JP6417755B2 - Electronic device, position estimation method and program - Google Patents

Description

  The present invention relates to an electronic device that estimates a position, a position estimation method, and a program.

In recent years, portable electronic devices called smartphones or smart watches have been widely used.
Such a portable electronic device includes an acceleration sensor, a geomagnetic sensor, a GPS, and the like, and performs map matching based on position information, map data, and set route information acquired based on various sensors and GPS. And the current position can be displayed.
For example, Patent Document 1 describes a technique related to a wristwatch computer having a position information acquisition function.

JP 2014-033334 A

By the way, in a portable electronic device, there are various situations in which the current position is displayed. For example, in addition to walking on flat ground, there are situations such as walking on slopes, walking on road surfaces with poor footing such as rocks.
However, in conventional portable electronic devices, when the current position is displayed, the position is estimated on the premise of flat ground. Is difficult to display.

  The present invention has been made in view of such a situation, and an object thereof is to estimate a position with higher accuracy.

In order to achieve the above object, an electronic device of one embodiment of the present invention includes:
In electronic equipment,
Altitude acquisition means for acquiring altitude;
Inclination degree calculating means for calculating an inclination degree from map information including altitude information based on the altitude acquired by the altitude acquisition means;
First position estimating means for estimating a first position of the electronic device based on positioning by autonomous navigation;
Second position estimating means for estimating the second position of the electronic device based on the altitude and the map information including the altitude information acquired by the altitude acquiring means;
Based on a change in altitude acquired by the altitude acquiring means, an estimated position determining means that apportions the first position and the second position and estimates the position of the electronic device;
Equipped with a,
The estimated position determination means divides the first position and the second position so that the weight of the second position increases as the inclination calculated by the inclination calculation means increases. It is characterized by estimating .

  According to the present invention, it is possible to estimate the position with higher accuracy.

1A and 1B are diagrams illustrating a configuration of a wrist terminal as an embodiment of an electronic apparatus according to the present invention, in which FIG. 1A is an external configuration diagram, and FIG. 1B is a block diagram illustrating a hardware configuration. It is a functional block diagram which shows the functional structure for performing a position estimation process among the functional structures of a wrist terminal. It is a schematic diagram which shows the concept of the calculation method of the present position Pf which a present position estimation part specifies. It is a conceptual diagram which shows the calculation method of mixing rate (alpha). It is a flowchart explaining the flow of the position estimation process which a wrist terminal performs.

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

[Hardware configuration]
FIG. 1 is a diagram illustrating a configuration of a wrist terminal 1 as an embodiment of an electronic apparatus according to the present invention. FIG. 1A is an external configuration diagram, and FIG. 1B is a block diagram illustrating a hardware configuration. It is.
The wrist terminal 1 is an electronic device that is configured as a wristwatch and has a function similar to a smartphone.
As shown in FIG. 1, the wrist terminal 1 includes a control unit 11, a sensor unit 12, an input unit 13, an LCD (Liquid Crystal Display) 14, a clock circuit 15, a ROM (Read Only Memory) 16, A RAM (Read Access Memory) 17, a GPS (Global Positioning System) antenna 18, a GPS module 19, a radio communication antenna 20, a radio communication module 21, and a drive 22 are provided.

The control unit 11 includes an arithmetic processing device such as a CPU (Central Processing Unit), and controls the operation of the entire wrist terminal 1. For example, the control unit 11 executes various processes according to a program recorded in the ROM 16 such as a program for position estimation processing (described later).
The sensor unit 12 includes various sensors such as a triaxial acceleration sensor, a magnetic sensor, an atmospheric pressure sensor, and an altitude sensor.

The input unit 13 is configured with various buttons, a capacitance type or resistive film type position input sensor stacked on the display area of the LCD 14, etc., and inputs various types of information according to a user's instruction operation.
The LCD 14 outputs an image according to an instruction from the control unit 11. For example, the LCD 14 displays various images and a user interface screen. In the present embodiment, the position input sensor of the input unit 13 is arranged on the LCD 14 so as to constitute a touch panel.
The clock circuit 15 generates a time signal from a signal generated by a system clock or an oscillator, and outputs the current time.

The ROM 16 stores information such as a control program executed by the control unit 11.
The RAM 17 provides a work area when the control unit 11 executes various processes.
The GPS antenna 18 receives radio waves transmitted from satellites in GPS and converts them into electrical signals, and outputs the converted electrical signals (hereinafter referred to as “GPS signals”) to the GPS module 19.
The GPS module 19 detects the position (latitude, longitude, altitude) of the wrist terminal 1 and the current time indicated by GPS based on the GPS signal input from the GPS antenna 18. Further, the GPS module 19 outputs information indicating the detected position and the current time to the control unit 11.

