JP6349700B2 - Information processing apparatus, information processing method, and program - Google Patents

Description

  The present invention relates to an information processing apparatus, an information processing method, and a program.

  2. Description of the Related Art Conventionally, techniques for identifying a current location based on positioning from a GPS and displaying a movement locus on a map are known. Moreover, in the technique described in Patent Document 1, it is described that the moving direction and moving distance of the positioning target are corrected. In the technique described in Patent Document 2, a route to be moved for a positioning target is registered in advance in a terminal held by the positioning target, the registered route data is compared with GPS data, and the positioning target is placed on the route. It is described that it detects whether or not it is off the route.

JP 11-290390 A

  However, the acquired GPS data has an error in units of several meters, and the techniques described in Patent Documents 1 and 2 described above do not consider the error of the GPS data.

  The present invention has been made in view of such a situation, and an object thereof is to provide an information processing apparatus, an information processing method, and a program capable of performing route correction in consideration of a GPS error.

In order to achieve the above object, an information processing apparatus of one embodiment of the present invention provides:
First acquisition means for acquiring course information;
Second acquisition means for acquiring position information based on a signal received from a positioning satellite;
It is determined whether or not the position indicated by the position information acquired by the second acquisition means is within an error range of the positioning position by the positioning satellite in the course information acquired by the first acquisition means. A determination means;
Correction means for correcting the position in the position information based on the course information when it is determined by the determination means that the position indicated by the position information is within an error range of the positioning position by the positioning satellite ;
Setting means for setting the position corrected by the correction means as the position of the own machine;
Equipped with a,
The second acquisition means acquires the position information indicating the first position, the second position, and the third position in the order of the first position, the second position, and the third position;
The determination means determines that the first position indicated by the position information is within an error range of a positioning position determined by the positioning satellite, and the second position indicated by the position information is determined by the positioning satellite. When it is determined that the third position indicated by the position information is within the error range of the positioning position by the positioning satellite after determining that the position is outside the error range of the position, the correction means Is corrected to a position based on the course information within an error range of a positioning position by the positioning satellite .

  According to the present invention, it is possible to perform route correction in consideration of GPS errors.

It is a block diagram which shows the hardware constitutions of the wrist terminal which concerns on the information processing apparatus of one Embodiment of this invention. It is a system configuration diagram showing a running course management system. It is a figure which shows the example of the course matching in this embodiment. It is a figure which shows the other example of the course matching in this embodiment. It is a figure which shows the other example of the course matching in this embodiment. It is a functional block diagram which shows the functional structure for performing a real-time traveling track display process among the functional structures of the wrist terminal of FIG. It is a flowchart explaining the flow of the real-time traveling track display process which the wrist terminal of FIG. 1 which has the functional structure of FIG. 6 performs. It is a figure which shows the example of the course matching in this embodiment. It is a flowchart explaining the detailed flow of a course matching process among real-time traveling track display processes. It is a flowchart explaining the detailed flow of a course determination process among real-time running track display processes. It is a flowchart explaining the detailed flow of a replacement process among real-time traveling track display processes. It is a figure which shows the other example of the course matching in this embodiment. It is a flowchart explaining the detailed flow of the other course determination process among real-time running track display processes.

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

FIG. 1 is a block diagram showing a hardware configuration of a wrist terminal according to the information processing apparatus of one embodiment of the present invention.
The wrist terminal 1 is configured as a clock device such as a smart watch.

  The wrist terminal 1 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a bus 14, an input / output interface 15, a GPS unit 16, and a sensor unit 17. An input unit 18, an output unit 19, a storage unit 20, a communication unit 21, and a drive 22.

  The CPU 11 executes various processes according to a program recorded in the ROM 12 or a program loaded from the storage unit 20 to the RAM 13.

  The RAM 13 appropriately stores data necessary for the CPU 11 to execute various processes.

  The CPU 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output interface 15 is also connected to the bus 14. A GPS unit 16, a sensor unit 17, an input unit 18, an output unit 19, a storage unit 20, a communication unit 21, and a drive 22 are connected to the input / output interface 15.

The GPS unit 16 receives GPS signals from a plurality of GPS (Global Positioning System) satellites including an antenna, and acquires position information of the wrist terminal 1.
The sensor unit 17 is configured to be able to measure movement of the wrist terminal 1 in the XYZ axis direction and vibration of the wrist terminal 1. The sensor unit 17 includes, for example, an acceleration sensor and a geomagnetic sensor that complement GPS.

The input unit 18 includes various buttons and the like, and inputs various types of information according to user instruction operations.
The output unit 19 includes a display, a speaker, a vibrator, and the like, and outputs an image, sound including alarm sound, and vibration. For alarm sounds and vibrations, for example, when the course is off, it operates as a warning.
The storage unit 20 is configured by a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various image data.
The communication unit 21 controls communication with other devices (not shown) via a network including the Internet. The communication unit 21 includes, for example, a short-range wireless communication standard BT (Bluetooth) (registered trademark), BLE (Bluetooth Low Energy) (registered trademark), and a serial bus standard USB (Universal Serial Bus).

  A removable medium 31 composed of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately attached to the drive 22. The program read from the removable medium 31 by the drive 22 is installed in the storage unit 20 as necessary. The removable medium 31 can also store various data such as image data stored in the storage unit 20 in the same manner as the storage unit 20.

