 408 decomposes various requests from the mobile terminal 2 received through the communication I / F 401 under the control of the control unit 402, extracts necessary information, and processes related to the extracted information Supply to the department. For example, when the request is a route search request from the mobile terminal 2 based on the received request type information, the request extraction unit 408 obtains information such as a departure point, a destination, a waypoint, and a moving means from the request. These are extracted and supplied to the route search processing unit 409. If the request is a peripheral search request from the mobile terminal 2 based on the received request type information, the request extraction unit 408 obtains information such as the name, address, and telephone number of the facility to be searched from the request. These are extracted and supplied to the peripheral search processing unit 410.

  The route search processing unit 409 performs a route (route) search based on information such as a departure point, a destination, a waypoint, and a moving means from the request extraction unit 408 under the control of the control unit 402. In this case, the route search processing unit 409 performs route search using the road network DB 405 when the moving means is an automobile, and performs route search using the pedestrian network DB 406 when the moving means is walking. The route search processing unit 409 obtains map information necessary for performing route (route) guidance from the map DB 404 according to route information (route information) from the departure point to the destination obtained by searching, The map information and route information are supplied to the information providing unit 411.

  The peripheral search processing unit 410 refers to the map DB 404 based on information such as the name, address, and telephone number of the facility to be searched from the request extraction unit 408 under the control of the control unit 402, and the target facility and the like. Perform a search. For example, the convenience store chain can be located anywhere around the current position, so a search according to the type of facility for which there is no convenience store or a search for a narrowed facility type such as whether there is a convenience store of a predetermined convenience store chain can be performed. It is also possible to search for a specific facility such as where is a XX store in a predetermined convenience store chain. In this specification, the word “convenience store” is an abbreviation for convenience store.

  The peripheral search processing unit 410 supplies the information providing unit 411 with a peripheral search result including the name of the facility found as a result of the search, the latitude and longitude corresponding to the location, and the like. If the target facility is not found as a result of the search, the peripheral search processing unit 410 supplies information indicating that the target facility has not been found to the information providing unit 411.

  Under the control of the control unit 402, the information providing unit 411 receives the route search result from the route search processing unit 409 and the result of the peripheral search from the peripheral search processing unit 410, and arranges these as transmission data. . The information providing unit 411 performs processing for providing the route search result and the peripheral search result arranged as transmission data to the mobile terminal 2 that is the transmission source of the route search request and the peripheral search request through the communication I / F 401. Further, the information providing unit 411 acquires map information corresponding to the request from the portable terminal 2 from the map DB 404 under the control of the control unit 402 and provides this to the requesting portable terminal 2 through the communication I / F 401. It also performs processing such as.

  In this way, the server 4 extracts necessary information in response to a route search request, a peripheral search request, and a map information provision request from the mobile terminal 2, arranges this as transmission data, The process provided to the portable terminal 2 is performed. The requesting mobile terminal 2 can perform navigation processing for pedestrians by using information provided from the server 4.

[Operation when the navigation function is executed on the mobile terminal 2]
Next, navigation processing executed in the mobile terminal 2 having the above-described configuration will be described. The navigation process described below is executed when the mobile terminal 2 cooperates with the shoe sensor device 1 and the server 4. FIG. 9 is a flowchart for explaining the navigation processing executed in the portable terminal 2 of this embodiment. FIG. 10 is a diagram for explaining an example of a display screen displayed on the display unit 210D of the mobile terminal 2 in the navigation process shown in FIG.

  Before the process shown in FIG. 9 is executed, the server 4 performs a route search in response to requests from various portable terminals, and can perform a process of providing the map information necessary for the result and the navigation process. It has become. Further, the shoe sensor device 1 detects the pressure by the pressure sensors 11 (1), 11 (2), 11 (3), and 11 (4) at least until the process of step S114, which will be described later, is started. It is assumed that detection outputs can be sequentially transmitted by short-range wireless communication.