The radio communication antenna 20 is an antenna capable of receiving radio waves having a frequency corresponding to radio communication used by the radio communication module 21, and is configured by, for example, a loop antenna or a rod antenna. The radio communication antenna 20 transmits the radio communication electric signal input from the radio communication module 21 as an electromagnetic wave, or converts the received electromagnetic wave into an electric signal and outputs the electric signal to the radio communication module 21.
The wireless communication module 21 transmits a signal to another device via the wireless communication antenna 20 in accordance with an instruction from the control unit 11. In addition, the wireless communication module 21 receives a signal transmitted from another device and outputs information indicated by the received signal to the control unit 11.
A removable medium 31 made 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 removable medium 31 can store various data such as image data.

[Functional configuration]
Next, the functional configuration of the wrist terminal 1 will be described.
FIG. 2 is a functional block diagram illustrating a functional configuration for executing the position estimation process among the functional configurations of the wrist terminal 1.
The position estimation process is to acquire the estimation result of the position on the flat ground and the estimation result of the position based on the altitude, and by mixing these estimation results at a mixing ratio according to the slope calculated from the map information, It is a series of processes for estimating a position on an inclined land.

  When the position estimation process is executed, as shown in FIG. 2, in the control unit 11, the position estimation unit 51 for flat ground, the altitude acquisition unit 52, the position estimation unit 53 for sloped land, the slope calculation unit 54, The position estimation unit 55 and the display control unit 56 function. Further, the ROM 16 has a map information storage unit 71.

  The map information storage unit 71 stores a database in which map information is stored. Specifically, the map information storage unit 71 stores information on latitude, longitude, and altitude at each point on the map where a route is set.

The flat ground position estimation unit 51 estimates the position Pd of the wrist terminal 1 every predetermined time based on a flat ground position estimation algorithm (position estimation algorithm based on autonomous navigation).
Specifically, the position estimator 51 for level ground estimates the position of the wrist terminal 1 based on the latitude / longitude information acquired from the GPS module 19 every time a predetermined time (for example, 30 seconds) elapses. Is estimated as the reference position. Further, the flat ground position estimating unit 51 calculates the moving distance of the wrist terminal 1 based on the sensor value indicating the acceleration or the azimuth obtained by the sensor unit 12 every time a predetermined time (for example, 1 second) elapses. To do. The flat ground position estimation unit 51 estimates the current position Pd of the wrist terminal 1 by adding the movement distance to the estimated reference position of the wrist terminal 1.

  The altitude acquisition unit 52 acquires the altitude of the wrist terminal 1. Specifically, the altitude acquisition unit 52 calculates the altitude based on the sensor value acquired by the sensor unit 12 including the atmospheric pressure sensor every time a predetermined time (for example, 1 second) elapses. At this time, the altitude acquisition unit 52 uses the altitude determined from the altitude data acquired from the GPS module 19 or information related to the altitude included in the map information as the reference altitude, and calculates the altitude change from the reference altitude based on the sensor value of the barometric sensor. can do.

The position estimation unit 53 for the sloping land estimates the position Pa of the wrist terminal 1 on the route based on the altitude calculated by the altitude acquisition unit 52.
Specifically, the slope location estimation unit 53 reads the map information of each point on the route from the map information storage unit 71. The slope location estimation unit 53 compares the altitude of each point in the read route with the altitude calculated by the altitude acquisition unit 52, and lists the points on the route where the calculated altitude matches the altitude in the map information. Estimated as position 1 of Pa.

  The inclination calculation unit 54 calculates the inclination at the current position Pf estimated last time with reference to the map information at predetermined distances or at predetermined time intervals. At this time, the slope calculation unit 54 calculates the change rate of the altitude at the current position Pf estimated last time as the slope. In addition, it is good also as calculating the average value of the change rate of the altitude in the fixed range from the present position Pf as inclination.

The current position estimation unit 55 calculates the current position Pf based on the position Pd estimated by the flat land position estimation unit 51 and the position Pa estimated by the slope land position estimation unit 53 at predetermined distances or at predetermined time intervals. Identify.
Specifically, the current position estimating unit 55 determines the mixing rate α based on the inclination calculated by the inclination calculating unit 54. The current position estimation unit 55 identifies the current position Pf by dividing the position Pd estimated by the flat land position estimation unit 51 and the position Pa estimated by the slope land position estimation unit 53 based on the determined mixing ratio α. To do.