The wrist terminal 1 configured as described above is worn on an arm or the like during running, measures the run distance or movement trajectory of the runner, and outputs and displays a map including the running course in the output unit 19. It has a function that can plot and display the actual running history in real time. When plotting the history, there is an error in the GPS value to be acquired, so the history is plotted on the course in consideration of the error. When running off the course, the history is retroactively corrected from the point determined to be off the course.
The wrist terminal 1 is worn on the arm during running and performs position information measurement by the GPS unit 16 and sensor unit 17 measurement at intervals of every second. Positioning positioning can be freely set by an algorithm such as every second during running, and intermittently during walking.

In the present embodiment, management of the running course as shown below is performed.
FIG. 2 is a system configuration diagram showing a running course management system.
The running course is used when the wrist terminal 1 displays the current position and running locus during running in real time. The wrist terminal 1 performs position correction and display based on the course data.
For example, as shown in FIG. 2, the course information is created in advance on the basis of a map or the like by an external device 2 such as a PC (Personal Computer), a smartphone, or a tablet, and is registered in the cloud server 3 via the network N. Is done.
When running, the wrist terminal 1 acquires previously registered course information from the server 3 via the external device 2.
In addition, as a method of registering the course information in the server 3, there is a method of creating and registering a map or the like as a guide in advance as described above, but the locus data by GPS when the wrist terminal 1 is actually mounted and actually traveled It is also possible to create and register (hereinafter referred to as “trial run registration”) based on the above. When such a method based on trial run registration is used, the trajectory data acquired by the wrist terminal 1 can be corrected using the road network data on the map, and the route information can be corrected to the course along the road. In the present embodiment, road network data cannot be used due to memory restrictions of the wrist terminal 1, and therefore, the course information is used to correct the position information captured by the GPS and the travel distance.

Next, real-time travel locus display in the wrist terminal 1 of the present embodiment will be described.
“Real-time travel locus display” means that a travel locus is plotted on a map together with a map from position information and sensor information obtained from GPS signals sequentially acquired by the wrist terminal 1 worn by a user who is currently traveling. Is displayed. In this real-time traveling locus display, if it is determined that the traveling locus is running on a course, the traveling locus is corrected to match the set course based on the acquired position information. The position information is corrected so as to match the course in consideration of an error in the positioning of GPS (hereinafter referred to as “course matching”). In addition, when the course is off course, the acquired position information is adopted.

Next, course matching in the present embodiment will be described.
FIG. 3 is a diagram illustrating an example of course matching in the present embodiment. In the figure, “A” indicates the set course, and “A ′” and “A ″” indicate the GPS error range. The GPS error range varies depending on the reception status of GPS satellite radio waves, but is assumed to be constant here for convenience. In addition, “X” indicates position information, “N” indicates position information to be displayed, and numbers in () indicate the acquisition order. The same applies to the diagrams showing course matching.

  In the present embodiment, when the acquired position information is within the GPS error range, it is assumed that it is on the course. On the other hand, if the acquired position information is outside the GPS error range, the position information is not immediately deviated from the course, but once displayed as being on the course, and other position information acquired after that is further GPS. If it is out of the error range, it is corrected that it is out of the course, and is displayed again at the position of the position information from the display on the course. That is, if it is outside the GPS error range, it is displayed on the course until the subsequent position information is acquired, and then displayed on the course as it is according to the acquired position information. It is determined whether the information is displayed at the position.

Further, FIG. 3 shows an example of continuing to move on the course.
In the example of FIG. 3A, a case where the vehicle travels on a straight course is shown. For example, the position information X (1) deviates from “A”, but because it is located between “A” and “A ′” (within the GPS error range), it runs on the course. The position information N (1) is corrected to the position on the line “A”. The same applies to the position information X (2).

Here, the correction from the position information X to the position information N uses a traveling direction vector acquired from a geomagnetic sensor or the like among the sensor information corresponding to the position information X (sensor information at the time of acquiring the position information). The position information N is a vector in the traveling direction and the contact point translated to “A”. In the case of a straight line, the position information N is a position obtained by simply translating the position information X to “A”.
Specifically, for example, in the case of the position information X (2), since the vector in the traveling direction is the R2 direction, the position information N (2) is moved to the course A as it is and becomes the position of the position information N (2). In addition, in the figure, when the special vector R is not shown, it is assumed that the vector is in the same direction as the course, such as R2.

  Further, the position information X (3) is corrected as the position information N (3) at the position on the line “A”, although it is outside of “A ′ ′”. This is inside the course even at the time of the position information X (3) because it is inside “A ′” and “A ″” in the position information X (5) after the position information X (3). In order to understand this later, the position information N (3) is set at a position on the line “A”. Note that at the time when the position information X (4) and (5) is not acquired, it is not possible to determine whether the user is out of the course or in the course. Position information N (3) is set at the same position as information X (3).

  In this manner, the position relative to the course can be corrected more accurately from the position information X and the vector in the traveling direction obtained from the geomagnetic sensor. Even when the position information is within the GPS error range, the position information N can be obtained by correcting in the same manner.

