JP6457868B2 - Information processing apparatus, information processing method, and program - Google Patents

Description

  The present invention relates to information processing technology.

  In recent years, portable terminals having a positioning function based on GPS (Global Positioning System), autonomous navigation, and the like have become widespread. The positioning function based on autonomous navigation can also measure the position in the basement or indoors using various sensors (for example, a geomagnetic sensor, a gyro sensor, and an acceleration sensor). As a technique related to positioning, Patent Document 1 discloses a technique for specifying a current position based on information received from GPS.

JP 2004-340689 A

  However, in the conventional positioning technique, an error may occur between the measured position and the actual position. In particular, in the case of autonomous navigation, first, the relative displacement from the reference position is specified based on the moving direction and the moving distance from the reference position, and then, based on the specified relative displacement and the reference position, Measure the absolute position of the current position. For this reason, errors caused by autonomous navigation accumulate as the travel distance increases. Therefore, there is a need for a technique for performing positioning with higher accuracy.

  The present invention has been made in view of the above. An object of the present invention is to provide a technique for performing positioning with higher accuracy.

  The information processing apparatus according to the present invention includes a starting position acquisition unit that acquires information of a starting position of a user movement on a route, and the position of the user specified based on information on the movement of the user detected by a sensor. Detection position acquisition means for acquiring information on the detection position, and information on the distance between the detection position and the start position after the user has started moving from the start position and a predetermined time has passed. A moving distance specifying means for specifying as distance information; and a matching means for specifying a position advanced by the moving distance along the route from the starting position as the estimated position of the user after the predetermined time has elapsed.

  An information processing method according to the present invention includes a starting position acquisition step for acquiring information on a starting position of a user's movement on a route, and the position of the user specified based on information on the movement of the user detected by a sensor. A detection position acquisition step for acquiring the information as detection position information, and information on the distance between the detection position and the start position after the user has started moving from the start position and a predetermined time has passed. A moving distance specifying step that specifies as distance information; and a matching step that specifies a position advanced by the moving distance along the route from the starting position as the estimated position of the user after the predetermined time has elapsed.

  The program according to the present invention is a program for acquiring a starting point position acquisition step for acquiring information on a starting point position of a user movement on a route, and the user's movement information detected by a sensor. A detection position acquisition step of acquiring position information as detection position information; and information on a distance between the detection position and the start position after a predetermined time has elapsed since the user started moving from the start position. A moving distance specifying step that specifies as moving distance information, and a matching step that specifies a position advanced by the moving distance along the route from the starting position as the estimated position of the user after the predetermined time has elapsed. Let

  According to the present invention, it is possible to provide a technique for performing positioning with higher accuracy.

It is a conceptual diagram which shows the hardware constitutions of the information processing apparatus in one Embodiment. It is a block diagram which shows the function structure of the information processing apparatus in one Embodiment. It is a conceptual diagram for demonstrating the processing method in one Embodiment. It is a conceptual diagram for demonstrating the processing method in one Embodiment. It is a conceptual diagram for demonstrating the processing method in a prior art. It is a flowchart which shows the process performed by the information processing apparatus in one Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the scope of the invention is not limited to these.

  A hardware configuration of an information processing apparatus according to an embodiment will be described with reference to FIG. The mobile terminal 10 that is an information processing apparatus includes a mobile phone (including a smartphone), a tablet terminal, a PDA (Personal Digital Assistant), a navigation device, a personal computer, a server computer, and the like. The mobile terminal 10 mainly includes a control unit 11, a communication unit 12, a storage unit 13, an operation unit 14, a display unit 15, a sensor 16, and a speaker 17. The control unit 11 mainly includes a CPU (Central Processing Unit) 11a and a memory 11b.

  In the control unit 11, the CPU 11 a controls the operation of various components included in the mobile terminal 10 by expanding and executing the program stored in the storage unit 13 or the like in the memory 11 b and controls the execution of various processes. To do. Details of processing executed in the control unit 11 will be described later.

  The communication unit 12 is a communication interface for communicating with an external device. For example, the communication unit 12 receives data or a command from an external device or transmits a processing result by the mobile terminal 10 to the outside.