  In the mobile terminal 2 of this embodiment, when an item for executing a navigation application is selected from a predetermined menu, the control unit 202 executes the process shown in the flowchart of FIG. First, the control unit 202 accesses the server 4, receives an information input screen (FIG. 10A), executes necessary information input processing (step S101), and inputs predetermined information. When the search button is operated (step S102), a route setting process using the input information is executed (step S104).

  In the information input process in step S101, if the “search” button is not operated on the information input screen (FIG. 10A) (step S102), it is determined whether or not the “end” button is pressed. Accordingly, the process can be changed (step S103). That is, when the “end” button is not operated, the information input process (step S101) can be continued. When the “end” button is operated, a predetermined end process (step S110) is executed, and the navigation is performed. Processing can be terminated.

  In the route setting process in step S104, the information input in step S101 is transmitted to the server 4 to request a route search to the destination. Then, the control unit 202 receives the route search result provided from the server 4, displays it on the display unit 210D as shown in FIG. 10B, and provides it to the user. Lets you select and configure. When a plurality of route candidates are searched, the searched routes are displayed in order on the display unit 210D so that the user can select them.

  In the route setting process in step S104, if the “start” button is operated after displaying the route search result (FIG. 10B) (step S105), the navigation process from step S107 can be started. In the route setting process in step S104, if the “start” button has not been operated after the route search result (FIG. 10B) is displayed (step S105), whether or not the “return” button has been pressed. Depending on the situation (step S106), the processing can be changed. That is, when the “return” button is not operated, the process can return to the route setting process (step S104), and when the “return” button is operated, the process can return to the information input process (step S101).

  When it is determined in the determination process in step S105 that the “start” button has been operated, the control unit 202 controls the guidance processing unit 215, the complement processing unit 216, and the like, and starts the navigation process according to the set route. (Step S107). Specifically, the control unit 202 uses the GPS unit 209 or the wireless LAN unit 208 to measure the current position of the own device, and uses the detection output from the shoe sensor device 1 by the complementary processing unit 216 to determine the current position of the own device. Perform supplementary processing and perform navigation (route guidance).

  By executing the complementing process by the complementing processing unit 216, the navigation process can be performed appropriately even when the positioning process of the current position of the own device using the GPS unit 209 or the wireless LAN unit 208 cannot be performed appropriately. For example, as shown in FIG. 10B, the route from the starting point to the destination is a route passing through the building street, and both sides of the building are affected by the fading phenomenon, and the GPS unit 209 and the wireless It is assumed that positioning processing using the LAN unit 208 cannot be performed appropriately.

  In such a case, in the vicinity of the departure place, for example, “XX station”, the current position of the own device can be appropriately determined by the functions of the GPS unit 209 and the wireless LAN unit 208, and moved by the function of the sensor unit 206. Suppose that the direction was detected properly. Here, the moving direction can be detected based on the current position of the user who moves sequentially. In this case, based on the position (departure point) indicated by the current position and the moving direction, the current position of the subject aircraft can be appropriately grasped and the navigation process can be performed by the complement processing by the complement processing unit 216.

  Here, in most parts of the searched route shown in FIGS. 10B and 10C, the positioning function of the current position of the own device using the GPS unit 209 and the wireless LAN unit 208 does not function normally. Think about the case. Even in such a case, the portable terminal 2 can appropriately grasp the current position of the mobile device 2 by the function of the complement processing unit 216, so that navigation processing can be performed so as to follow the searched route.

  And the portable terminal 2 can grasp | ascertain the present position of an own machine appropriately by the function of the complement process part 216. FIG. For this reason, as shown in FIG. 10C, the display unit 210D of the mobile terminal 2 has a map image, a route indicated by a thick line, and a black triangle mark (▲). The current position of your aircraft is displayed. In addition, an “end” button is provided at the lower right corner of FIG.

  In FIG. 10C, as indicated by the black triangle mark (）), even when the current position of the mobile terminal 2 is searched and deviated from the route, it can be appropriately grasped by the function of the complement processing unit 216. In such a case, as shown in the lower end portion of FIG. 10C, a guidance such as “I'm off the route” can be displayed, or a message with the same content can be emitted as a voice message. . Thus, it is possible to notify the user that the user has deviated from the route, to recognize that the user has deviated from the route, and to return to the route.