In the example of FIG. 3B, a case where the vehicle travels on a course that turns a corner is shown. In the example of FIG. 3B, as in the example of FIG. 3A, for example, the position information X (1) is out of “A”, but between “A” and “A ′”. Therefore, it is determined that the vehicle is running on the course, and the position information N (1) is corrected to the position on the line “A”. Further, the position information X (3) is outside of “A ″”, but in the position information X (5) after the position information X (3), “A ′” and “A ″” Since it is inside, the position information N (3) is set at the position on the line “A”.
Therefore, in the example of FIG. 3, the position information N is corrected on the course when it is within the GPS error range, and even if it is outside the GPS error range, it is within the GPS error range in the subsequent position information. Therefore, the position information N is corrected on the course. Specifically, the position information N is corrected on the course at the time of acquisition even when it is outside the GPS error range, but since it is within the GPS error range in the subsequent position information, it is definitely on the course. The position information N is corrected.

FIG. 4 is a diagram illustrating another example of course matching in the present embodiment, and is a diagram illustrating a case where the vehicle travels off the course in the middle of a course similar to the example of FIG. In the example of FIG. 4, the case where it deviated from the course in the B direction at the Z point in actual traveling is shown.
In the example of FIGS. 4A and 4B, the position information X (1) is out of the GPS error range, and the position information X (2) is out of the GPS error range. In (3) and (4), it is outside the GPS error range.
In such a case, the position information X (1) is first out of the GPS error range at the time of acquisition of the position information X. However, since it cannot be determined whether the course has been off, the display is displayed on the temporary position information PN (1) on the course. Make provisional corrections. Since the position information X (2) is within the GPS error range, it is provisionally corrected to provisional position information PN (2) on the course. Obviously, the position information X (3) and (4) deviate from the GPS error range of the course. Therefore, the position information to be displayed is corrected by going back to the position information X (1), and the position information N (1 ) And (2) are adopted as the position information (1) and (2).
If the position information X (2) and (3) thereafter are within the GPS error range, the position of the temporary position information PN (1) is set as position information N (1).

  Also in the example of FIG. 4B, as in FIG. 4A, at the time of acquisition of the position information X (1) and (2), the temporary position information PN (2) on the course is temporarily corrected. The position information X (3) and (4) are acquired, and the position information to be displayed is corrected by going back to the position information X (1) retroactively, and the position information N (1 ) And (2) are adopted as the position information (1) and (2).

Here, in the example of FIGS. 3 and 4, the case where position information is set on the course in a course that bends at a straight line or at a right angle has been described, but in FIG. 5, the case where the course is curved will be described.
FIG. 5 is a diagram showing another example of course matching in the present embodiment.
For example, the position information X (1) deviates from “A”, but runs on the course because it is located between “A” and “A ″” (within the GPS error range). And is corrected as position information N (1) at a position on the line “A”. Specifically, among the sensor information at the time of the position information X, the straight line Q1 obtained by translating the vector R1 of the traveling direction acquired from the geomagnetic sensor or the like to “A” and the contact point of the course “A” are the position information N. (1).
Even if the position information X is outside the GPS error range, if it is determined that the position information X is not off the course, the position information N is corrected on the course. Correction is performed by the method.

FIG. 6 is a functional block diagram showing a functional configuration for executing the real-time traveling track display process among the functional configurations of the wrist terminal 1.
“Real-time traveling track display processing” refers to processing until the current position on the course and past traveling routes are displayed in real time based on the acquired position information.

  As shown in FIG. 6, in the real-time traveling track display process, a course information acquisition unit 51, a traveling track setting processing unit 52, a distance calculation unit 53, and an output control unit 54 function in the CPU 11.

  In one area of the storage unit 20, a course information storage unit 71, a position information storage unit 72, and a set position information storage unit 73 are set.

  The course information storage unit 71 stores course information acquired from an external device. The acquired course information includes the map and the course information, and may be configured to acquire the map and the course information from an external device, or only the map information is acquired from the external device, and the course information is acquired. The information may be arbitrarily set by the user.

  The position information storage unit 72 stores position information acquired from the GPS unit 16 and the sensor unit 17 and vector information in the traveling direction (hereinafter referred to as “vector information”).

  The set position information storage unit 73 stores position information set based on the acquired position information and vector information. The position information is plotted on a map including the course and displayed on the output unit 19.

  The course information acquisition unit 51 acquires course information from an external device via the communication unit 21. The course information acquisition unit 51 stores the acquired course information in the course information storage unit 71 and stores the position information and vector information in the position information storage unit 72.

The travel locus setting processing unit 52 performs processing for acquiring the acquired position information and vector information and setting the current position and the travel history. The travel locus setting processing unit 52 acquires position information from the GPS unit 16 and acquires vector information when the position information is acquired from the sensor unit 17. Thereafter, it is determined from the GPS error range of the acquired position information whether it is within the course or outside the course, and the position information is set.
In addition, the travel locus setting processing unit 52 stores the set position information in the set position information storage unit 73.

  The travel locus setting processing unit 52 includes a course matching processing unit 91 and a course determination processing unit 92.

The course matching processing unit 91 executes course matching processing.
The “course matching process” is a process for matching position information on a set course in consideration of a GPS error in the acquired position information.
Specifically, the course matching processing unit 91 may be out of course if the acquired position information is displayed as it is due to GPS acquisition errors. Correct the position so that it is placed. Specifically, the course matching processing unit 91 translates the vector in the advancing direction and performs correction using the point that matches the course as position information.