  The storage unit 13 is a non-volatile storage device, and includes, for example, a semiconductor memory. The storage unit 13 stores various programs and various information necessary for execution of processing in the control unit 11.

  The operation unit 14 is a user interface for receiving an instruction from the user of the mobile terminal 10 and outputting the instruction to the control unit 11. The operation unit 14 includes, for example, operation keys and a touch panel.

  The display unit 15 is a user interface for displaying a processing result by the mobile terminal 10. The display unit 15 includes a display device using liquid crystal, LED (Light Emitting Diode), or the like.

  The sensor 16 is composed of various sensors. The sensor 16 can include, for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an atmospheric pressure sensor. The sensor 16 can detect various operations of the user who carries the mobile terminal 10.

  The speaker 17 outputs various sounds such as voice, music, and sound effects according to processing control by the control unit 11.

  In the present embodiment, the mobile terminal 10 is configured by a single information processing apparatus, but the configuration and functions of the mobile terminal 10 are not limited to this, and a plurality of information processing apparatuses capable of communicating with each other. May be realized.

  With reference to FIG. 2, the functional configuration of the mobile terminal 10 according to an embodiment will be described. The mobile terminal 10 mainly includes a database 110, a route guide unit 111, a signal positioning unit 112, an autonomous navigation positioning unit 113, a movement distance specifying unit 114, a matching unit 115, and a display control unit 116 as functional configurations. These functions are realized, for example, in the control unit 11 by the CPU 11a developing and executing a program stored in the storage unit 13 or the like in the memory 11b. Below, the detail of each function structure with which the portable terminal 10 is provided is demonstrated.

  The database 110 stores various information such as information necessary for processing executed in the mobile terminal 10 and information generated by the processing.

  The route guidance unit 111 acquires information on the optimum route from the departure point to the destination according to the inputted route search condition, and presents the optimum route via the display unit 15 to the user. Provide route guidance.

  Regarding the search for the optimum route, the route guide unit 111 refers to, for example, map data stored in the database 110 (or acquired from an external device via the communication unit 12) according to the route search condition input by the user. By executing the route search, information on the optimum route is acquired. Alternatively, a route search process according to the input route search condition may be performed by an external device, and the route guide unit 111 may acquire a result of the route search process. As a route search method, an arbitrary method such as a label determination method or a Dijkstra method can be used. The optimal route means that the cost information from the starting point to the destination point is the minimum. The link cost information can be set according to the purpose, such as a distance, required time, fee, other parameters, and any combination of various parameters.

  In addition, for route guidance, the route guidance unit 111 presents the route via the display unit 15, displays information on the current location of the user specified by the processing described later, and outputs voice guidance via the speaker 17. It can also be done.

  The signal positioning unit 112 measures the current position of the mobile terminal 10 (or the user of the mobile terminal 10) based on a GPS satellite signal received by a GPS receiver (not shown), and information on the position (for example, (Latitude and longitude information) is output together with positioning time information. Further, the signal positioning unit 112 can measure the current position of the mobile terminal 10 according to a signal received from an access point installed near the mobile terminal 10. Further, the mobile terminal 10 receives a signal of a radio signal transmitting device such as RFID (Radio Frequency Identifier) or Bluetooth (registered trademark), and measures the current position of the mobile terminal 10 according to the received signal. You can also. The signal positioning unit 112 performs positioning processing at an arbitrary timing and time interval (for example, every second). Hereinafter, in the present embodiment, positioning processing performed in accordance with signals received from an external device such as GPS satellite signals, signals from access points, and RFID radio signals will be referred to as signal positioning.

  The autonomous navigation positioning unit 113 performs positioning (that is, autonomous navigation) using the current position of the mobile terminal 10 (or the user of the mobile terminal 10) as a detection position based on information on the movement of the user of the mobile terminal 10 detected by the sensor 16. Positioning) (position information), and information on the position (for example, information on latitude and longitude) is output together with positioning time information. That is, the autonomous navigation positioning unit 113 functions as a detection position acquisition unit that acquires information on the position of the user specified based on information from the sensor 16 as detection position information. The positioning by the autonomous navigation positioning unit 113 can employ a conventional autonomous navigation technique using the sensor 16 or the like.