  In step S107, after the control unit 202 controls the guidance processing unit 215, the complement processing unit 216, and the like to start the navigation process, the control unit 202 receives an operation input from the user (step S108). The operation input accepted in step S108 is an operation input for the “end” icon displayed on the lower end side of the display screen during the navigation process, as shown in FIG. Here, the “end” icon is a process for ending the navigation process, and includes both an end in the middle of the ongoing navigation process and an end after arrival at the destination.

  In step S108, the control unit 202 determines whether or not the “end” icon has been operated (step S109). When it is determined that the “end” icon has not been operated, the processing from step S108 is repeated. Assume that it is determined in the determination process in step S109 that the “end” icon has been operated. In this case, the control unit 202 executes end processing such as returning to the original display screen before executing the navigation processing (step S110), and ends the processing shown in FIG.

  Thus, the portable terminal 2 of this embodiment constitutes a current position complementing device together with the shoe sensor device 1. And by cooperating with the server 4, it also functions as a navigation device for pedestrians and also realizes the autonomous navigation function of the navigation device for pedestrians. The mobile terminal 2 always specifies the current position of its own device, This can be used for navigation processing.

[Effect of the embodiment]
As described above, based on the detection output of the pressure sensor 11 sequentially provided from the shoe sensor device 1, the number of steps, the operating state (running, walking, stopping), moving distance, gradient (uphill) (Slope, downhill), right / left turn, U-turn, etc. are detected. Based on this detection information, the current position is complemented, and the current position can be grasped appropriately.

  Thereby, in the navigation apparatus for pedestrians, the autonomous navigation function that could not be realized conventionally can be realized. Therefore, even if the current position of the own device cannot be properly grasped by the GPS function or the current position acquisition function using the reception information from the access point of the wireless LAN, the current position of the own device is properly grasped. Thus, the navigation function can be continued normally. That is, an unprecedented highly accurate pedestrian navigation device can be realized.

  Moreover, the portable terminal 2 can enhance the complementary function of the current position using the detection output of the sensor unit 206 by the functions of the sensor unit 206 and the internal sensor using unit 217. For example, even if the sensor unit 206 can detect the tilt of the mobile terminal 2, it cannot identify whether it is tilted by the user or due to the occurrence of a right or left turn. However, if it can be detected from the detection output from the shoe sensor device 1 that a right / left turn has occurred, if the left / right inclination of the sensor unit 206 can also be detected in synchronization with the right / left turn, the right / left turn detection reliability can be detected. Can be recognized as expensive. As described above, the detection output of the sensor unit 206 can be used for confirming the operation state of the user based on the detection output from the shoe sensor device 1.

[Modification]
In the above-described embodiment, the case where the autonomous navigation function of the navigation device for pedestrians is realized by using the detection output from the shoe sensor device 1 is described as an example. However, the present invention is not limited to this. For example, a mobile phone terminal or the like periodically transmits so-called probe information including the current position of the own device to a predetermined server device on the mobile phone company side, etc. The current position complemented by the detection output from the shoe sensor device 1 can be used.

  In the above-described embodiment, the mobile terminal is described as being a high-function mobile phone terminal, but the present invention is not limited to this. The present invention can be applied when using various portable terminals capable of measuring the current position of the own device, such as a notebook PC, a tablet PC, and a conventional cellular phone terminal.

  Moreover, in embodiment mentioned above, the pressure sensor 11 of the shoe sensor apparatus 1 demonstrated as what is arrange | positioned in the part of four places of a shoe sole, as demonstrated using FIG. However, it is not limited to this. More pressure sensors can be arranged so that the movement status of the user can be grasped in more detail.

  Further, the pressure sensor 11 is provided so as to be embedded in the sole, and the A / D conversion unit 12, the short-range wireless unit 13, and the short-range wireless antenna 13A are incorporated in a shoe heel portion, for example. It is also possible to configure as. In addition, the shoe insole is provided with one or more pressure sensors, and the A / D converter 12, the short-range wireless unit 13, and the short-range wireless antenna 13 A connected thereto are used as a device unit separate from the shoe. It can also be configured to be mounted on the upper part of the back.