Here, a method of calculating the current position Pf in the current position estimation unit 55 will be described with reference to FIG.
FIG. 3 is a schematic diagram illustrating a concept of a method for calculating the current position Pf specified by the current position estimation unit 55. Route shown in Figure 3, has a topography with a gradient represented by contour lines L1 to L6, on the route R, the method of calculating the current position when moved from the current position Pf _t to the next current position Pf t _{+ 1} Show.
The current position estimator 55 apportions the values of the position Pd estimated by the flat land position estimator 51 and the position Pa estimated by the sloping land position estimator 53 based on the mixing ratio α according to the equation (1). Thus, the current position Pft _{+ 1} is specified.
Pf _{t + 1} = α × Pd + (1−α) × Pa (1)

This mixing ratio α is a parameter that determines the weighting of the position Pd estimated by the flat land position estimating unit 51 and the position Pa estimated by the inclined land position estimating unit 53.
FIG. 4 is a conceptual diagram showing a method for calculating the mixing ratio α.
4, the vertical axis represents the value of the mixing ratio alpha, the horizontal axis represents the gradient at the current position Pf _t.
As shown in FIG. 4, the mixing ratio α, the more current is large inclination at position Pf _t, reliability of position Pd of flatland for position estimation unit 51 has estimated are set to the characteristic to be low. Specifically, when the inclination in the current position Pf _t large, reliable position Pa estimated by slope for position estimation unit 53, the mixing ratio α is a small value. On the other hand, if the current small inclination at position Pf _t, reliable position Pd estimated by flatland for position estimation unit 51, the mixing ratio α is a large value. Note that the characteristics shown in FIG. 4 are merely examples, and in addition to linear characteristics, non-linear characteristics represented by a quadratic function or a trigonometric function may be used. Further, the characteristics shown in FIG. 4 may be held as data in a table format, and the mixing ratio α may be determined by reading the data of the mixing ratio α corresponding to the degree of inclination.

  Returning to FIG. 2, the display control unit 56 causes the LCD 14 to display the current position Pf determined by the current position estimation unit 55 on the map.

[Operation]
Next, the operation will be described.
FIG. 5 is a flowchart for explaining the flow of the position estimation process executed by the wrist terminal 1.
The position estimation process is started by receiving a user start operation at the input unit 13 of the wrist terminal 1, and is repeatedly executed until a user end operation is received.

  When the position estimation process is started, in step S1, the position estimation unit for flat ground 51 estimates the position Pd of the wrist terminal 1 for every predetermined time based on the position estimation algorithm in flat ground.

  In step S2, the altitude acquisition unit 52 calculates the altitude based on the sensor value acquired by the sensor unit 12 including the atmospheric pressure sensor every time a predetermined time elapses.

  In step S <b> 3, the slope location estimation unit 53 estimates the position Pa of the wrist terminal 1 on the route based on the altitude (altitude difference) calculated by the altitude acquisition unit 52.

  In step S4, the inclination calculation unit 54 calculates the inclination at the current position Pf estimated last time with reference to the map information.

  In step S5, the current position estimating unit 55 determines the mixing rate α based on the inclination calculated by the inclination calculating unit 54.

In step S6, the current position estimating unit 55 apportions the position Pd estimated by the flat land position estimating unit 51 and the position Pa estimated by the sloping land position estimating unit 53 based on the determined mixing rate α, The position Pf is specified.
In step S7, the display control unit 56 causes the LCD 14 to display the current position Pf determined by the current position estimation unit 55 on the map.
After step S7, the position estimation process is repeated.

By such a process, in a situation where the slope is large and the reliability of the position Pd estimated by the flat land position estimation unit 51 is low, the weight of the position Pa estimated by the slope land position estimation unit 53 is increased and mixed. Thus, the current position is estimated. On the other hand, in a situation where the inclination is small and the reliability of the position Pa estimated by the inclined land position estimating unit 53 is low, the weight of the position Pd estimated by the flat land position estimating unit 51 is increased and mixed. Estimate the current position.
For this reason, it is possible to estimate the position with higher accuracy even in places other than the flat ground.

The wrist terminal 1 configured as described above includes an altitude acquisition unit 52, a flat land position estimation unit 51, a slope land position estimation unit 53, and a current position estimation unit 55.
The altitude acquisition unit 52 acquires the altitude.
The flat land position estimation unit 51 estimates the position Pd of the wrist terminal 1 based on positioning by autonomous navigation.
The position estimation unit 53 for the sloping land estimates the position Pa of the wrist terminal 1 based on the altitude acquired by the altitude acquisition unit 52 and altitude information in the map information.
The current position estimation unit 55 estimates the current position of the wrist terminal 1 by dividing the position Pd and the position Pa based on the change in altitude acquired by the altitude acquisition unit 52 at a predetermined distance or at a predetermined time interval. .
Thereby, since a position can be estimated in consideration of a change in altitude, the position can be estimated with higher accuracy even in a place other than a flat ground.