  For example, in order to perform positioning, the autonomous navigation positioning unit 113 specifies the number of steps and the moving direction of the movement from the reference position when the user walks and moves, for example, based on the movement of the user detected by the sensor 16. Based on the number of steps and the moving direction, information on the relative moving distance and moving direction from the reference position is calculated. The relative moving distance is obtained by, for example, multiplying the standard step length (or the step length of the user of the mobile terminal 10 measured in advance) (for example, 65 cm) when a person walks by the specified number of steps. Is calculated by The autonomous navigation positioning unit 113 measures the current position of the mobile terminal 10 based on information on the calculated moving distance and moving direction from the reference position.

  At this time, in order to determine the position of the mobile terminal 10 as an absolute position (for example, a position indicated by latitude and longitude), the reference position needs to be an absolute position. Information on the absolute position of the reference position can be acquired by an arbitrary method, for example, can be acquired by the positioning process of the signal positioning unit 112, or can be acquired in response to a user input. The autonomous navigation positioning unit 113 performs positioning processing at an arbitrary timing and time interval (for example, every second).

  Further, as described above, the autonomous navigation positioning unit 113 performs the positioning process based on the movement information of the user of the mobile terminal 10 detected by the sensor 16, but the user of the mobile terminal 10 detected by the sensor 16. The movement information is accumulated for a predetermined period (for example, 1 second), and the accumulated information is used for the positioning process. As a result, a time lag (for example, 1 second or 2 seconds) corresponding to this accumulation period is generated between the positioning position specified by the autonomous navigation positioning unit 113 and the actual current position of the mobile terminal 10. Therefore, the autonomous navigation positioning unit 113 outputs the position corrected by the distance according to the accumulation period as a positioning position (detection position). For example, when the accumulation period is 1 second, the autonomous navigation positioning unit 113 advances by, for example, 10 cm, which is a distance assumed to move by walking in the accumulation period from the specified position toward the user's moving direction. The corrected position is output as a corrected positioning position (detection position). This correction may be performed by the autonomous navigation positioning unit 113 or may be performed by the matching unit 115 described later.

  Note that positioning by the autonomous navigation positioning unit 113 is effective when the mobile terminal 10 cannot receive a GPS signal or a signal from an access point (for example, when the user carrying the mobile terminal 10 is indoors or underground). Alternatively, when the mobile terminal 10 can receive the above signal but the positioning accuracy by the signal positioning unit 112 is considered low (for example, when the user carrying the mobile terminal 10 is in a place surrounded by an outdoor high-rise building). However, positioning by the autonomous navigation positioning unit 113 is effective. Therefore, for example, the mobile terminal 10 can switch which of the signal positioning unit 112 and the autonomous navigation positioning unit 113 performs positioning according to the reception status of a GPS signal or a signal from an access point.

  The movement distance specifying unit 114 is the mobile terminal 10 specified by the autonomous navigation positioning unit 113 after a predetermined time has elapsed since the user of the mobile terminal 10 started moving from an arbitrary position (starting position) that is the starting point of movement. The distance information (movement distance information) between the positioning position (position after movement) and the starting position is specified. The moving distance specifying unit 114 can perform processing for specifying information on the moving distance from the starting position every time the mobile terminal 10 is positioned by the autonomous navigation positioning unit 113.

  As the starting position, a position on the route through which the user of the mobile terminal 10 has passed (or the user has started moving) is set. In addition, it is desirable that the information on the starting position is set as highly reliable as possible as the information on the position where the user has actually passed (or the user has started moving). For example, when the accuracy of positioning by the signal positioning unit 112 is high (for example, when the intensity of the received GPS signal is strong), the position of the mobile terminal 10 measured by the signal positioning unit 112 can be set as the starting position. At this time, the signal positioning unit 112 functions as a starting point position acquisition unit (note that a starting point position acquisition unit that acquires position information output from the signal positioning unit 112 as starting point position information may be provided separately).