  In addition, if the shoe sole is filled with impact-absorbing gel, use a corrosion-resistant material for the membrane, and the pressure applied to the gel will be between the sole of the user's feet and the ground or floor. Such pressure can be detected. The pressure detected in this way can also be used.

  In addition, according to various aspects, the shoe sensor device 1 can be configured by providing the pressure sensor 11, the A / D conversion unit 12, the short-range wireless unit 13, and the short-range wireless antenna 13A for the shoe.

  Further, when the shoe sensor device 1 is in a stationary state while wearing a shoe, it is determined whether it is walking or running based on the pressure detected by the pressure sensor 11 of the shoe sensor device 1. It is possible to specify the pressure value for That is, when the shoe sensor device 1 is mounted on the shoes of both feet, the weight of the user can be obtained from the detection output of the shoe sensor device 1 of both feet. For the same reason, for example, even when a shoe sensor device is provided only on one foot, it is possible to detect the pressure applied to one foot at rest and walk directly or in terms of weight. The pressure value for discriminating the state and the running state can be specified.

  Moreover, in embodiment mentioned above, although the case where the navigation process for pedestrians was performed was demonstrated as an example, it does not restrict to this. The present invention can also be applied to the so-called comprehensive navigation described above. That is, even when guiding indoors such as a station premises or an airport terminal, it is possible to perform route guidance (indoor navigation) more appropriately by applying the present invention.

In the above-described embodiment, the short-range wireless communication is described as being based on the Bluetooth (registered trademark) standard, but is not limited thereto. Various near-field wireless communications called NFC (Near field communication), etc., are possible if data can be transmitted and received between the shoe sensor device 1 provided in the shoes worn by the user and the portable terminal 2 held by the user. Standard communication methods can be used.

[Others]
As can be seen from the description of the above-described embodiment, the pressure sensor 11 and the short-range wireless unit 13 of the shoe sensor device 1 according to the embodiment realize the functions of the pressure detection unit and the transmission unit of the shoe sensor device. Keep it. In addition, the functions of the reception unit, the current position acquisition unit, and the complementing unit of the terminal device are realized by the short-range wireless unit 207 of the mobile terminal 2, mainly the GPS unit 209 and the complementing processing unit 216.

  The present position complementing method of the present invention is used in a current position specifying device including a shoe sensor device 1 and a portable terminal 2, and the shoe sole of the user contacts with the shoe sensor device 1 through the pressure sensor 11. A pressure detecting step for sequentially detecting the pressure received from the surface; and a transmitting step for sequentially transmitting the detection output detected in the pressure detecting step through the short-range wireless unit 13 through the short-range wireless communication.

  On the other hand, in the portable terminal 2, a reception process of sequentially receiving the detection output transmitted from the short-range wireless unit 13 of the shoe sensor device 1 through the short-range wireless antenna 207A and the short-range wireless unit 207, and the GPS antenna 209A and Considering the current position acquisition step of acquiring the current position through the GPS unit 209 and the acquisition result in the current position acquisition step, the complementary processing unit 216 analyzes the detection output from the shoe sensor device 1 that is sequentially received through the reception step. By performing a complementing process based on the movement situation grasped by doing, it has a complementing process for specifying the latest current position on the map.

  As described above, the present position complementing method is realized by the cooperation of the shoe sensor device 1 and the portable terminal 2, and the main part thereof is shown in the flowcharts of FIGS. 9 and 10. As explained.