The course determination processing unit 92 executes a course determination process.
“Course determination processing” is to determine whether or not the acquired position information is out of the course, and if it is within the course, the position information is adopted on the course, In some cases, the acquired position information is used as position information.
Specifically, when the acquired position information is outside the GPS error range, the course determination processing unit 92 determines whether or not the error is out of the course. Specifically, the course determination processing unit 92 determines that the position is out of the course when the position information after the position information determined to be out of the GPS error range is out of the GPS error range for a predetermined number of times. .
In addition, in this example in which the current position and travel history are displayed in real time, it is not possible to determine that the course has been left out of the course without waiting for acquisition of multiple pieces of position information. Position information on the course. That is, the position information that has not been determined is corrected and displayed by setting the position information. Thereafter, after the position is fixed, the position is corrected again based on the determination result. For this reason, the adoption of the position information based on the determination result is performed retroactively to the provisional position information set in the past.

The course determination processing unit 92 executes a replacement process.
The “replacement process” is a process for replacing the position information corresponding to the position information determined to be off course from the position on the course with the position of the position information.

  The distance calculation unit 53 calculates the distance between the position information based on the position information set by the travel locus setting processing unit 52. Specifically, the distance calculation unit 53 calculates the distance between the position information adjacent to each other at the acquisition time.

  The output control unit 54 controls the output unit 19 to display and output the position information set by the traveling locus setting processing unit 52 and the distance calculated by the distance calculation unit 53 together with the course on the map.

FIG. 7 is a flowchart for explaining the flow of real-time traveling track display processing executed by the wrist terminal 1 of FIG. 1 having the functional configuration of FIG.
Hereinafter, the flowcharts of FIGS. 7, 9 and 10 will be described with reference to FIG. FIG. 8 is a diagram illustrating an example of course matching in the present embodiment. In the example of FIG. 8, while traveling on the course “A”, the vehicle travels in the “B” direction off the course from the Z point on the way. In the example of FIG. 8 that travels in this way, position information X (1) to (6) is acquired during travel.

  The real-time traveling track display process is started by an operation of starting a real-time traveling track display process to the input unit 18 by the user.

In step S11, the course information acquisition unit 51 acquires course information. Specifically, the course information acquisition unit 51 acquires course information from an external device via the communication unit 21. The course information acquisition unit 51 acquires and stores the course information in the course information storage unit 71.
The course information may be acquired in advance before the real-time traveling track display process is executed.

  In step S12, the traveling locus setting processing unit 52 holds the previous position information N in the memory as position information M indicating the previous position information.

In step S13, the travel locus setting processing unit 52 acquires the next position information X. Specifically, the travel locus setting processing unit 52 acquires position information from the GPS unit 16 and acquires vector information from the sensor unit 17.
The travel locus setting processing unit 52 stores the position information and vector information in the position information storage unit 72 when acquired.

  In step S14, the travel locus setting processing unit 52 compares the error range of the course with the position information X. That is, the travel locus setting processing unit 52 compares the position of the course error range set around the course with the acquired position information.

In step S15, the travel locus setting processing unit 52 determines whether or not the position information X is within the GPS error range. That is, the traveling locus setting processing unit 52 determines whether or not the position information X is within the GPS error range from the error range of the compared course and the result of the position information X.
If the position information X is within the GPS error range, YES is determined in step S15, and the process proceeds to step S16.

  In step S <b> 16, the course matching processing unit 91 in the travel locus setting processing unit 52 executes course matching processing. The detailed flow of the course matching process will be described later.

In step S <b> 17, the travel locus setting processing unit 52 corrects the position information X and sets it as position information N. That is, the travel locus setting processing unit 52 sets the position information N employed in the course matching process instead of the position information X.
Specifically, as shown in the example of FIG. 8, the position information X (1) is corrected on the course and set as position information N (1).
The travel locus setting processing unit 52 stores the set position information N in the set position information storage unit 73.
Thereafter, the process proceeds to step S21. The process after step S21 will be described later.

  On the other hand, if the position information X is outside the GPS error range, NO is determined in step S15, and the process proceeds to step S18.

  In step S18, the course determination processing unit 92 of the travel locus setting processing unit 52 executes a course determination process. The detailed flow of the course determination process will be described later.

In step S <b> 19, the travel locus setting processing unit 52 determines whether or not the course is off the course. That is, it is determined whether or not the course has been off the course based on the determination result in the course determination processing section 52 course determination process.
If it is not off the course, that is, if it is within the course, NO is determined in step S19, and the process returns to step S16.
If the course is off, the determination at step S19 is YES, and the process proceeds to step S20.

In step S20, the travel locus setting processing unit 52 sets the position information X as the position information N based on the adoption in the course determination process.
Specifically, as shown in the example of FIG. 8, position information X (3) is set as position information N (1).
The travel locus setting processing unit 52 stores the set position information N in the set position information storage unit 73.

In step S21, the distance calculation unit 53 calculates the distance d between the position information N set this time and the position information M set last time.
Specifically, as shown in the example of FIG. 8, the distance d between the position information N (2) and the position information N (1) before the position information N (2) is calculated.