  In the present embodiment, the route includes all routes that can be moved by the user, such as roads, plazas, and indoor and underground corridors.

  With reference to FIG. 3, a method of specifying information on the moving distance by the moving distance specifying unit 114 will be described. FIG. 3 shows the starting position A0 of the mobile terminal 10. In addition, when the mobile terminal 10 is at the starting position A0 (or when the mobile terminal 10 starts moving from the starting position A0) (time t0) and after a predetermined time has elapsed (time t1), the mobile terminal specified by the autonomous navigation positioning unit 113 Ten positioning positions (post-movement positions) A1 are shown. In addition, after the positioning of A1, the positioning positions A2, A3, and A4 by the autonomous navigation positioning unit 113 at times t2, t4, and t4 are shown in the order of positioning (the order of passage of time).

  At this time, the movement distance specifying unit 114 specifies the movement distances L1, L2, L3, and L4 from the starting position A0 to the positioning positions A1, A2, A3, and A4, respectively. Note that the movement distance specifying unit 114 can also specify the distance between the positioning positions. For example, the distance between A1 and A2 can be specified as L12, the distance between A2 and A3 as L13, and the distance between A3 and A4 as L14.

  Returning to the description of FIG. The matching unit 115 sets, as the estimated position of the mobile terminal 10 (or the estimated position of the user of the mobile terminal 10), the position advanced by the moving distance specified by the moving distance specifying unit 114 along the route from the starting position. Identify. When the traveling direction when proceeding along the route from the starting position is unknown, the position is advanced in the direction closest to the moving direction specified by the autonomous navigation positioning unit 113. When route guidance (route presentation) is performed to the user by the route guidance unit 111, the matching unit 115 starts from the starting position along the presented route along the destination route. It is desirable to specify the estimated position of the user at the place advanced in the direction (route matching). Note that the matching unit 115 can also specify the estimated position of the user on any route (map matching) regardless of whether the route is presented by the route guide unit 111 or not.

  With reference to FIG. 4, an example of a method for specifying the estimated position of the user by the matching unit 115 will be described using the starting position A0 and the positioning positions A1, A2, A3, and A4 shown in FIG. In FIG. 4, the starting position A0 is shown on the route R (route) presented by the route guide unit 111. The matching unit 115 specifies the position B1 advanced by L1 along the route R from the starting position A0 as the estimated position of the user at time t1. Similarly, the matching unit 115 includes a position B2 advanced by L2 along the route R from the starting position A0, a position B3 advanced by L3 along the route R from the starting position A0, and L4 along the route R from the starting position A0. The position B4 advanced by the distance is specified as the estimated position of the user at times t2, t3, and t4. As described above, when L12, L13, and L14 are respectively specified as the distances between the positioning positions, the distance L13 is moved from the positions B2 and B2 along the route R by advancing L12 along the route R from B1. It is also possible to specify the position B4 by advancing only by L14 along the route R from the positions B3 and B3.

  The estimated position specified by the matching unit 115 is displayed on the display unit 15 as the position of the user at each specified time (for example, the user at a corresponding position on the map displayed on the display unit 15). Can be controlled).

  As described above, according to the present embodiment, the matching unit 115 does not match the positioning position by the autonomous navigation positioning unit 113 with the closest position on the route, but the user specified by the movement distance specifying unit 114. The position of the user is specified as a position on the route based on the movement distance of the user.

  With reference to FIG. 5, the significance of the method for specifying the position of the user according to the present embodiment will be described. FIG. 5 shows a starting position A0 and positioning positions A1, A2, A3, and A4 by the autonomous navigation positioning unit 113. C1, C2, C3, and C4 indicate positions on the route R that are closest to the positioning positions A1, A2, A3, and A4. Furthermore, in this example, since there is an error in specifying the moving direction of the user at the time of starting the positioning by the autonomous navigation positioning unit 113, the route R on which the user actually moves with the passage of time is autonomous. It is shown that the positioning position by the navigation positioning unit 113 is going away. In such a case, if the position of the user corresponding to each of the positioning positions A1, A2, A3, and A4 is specified as the positions C1, C2, C3, and C4 (route matching), the result of route matching over time The error between the user's moving distance and the user's actual moving distance is accumulated.