  DESCRIPTION OF SYMBOLS 1 ... Shoe sensor apparatus, 11 ... Pressure sensor part, 12 ... A / D conversion part, 13 ... Short-range wireless part, 13A ... Short-range wireless antenna, 2 ... Portable terminal, 201 ... Wireless communication part, 201A ... Transmission / reception antenna, 202 ... Control unit, 203 ... Storage device, 204 ... Operation unit, 205 ... Time control unit, 206 ... Sensor unit, 207 ... Short-range wireless unit, 207A ... Short-range wireless antenna, 208 ... Wireless LAN unit, 208A ... Wireless LAN Antenna, 209 ... GPS unit, 209A ... GPS antenna, 210D ... display unit, 210P ... touch pad, 211 ... touch panel, 212 ... voice output unit, 213 ... speaker, 214 ... route search request unit, 215 ... guidance processing unit, 216 ... complement processing unit, 217 ... internal sensor using unit, 3 ... network, 4 ... server device providing map information etc., 401 ... communication I / F, DESCRIPTION OF SYMBOLS 02 ... Control part, 403 ... Memory | storage device, 404 ... Map DB, 405 ... Road network DB, 406 ... Pedestrian network DB, 407 ... Public transport network DB, 408 ... Request extraction part, 409 ... Route search process part, 410 ... periphery search processing unit, 411 ... information providing unit, 5 ... GPS satellite

Claims (5)

A current position complementing device comprising a shoe sensor device and a mobile terminal,
The shoe sensor device comprises:
Pressure detecting means for sequentially detecting the pressure received from the surface with which the user's sole contacts,
Transmission means for sequentially transmitting the detection output from the pressure detection means by wireless communication ,
The portable terminal is
Receiving means for sequentially receiving the detection outputs transmitted from the transmitting means of the shoe sensor device;
Current position acquisition means for acquiring the current position;
Considering the acquisition result by the current position acquisition means, and performing the complementary process based on the movement situation grasped by analyzing the detection output sequentially received through the reception means, the latest current position on the map Supplementary means to identify,
With
The complementing means obtains the number of steps by counting the occurrence of a constant pressure value based on the detection outputs sequentially received through the receiving means, and grasps the operating state based on the occurrence frequency of the constant pressure value. A current position complementing device characterized by grasping a moving distance by multiplying the obtained number of steps and a stride according to the grasped operation state . The current position complementing device according to claim 1 ,
The pressure detection means of the shoe sensor device includes at least two pressure detection units provided on the right side and the left side of the shoe ,
The current position complementing device characterized in that the complementing means grasps a change in a moving direction due to a right / left turn or a U-turn based on detection outputs from at least two pressure detection units provided on the right side and the left side of the shoe. . The present position complementing device according to claim 1 or 2 ,
The pressure detection means of the shoe sensor device includes at least two pressure detection units provided on the toe side and the heel side of the shoe ,
The current position complementing device characterized in that the complementing means grasps the gradient of the movement path based on detection outputs from at least two pressure detection units provided on the toe side and the heel side of the shoe . A current position complementing device according to claim 1, claim 2 or claim 3 , wherein
The portable terminal includes a detecting unit that detects at least one of a rotation direction, an acceleration, an azimuth, and an altitude,
The current position complementing device, wherein the complementing means specifies the latest current position on the map in consideration of the detection output from the detecting means. There is a current position complementing method used in a current position specifying device composed of a shoe sensor device and a portable terminal,
In the shoe sensor device,
A pressure detection step for sequentially detecting the pressure received from the surface that the user's sole contacts through the pressure detection means;
A transmission step of transmitting the detection output detected in the pressure detection step by short-range wireless communication sequentially through a transmission means, and
In the mobile terminal,
A reception step of sequentially receiving the detection output transmitted from the transmission unit of the shoe sensor device through a reception unit;
A current position acquisition step of acquiring the current position through the current position acquisition means;
In consideration of the acquisition result in the current position acquisition step, the complement means performs a complement processing based on the movement situation grasped by analyzing the detection outputs sequentially received through the reception step, and thereby on the map Complementary process to identify the latest current position and
Have
In the complementing step, the number of steps is obtained by counting the occurrence of a constant pressure value based on the detection outputs sequentially received through the receiving step, and the operating state is grasped based on the occurrence frequency of the constant pressure value. A current position complementing method comprising: grasping a moving distance by multiplying the obtained number of steps and a stride according to the grasped operation state .

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