In step S22, the output control unit 54 plots the position information set by the travel locus setting processing unit 52 and the distance d calculated by the distance calculation unit 53 on the course information, and outputs the result as a real time travel locus. Thus, the output unit 19 is controlled.
Specifically, as shown in the example of FIG. 8, the course “A”, position information N (1) and (2) indicated by white circles in the figure, and position information N (3) indicated by black circles in the figure. To (6) are displayed on a map (not shown).
Thereafter, the real-time travel locus process ends.

Next, the course matching process flow in the real-time traveling track display process will be described.
FIG. 9 is a flowchart for explaining the detailed flow of the course matching process in the real-time traveling track display process.

  In step S51, the course matching processing unit 91 stores the position information X in the memory.

In step S52, the course matching processing unit 91 calculates a contact point on the course A from the vector R in the traveling direction of the vector information corresponding to the position information X.
Specifically, as shown in the example of FIG. 8, a contact point that is position information N (2) with the course A obtained by translating the vector R (2) of the position information X (2) is calculated.

In step S53, the course matching processing unit 91 employs a contact point with the course A as the position information N. Thereafter, the course matching process ends.
Thereby, even if a GPS error occurs, the position is displayed on the course.

Next, the course matching process flow in the real-time traveling track display process will be described.
FIG. 10 is a flowchart for explaining the detailed flow of the course determination process in the real-time traveling track display process.

  In step S71, the course determination processing unit 92 stores the position information X in the memory.

  In step S72, the course determination processing unit 92 compares the error range of the course with the position information X. That is, the course determination processing unit 92 compares the position of the course error range set around the course with the acquired position information.

In step S73, the course determination processing unit 92 determines whether or not the position information X is within the GPS error range. That is, the course determination processing unit 92 determines whether or not the position information X is within the GPS error range from the compared error range of the course and the result of the position information X.
If the position information X is within the GPS error range, YES is determined in step S73, and the process proceeds to step S74.

In step S74, the course determination processing unit 92 performs course matching processing. That is, the course determination processing unit 92 performs correction for positioning the position information X on the course by the course matching process, and adopts the position information X as the position information N. In the course matching process of this step, the position information N is also set.
Therefore, as shown in the example of FIG. 8, for example, when the next position information X (2) is acquired and the position information N (2) is set, or when the next position information X (3) is acquired. Temporary position information PN (3) is provisionally set.
Thereafter, the processing proceeds to step S78. The process of step S78 will be described later.

In step S75, the course determination processing unit 92 counts “t = t + 1”. That is, when the position information X is outside the GPS error range, the course determination processing unit 92 counts how many times the position information X is continuously outside the GPS error range.
Specifically, as shown in the example of FIG. 8, since the position information X (3) is out of the GPS error range, “t = 1” is counted. Thereafter, since the position information X (4) and (5) is also outside the GPS error range, “t = 2” and “t = 3” are counted.

In step S76, the course determination processing unit 92 determines whether t is equal to or greater than the threshold (T) number of times. In the present embodiment, the threshold (T) is set as 3.
Specifically, in the example of FIG. 8, in the case of the position information X (3) and (4), since “t = 1” and “t = 2”, it is determined that the threshold (T) is not 3 or more. Then, it is determined that the position information X (5) is equal to or greater than the threshold value (T).
If t is not equal to or greater than the threshold (T) number of times, NO is determined in step S77, and the process returns to step S74.
If t is equal to or greater than the threshold (T) number of times, YES is determined in step S77, and the process proceeds to step S77.

  In step S77, the course determination processing unit 92 determines that the course is out of the course because it exceeds the threshold value (T), and thus performs a replacement process. The detailed flow of the replacement process will be described later.

In step S78, the course determination processing unit 92 determines whether or not the GPS measurement is completed.
If GPS measurement has not ended, NO is determined in step S78, and the process returns to step S79.

  In step S79, the course determination processing unit 92 acquires the next position information X. Specifically, the course determination processing unit 92 acquires position information from the GPS unit 16 and acquires vector information from the sensor unit 17. Thereafter, the process returns to step S71.

  On the other hand, when the GPS measurement is finished, the course determination process is finished.

Next, the flow of the replacement process in the course determination process will be described.
FIG. 11 is a flowchart for explaining the detailed flow of the replacement process in the real-time traveling track display process.

  In step S91, the course determination processing unit 92 determines whether t is larger than r that goes back ("r <t?"). For example, in the present embodiment in which the threshold value (T) is 3, since t = 3 times is traced back, it is determined whether r going back has a value greater than t.

In step S92, the course determination processing unit 92 replaces the corresponding position information N with the position information X.
Specifically, in the case of the example in FIG. 8, the temporary position information PN (4) is replaced with the position information X (4) to obtain position information N (4).

In step S92, the course determination processing unit 92 increments r. That is, the target goes back to the previous one. Thereafter, the process returns to step S91.
Specifically, in the case of the example in FIG. 8, the temporary position information PN (3) immediately before the replaced position information N (4) is the target.

  On the other hand, if t is smaller than r, NO is determined in step S91, and the replacement process ends.

  In the course matching example described above, an example in which the course is run and then departs from the course has been described, but in the following, an example in which the course runs off the course and then returns to the course (returns) will be described.