In addition, the wrist terminal 1 includes a slope calculation unit 54.
The inclination calculating unit 54 calculates the inclination from the map information including the altitude information based on the altitude acquired by the altitude acquiring unit 52 at a predetermined distance or at predetermined time intervals.
The current position estimating unit 55 estimates the position by dividing the position Pd and the position Pa based on the inclination calculated by the inclination calculating unit 54.
As a result, the current position can be determined based on the position Pd and position Pa determined from the inclination and the reliability, and the current position on the route can be estimated with high accuracy even in places other than the flat ground. .

The current position estimation unit 55 estimates the position by dividing the position Pd and the position Pa so that the weight of the position Pa increases as the inclination calculated by the inclination calculation unit 54 increases.
As a result, a more appropriate position can be estimated as the current position in accordance with the inclination of the route.

In addition, the current position estimation unit 55 determines the position Pd and the position Pa based on the inclination calculated by the inclination calculation unit 54 when the inclination calculated by the inclination calculation unit 54 is equal to or greater than the set threshold. To estimate the position.
Thereby, unnecessary processing can be omitted in a region where the inclination is small.

  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.

  For example, in the above-described embodiment, the current position estimation unit 55 may estimate the current position by dividing the position Pa and the position Pd when the inclination is equal to or greater than a set threshold.

  Moreover, although the map information storage part 71 was demonstrated as what is provided in the wrist terminal 1 in the above-mentioned embodiment, this invention is not specifically limited to this. For example, if the map information stored in the map information storage unit 71 can be acquired, an electronic device other than the wrist terminal 1 stores the map information storage unit 71, and the wrist terminal 1 is connected via the wireless communication module 21 or the like. It is good also as acquiring map information.

  In the above-described embodiment, the functional configuration of the current position estimation unit 55 and the like is described as being executed by the wrist terminal 1, but the present invention is not particularly limited to this. For example, the wrist terminal 1 may transmit the sensor value acquired from the sensor unit 12 to an external server, and cause the external server to execute processing to estimate the position Pd and the position Pa. Further, the wrist terminal 1 may estimate the current position Pf by causing an external server to execute a process of apportioning the position Pd and the position Pa.

  In the above-described embodiment, the current position estimation unit 55 calculates the mixing rate α based on the slope, but the mixing rate is considered in consideration of factors other than the slope that reduce the accuracy of the position estimation algorithm on flat ground. α may be calculated. For example, road condition (usually, rocky place, galleries, etc.) is stored in the map information storage unit 71. If the road condition is different from the flat ground and the accuracy of the position estimation algorithm on the flat ground is reduced, mixing is performed. The rate α may be set to be smaller.

In the above-described embodiment, the wrist terminal is described as an example of the electronic device to which the present invention is applied. However, the present invention is not particularly limited thereto.
For example, the present invention can be applied to general electronic devices having a position estimation function. Specifically, for example, the present invention can be applied to a notebook personal computer, a tablet terminal, 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. 2 is merely an example and is not particularly limited. That is, it is sufficient that 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 (registered trademark) Disc (Blu-ray Disc), and the like. The magneto-optical disk is configured by an MD (Mini-Disk) or the like. Further, the recording medium provided to the user in a state of being preinstalled in the apparatus main body is configured by the ROM 16 of FIG. 1 in which a program is recorded, for example.

  In the present specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in chronological order according to the order, but is not necessarily performed in chronological order, either in parallel or individually. The process to be executed is also included.