FIG. 12 is a diagram illustrating another example of course matching in the present embodiment.
As shown in FIG. 12, since the position information X (1) to (3) is outside the GPS error range, it is determined that the position information X (1) to (3) is out of the course. 3). Since the position information X (4) is within the GPS error range, the position information X (4) is determined to be within the course (returned to the course), and is set as temporary position information PN (3). Thereafter, since the position information X (5) to (6) is within the GPS error range, it is determined that the position information is within the course, and the provisional position information PN (3) is determined as the position information N (3). The position information X (5) to (6) is also corrected to the position information N (5) to (6).

When returning to the course from such a state where the course is off, the course determination process is different in the real-time traveling track display process.
FIG. 13 is a flowchart for explaining the detailed flow of another course determination process in the real-time traveling track display process.

  In step S111, the course determination processing unit 92 holds the previous position information N in the memory as position information M indicating the previous position information.

  In step S112, the course determination processing unit 92 compares the error range of the course with the position information X. That is, the course determination processing unit 92 compares the position of the course error range set around the course with the acquired position information.

In step S113, the course determination processing unit 92 determines whether or not the position information X is within the GPS error range. That is, the course determination processing unit 92 determines whether or not the position information X is within the GPS error range from the compared error range of the course and the result of the position information X.
If the position information X is within the GPS error range, YES is determined in step S113, and the process proceeds to step S114.
On the other hand, if the position information X is outside the GPS error range, NO is determined in step S113, and the process proceeds to step S119. The process after step S119 will be described later.

In step S114, the course determination processing unit 92 determines whether q is equal to or greater than the threshold (Q) number of times. In the present embodiment, the threshold (Q) is set as 3.
Specifically, in the example of FIG. 11, in the case of the position information X (4) and (5), since “q = 1” and “q = 2”, it is determined that the threshold (Q) is not 3 or more. Then, it is determined that the position information X (6) is equal to or greater than the threshold value (Q).
If q is not equal to or greater than the threshold (Q) number of times, NO is determined in step S114, and the process proceeds to step S117. The processing after step S117 will be described later.
If t is equal to or greater than the threshold (Q) number of times, YES is determined in step S114, and the process proceeds to step S115.

In step S114, the course determination processing unit 92 performs course matching processing. That is, the course determination processing unit 92 performs correction for positioning the position information X on the course by the course matching process, and adopts the position information X as the position information N. In the course matching process of this step, the position information N is also set.
For this reason, as shown in the example of FIG. 11, for example, the next position information X (5) is acquired and the position information N (5) is set.

In step S116, the course determination processing unit 92 corrects the position information X and sets it as the position information N on the course adopted in the course matching process. The course determination processing unit 92 stores the set position information in the set position information storage unit 73.
Thereafter, the process proceeds to step S120. The processing after step S120 will be described later.

  In step S117, the course determination processing unit 92 sets the position information X as the position information N. The course determination processing unit 92 stores the set position information in the set position information storage unit 73.

In step S118, the course determination processing unit 92 counts “q = q + 1”. That is, when the position information X is outside the GPS error range, the course determination processing unit 92 counts how many times the position information X is continuously outside the GPS error range.
Specifically, as shown in the example of FIG. 11, the position information X (4) is out of the GPS error range, so “q = 1” is counted. Thereafter, since the position information X (5) and (6) is also outside the GPS error range, “q = 2” and “q = 3” are counted.

  In step S119, the course determination processing unit 92 sets the position information X as the position information N. The course determination processing unit 92 stores the set position information in the set position information storage unit 73.

In step S120, the course determination processing unit 92 determines whether or not it is in the course.
When it is outside the course, it is determined as NO in Step S120, and the process proceeds to Step S121.

  In step S120, the course determination processing unit 92 acquires the next position information X. Thereafter, the process returns to step S111.

  On the other hand, if it is within the course, YES is determined in step S120, and the course determination process is terminated.

Therefore, in the wrist terminal 1, by registering the course information including the latitude and longitude altitude information, the rich and advanced hardware configuration necessary for map matching using the road network data of a general map is used. In addition, accurate trajectory information can be obtained even with hardware having many restrictions such as a small memory and a low-speed arithmetic device.
In addition, by correcting the position information by performing a process that considers the GPS error in the course matching method, it is possible to correct the position information more accurately than the conventional method that performs the correction including the GPS error component. Become.
Further, by calculating the running locus point information from the accurate position information, it is possible to calculate a more accurate traveling distance than the traveling distance calculated only from the GPS position measurement.

The wrist terminal 1 configured as described above includes a course information acquisition unit 51 and a travel locus setting processing unit 52.
The course information acquisition unit 51 acquires course information that is route information indicating a route scheduled for movement.
The travel locus setting processing unit 52 acquires position information from the GPS unit 16 based on a signal received from a GPS satellite. In addition, the travel locus setting processing unit 52 determines whether or not the acquired position information is within the GPS error range in the course information acquired by the course information acquiring unit 51. In addition, the travel locus setting processing unit 52 corrects the position based on the route information when the determination unit determines that the position information is within the GPS error range. In addition, the travel locus setting processing unit 52 sets the corrected position as the position of the own device.
Thereby, in the wrist terminal 1, when it is within the GPS error range, for example, in order to set the position of the own device at the position on the course, the route correction considering the GPS error can be performed. .