  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]
In electronic equipment,
Altitude acquisition means for acquiring altitude;
First position estimating means for estimating a first position of the electronic device based on positioning by autonomous navigation;
Second position estimating means for estimating the second position of the electronic device based on the altitude and the map information including the altitude information acquired by the altitude acquiring means;
Based on a change in altitude acquired by the altitude acquiring means, an estimated position determining means that apportions the first position and the second position and estimates the position of the electronic device;
An electronic device comprising:
[Appendix 2]
Based on the altitude acquired by the altitude acquisition means, further comprising an inclination calculation means for calculating an inclination from map information including altitude information,
The electronic apparatus according to appendix 1, wherein the estimated position determination unit estimates the position by dividing the first position and the second position based on the inclination calculated by the inclination calculation unit. machine.
[Appendix 3]
The estimated position determining means estimates the position by dividing the first position and the second position so that the weight of the second position increases as the inclination calculated by the inclination calculation means increases. The electronic apparatus as set forth in Appendix 2, wherein:
[Appendix 4]
The estimated position determining means, when the inclination calculated by the inclination calculating means is equal to or greater than a set threshold, based on the inclination calculated by the inclination calculating means, the first position and the second The electronic apparatus according to appendix 2 or 3, wherein the position is estimated by apportioning the position.
[Appendix 5]
A position estimation method executed in an electronic device,
An altitude acquisition step for acquiring altitude;
A first position estimating step for estimating a first position of the electronic device based on positioning by autonomous navigation;
A second position estimating step for estimating a second position of the electronic device based on map information including the altitude and altitude information acquired by the altitude acquiring step;
An estimated position determining step that estimates the position of the electronic device by apportioning the first position and the second position based on the change in altitude acquired by the altitude acquiring step;
A position estimation method including:
[Appendix 6]
To the computer that controls the electronic equipment,
An altitude acquisition function to acquire altitude,
A first position estimating function for estimating a first position of the electronic device based on positioning by autonomous navigation;
A second position estimating function for estimating a second position of the electronic device based on the altitude and the map information including the altitude information acquired by the altitude acquiring function;
An estimated position determining function that apportions the first position and the second position to estimate the position of the electronic device based on a change in altitude acquired by the altitude acquiring function;
A program characterized by realizing.

  DESCRIPTION OF SYMBOLS 1 ... Wrist terminal, 11 ... Control part, 12 ... Sensor unit, 13 ... Input part, 14 ... LCD, 15 ... Timing circuit, 16 ... ROM, 17 ... · RAM, 18 ··· GPS antenna, 19 · · · GPS module, 20 · · · wireless communication antenna, 21 · · · wireless communication module, 22 · · · drive, 31 · · · removable media, 51 · · ·・ Position estimation unit for flat ground, 52... Altitude acquisition unit, 53... Position estimation unit for inclined land, 54... Inclination calculation unit, 55... Current position estimation unit, 56. , 57... Slope estimation start determination unit, 71... Map information storage unit

Claims (4)

In electronic equipment,
Altitude acquisition means for acquiring altitude;
Inclination degree calculating means for calculating an inclination degree from map information including altitude information based on the altitude acquired by the altitude acquisition means;
First position estimating means for estimating a first position of the electronic device based on positioning by autonomous navigation;
Second position estimating means for estimating the second position of the electronic device based on the altitude and the map information including the altitude information acquired by the altitude acquiring means;
Based on a change in altitude acquired by the altitude acquiring means, an estimated position determining means that apportions the first position and the second position and estimates the position of the electronic device;
Equipped with a,
The estimated position determination means divides the first position and the second position so that the weight of the second position increases as the inclination calculated by the inclination calculation means increases. An electronic device characterized by estimation . The estimated position determining means, when the inclination calculated by the inclination calculating means is equal to or greater than a set threshold, based on the inclination calculated by the inclination calculating means, the first position and the second The electronic apparatus according to claim 1 , wherein the position is estimated by apportioning the position. A position estimation method executed in an electronic device,
An altitude acquisition step for acquiring altitude;
Based on the altitude acquired by the altitude acquisition step, an inclination calculation step for calculating an inclination from map information including altitude information,
A first position estimating step for estimating a first position of the electronic device based on positioning by autonomous navigation;
A second position estimating step for estimating a second position of the electronic device based on map information including the altitude and altitude information acquired by the altitude acquiring step;
An estimated position determining step that estimates the position of the electronic device by apportioning the first position and the second position based on the change in altitude acquired by the altitude acquiring step;
Only including,
The estimated position determining step divides the first position and the second position so that the weight of the second position increases as the inclination calculated by the inclination calculation step increases. Location estimation method to be estimated. A computer that controls an electronic device including an acceleration sensor, a magnetic sensor, and an atmospheric pressure sensor or an altitude sensor .
Altitude acquisition function for acquiring altitude from the pressure sensor or altitude sensor ;
Based on the altitude acquired by the altitude acquisition function, an inclination calculation function for calculating an inclination from map information including altitude information,
A first position estimation function for estimating a first position of the electronic device by positioning by autonomous navigation based on a detection result of the acceleration sensor or the magnetic sensor ;
A second position estimating function for estimating a second position of the electronic device based on the altitude and the map information including the altitude information acquired by the altitude acquiring function;
An estimated position determining function that apportions the first position and the second position to estimate the position of the electronic device based on a change in altitude acquired by the altitude acquiring function;
To achieve,
The estimated position determination function divides the first position and the second position so that the weight of the second position increases as the inclination calculated by the inclination calculation function increases. A program characterized by estimation .

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