In addition, the travel locus setting processing unit 52 corrects the position information to the position of the contact point between the straight line obtained by moving the straight line indicating the traveling direction of the own aircraft and the course in the course information.
Thereby, in the wrist terminal 1, when it is within the GPS error range, for example, in order to set the position of the own device at the position on the course, the route correction considering the GPS error can be performed. .

In addition, when it is determined that the acquired position information is not within the GPS error range, the traveling locus setting processing unit 52 determines whether the position information acquired at a plurality of times is within the GPS error range. To do. In addition, the travel locus setting processing unit 52 acquires that the position information acquired after multiple times is determined to be out of the route in the route information when it is determined that the position information is outside the set GPS error range. The position of the own device is set based on the one position information.
As a result, in the wrist terminal 1, when it is determined that it is outside the error range of GPS a plurality of times, it is determined that it is out of the course, and in order to set the acquired position information as the position of its own device, It is possible to perform route correction in consideration of the error.

In addition, when it is determined that the position information acquired at a plurality of times is within the GPS error range set by the setting unit, the traveling locus setting processing unit 52 determines one position information based on the course information. A position based on the corrected position information is set as the position of the own device.
As a result, the wrist terminal 1 can output the position of its own device in real time because it can be determined even in an uncertain part.

  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.

  In the above-described embodiment, the previous two points, that is, the threshold (T, Q) 3, determines whether it is on the course. However, the threshold that varies depending on the reception status of the GPS satellite radio wave depends on the positioning accuracy and is an experiment. Calculated from the value.

In the above-described embodiment, the information processing apparatus to which the present invention is applied has been described by taking the wrist terminal 1 as an example, but is not particularly limited thereto.
For example, the present invention can be applied to general electronic devices having a real-time traveling track display processing function. Specifically, for example, the present invention can be applied to a notebook personal computer, a printer, a television receiver, a video camera, a portable navigation device, a mobile phone, a smartphone, a portable game machine, and the like.

The series of processes described above can be executed by hardware or can be executed by software.
In other words, the functional configuration of FIG. 6 is merely an example, and is not particularly limited. That is, it is sufficient if the wrist terminal 1 has a function capable of executing the above-described series of processing as a whole, and what functional blocks are used to realize this function is not particularly limited to the example of FIG.
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 constituted by the removable medium 31 of FIG. 1 distributed separately from the apparatus main body in order to provide the program to the user, but also in a state of being incorporated in the apparatus main body in advance. It is comprised with the recording medium etc. which are provided in this. The removable medium 31 is composed of, for example, a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. The optical disc is composed of, for example, a CD-ROM (Compact Disk-Read Only Memory), a DVD (Digital Versatile Disc), a Blu-ray Disc (Blu-ray Disc) (registered trademark), and the like. The magneto-optical disk is configured by an MD (Mini-Disk) or the like. In addition, the recording medium provided to the user in a state of being preliminarily incorporated in the apparatus main body includes, for example, the ROM 12 in FIG. 1 in which a program is recorded, the hard disk included in the storage unit 20 in FIG.

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]
First acquisition means for acquiring course information;
Second acquisition means for acquiring position information based on a signal received from a GPS satellite;
Determining means for determining whether or not the position information acquired by the second acquiring means is within a GPS error range in the course information acquired by the first acquiring means;
Correction means for correcting the position based on the course information when the position information is determined by the determination means to be within the GPS error range;
Setting means for setting the position corrected by the correction means as the position of the own machine;
An information processing apparatus comprising:
[Appendix 2]
The information processing apparatus according to appendix 1, wherein the correction unit corrects the position information to a position of a contact point between a straight line obtained by moving a straight line indicating a traveling direction of the own machine and a course in the course information.
[Appendix 3]
When the determination means determines that the one position information acquired by the second acquisition means is not within the GPS error range, the position information acquired after a plurality of times is within the GPS error range. Whether or not
If it is determined by the determination unit that the position information acquired at a plurality of times thereafter is outside the error range of the GPS set by the setting unit, the setting unit deviates from the course in the course information. As a result, the position based on the one position information is set as the position of the own machine,
The information processing apparatus according to appendix 1 or 2, characterized in that:
[Appendix 4]
If the determination means determines that the position information acquired at a plurality of times thereafter is within the error range of the GPS set by the setting means, the correction means converts the one position information into the course. Correct based on information,
The setting unit sets a position based on the one position information corrected by the correction unit as a position of the own device;
The information processing apparatus according to supplementary note 3, wherein
[Appendix 5]
A first acquisition step of acquiring course information;
A second acquisition step of acquiring position information based on a signal received from a GPS satellite;
A determination step of determining whether or not the position information acquired by the second acquisition step is within a GPS error range in the course information acquired by the first acquisition step;
A correction step of correcting the position based on the course information when the determination step determines that the position information is within the error range of the GPS;
A setting step of setting the position corrected by the correction step as the position of the own machine;
An information processing method comprising:
[Appendix 6]
A computer for controlling the information processing apparatus;
First acquisition means for acquiring course information;
Second acquisition means for acquiring position information based on a signal received from a GPS satellite;
A determination unit that determines whether or not the position information acquired by the second acquisition unit is within a GPS error range in the course information acquired by the first acquisition unit;
A correcting unit that corrects the position based on the course information when the determining unit determines that the position information is within the error range of the GPS;
Setting means for setting the position corrected by the correcting means as the position of the own machine,
A program characterized by functioning as

  DESCRIPTION OF SYMBOLS 1 ... Wrist terminal, 2 ... External apparatus, 3 ... Server, 11 ... CPU, 12 ... ROM, 13 ... RAM, 14 ... Bus, 15 ... Input / output Interface, 16 ... GPS unit, 17 ... sensor unit, 18 ... input unit, 19 ... output unit, 20 ... storage unit, 21 ... communication unit, 22 ... drive, DESCRIPTION OF SYMBOLS 31 ... Removable media, 51 ... Course information acquisition part, 52 ... Running track setting process part, 53 ... Distance calculation part, 54 ... Output control part, 71 ... Course information storage part 72 ... Setting position information storage unit 73 ... Setting position information storage unit, 91 ... Course matching processing unit, 92 ... Course determination processing unit

Claims (6)

First acquisition means for acquiring course information;
Second acquisition means for acquiring position information based on a signal received from a positioning satellite;
It is determined whether or not the position indicated by the position information acquired by the second acquisition means is within an error range of the positioning position by the positioning satellite in the course information acquired by the first acquisition means. A determination means;
Correction means for correcting the position in the position information based on the course information when it is determined by the determination means that the position indicated by the position information is within an error range of the positioning position by the positioning satellite ;
Setting means for setting the position corrected by the correction means as the position of the own machine;
Equipped with a,
The second acquisition means acquires the position information indicating the first position, the second position, and the third position in the order of the first position, the second position, and the third position;
The determination means determines that the first position indicated by the position information is within an error range of a positioning position determined by the positioning satellite, and the second position indicated by the position information is determined by the positioning satellite. When it is determined that the third position indicated by the position information is within the error range of the positioning position by the positioning satellite after determining that the position is outside the error range of the position, the correction means Is corrected to a position based on the course information within an error range of a positioning position by the positioning satellite .   The information according to claim 1, wherein the correction unit corrects the position in the position information to a position of a contact point between a straight line obtained by moving a straight line indicating a traveling direction of the aircraft and the course in the course information. Processing equipment. When the determination unit determines that the position indicated by the one position information acquired by the second acquisition unit is not within the error range of the positioning position by the positioning satellite , the position information acquired after a plurality of times indicates Determine whether the position is within the error range of the positioning position by the positioning satellite ,
The setting means, when it is determined by the determination means that the position indicated by the position information acquired a plurality of times thereafter is outside the error range of the positioning position by the positioning satellite set by the setting means, If the course information is out of the course, the position based on the one position information is set as the position of the own machine.
The information processing apparatus according to claim 1 or 2. If the determining means determines that the position information acquired at a plurality of times thereafter is within an error range of the positioning position set by the positioning satellite , the one position is acquired. Correct the information based on the course information,
The setting unit sets a position based on the one position information corrected by the correction unit as a position of the own device;
The information processing apparatus according to claim 3. A first acquisition step of acquiring course information;
A second acquisition step of acquiring position information based on a signal received from a positioning satellite;
Determination to determine whether or not the position indicated by the position information acquired by the second acquisition step is within an error range of the positioning position by the positioning satellite in the course information acquired by the first acquisition step. Steps,
A correction step of correcting the position in the position information based on the course information when it is determined in the determination step that the position indicated by the position information is within an error range of the positioning position by the positioning satellite ;
A setting step of setting the position corrected by the correction step as the position of the own machine;
Only including,
The second acquisition step acquires the position information indicating the first position, the second position, and the third position in the order of the first position, the second position, and the third position,
In the determination step, it is determined that the first position indicated by the position information is within an error range of the positioning position by the positioning satellite, and the second position indicated by the position information is determined by the positioning satellite. If it is determined that the third position indicated by the position information is within the error range of the positioning position by the previous positioning satellite after determining that the position is outside the error range of the position, the correction step includes the second position. Is corrected to a position based on the course information within an error range of a positioning position by the positioning satellite . A computer for controlling the information processing apparatus;
First acquisition means for acquiring course information;
Second acquisition means for acquiring position information based on a signal received from a positioning satellite;
Determination to determine whether or not the position indicated by the position information acquired by the second acquisition means is within an error range of the positioning position by the positioning satellite in the course information acquired by the first acquisition means. means,
Correction means for correcting the position in the position information based on the course information when it is determined by the determination means that the position indicated by the position information is within an error range of the positioning position by the positioning satellite ;
Setting means for setting the position corrected by the correcting means as the position of the own machine,
To function as,
The second acquisition means acquires the position information indicating the first position, the second position, and the third position in the order of the first position, the second position, and the third position;
The determination means determines that the first position indicated by the position information is within an error range of a positioning position determined by the positioning satellite, and the second position indicated by the position information is determined by the positioning satellite. When it is determined that the third position indicated by the position information is within the error range of the positioning position by the positioning satellite after determining that the position is outside the error range of the position, the correction means Is corrected to a position based on the course information within an error range of a positioning position by the positioning satellite .

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