  On the other hand, according to the present embodiment, the matching unit 115 does not match the positioning position by the autonomous navigation positioning unit 113 with the closest position on the route, but the user specified by the movement distance specifying unit 114. The position of the user is specified as a position on the route based on the movement distance of the user. As a result, error accumulation as described with reference to FIG. 5 does not occur. As a result, the position of the mobile terminal 10 (or the position of the user of the mobile terminal 10) can be measured with higher accuracy.

  In order to further reduce the accumulation of the error, it is desirable that the starting point position used in the processing by the movement distance specifying unit 114 is updated at a predetermined timing. The higher the timing of updating the starting position, the lower the accumulation of the error. In order to update the starting position, for example, information on the signal positioning position that is separated from the estimated position specified by the matching unit 115 by a predetermined distance (for example, 20 m) or more is a predetermined number of times (for example, two or three times). When continuously acquired by the positioning unit 112, the signal positioning unit 112 (or the above-described starting position acquisition means provided separately for acquiring the position information of the output from the signal positioning unit 112 as starting position information) Acquires the information on the signal positioning position as information on the starting position and outputs it. The information on the starting position output in this way (and the information on the positioning time of the starting position) is used in the above-described processing by the movement distance specifying unit 114.

  As described above, due to the processing by the autonomous navigation positioning unit 113, there is a time lag (for example, 1 second or 2 seconds) according to the accumulation period of the information on the movement of the user of the mobile terminal 10 detected by the sensor 16. In the case where this occurs, the matching unit 115 can output the position corrected by the distance corresponding to the accumulation period as the positioning position (detection position). For example, when the accumulation period is 1 second, the matching unit 115 sets a position advanced by 10 cm, which is a distance assumed to move by walking in the accumulation period from the specified position toward the user's moving direction. It can be output as a corrected position (estimated position).

  Returning to the description of FIG. The display control unit 116 controls display of various information and images on the display unit 15. For example, the display control unit 116 performs control so that the estimated position of the user specified by the matching unit 115 is displayed on the display unit 15.

[Processing flow]
Next, with reference to FIG. 6, a flow of processing executed in the mobile terminal 10 will be described. Each processing step included in the processing flow described below can be executed in any order or in parallel as long as there is no contradiction in the processing contents. Steps may be added. Further, a step described as one step for convenience can be executed by being divided into a plurality of steps, while a step described as being divided into a plurality of steps for convenience can be grasped as one step. In addition, each processing step is performed in the control unit 11 by the CPU 11a developing and executing a program stored in the storage unit 13 or the like in the memory 11b. The details of the processing steps are already described with reference to FIG.

  First, in step S11, the control unit 11 refers to the map data stored in the storage unit 13 according to the route search condition input by the user of the mobile terminal 10, and executes the route search to start from the departure place. Information on the route (or optimal route) to the destination is acquired.

  In step S12, the control unit 11 acquires highly reliable information as information on the starting position on the route searched in step S11 as information on the position where the user has actually passed (or where the user started moving). To do. For example, when the positioning accuracy by the above-described signal positioning is high (for example, when the intensity of the received GPS signal is strong), the position of the mobile terminal 10 measured by the signal positioning can be set as the starting position.

  In step S <b> 13, the control unit 11 detects information on the position and movement direction of the user specified (positioned) based on information on the movement of the user of the mobile terminal 10 detected by the sensor 16, and information on the detection position and movement direction, respectively. Get as.

  In step S14, the control unit 11 determines the positioning position (after movement) of the portable terminal 10 specified in step S13 after the elapse of a predetermined time from when the user of the portable terminal 10 starts moving from the starting position acquired in step S12. Information on the distance between the position) and the starting position (information on the movement distance).

  In step S15, the control unit 11 moves from the starting position acquired in step S12 along the route (route searched in step S11) by the movement distance specified in step S14 by the movement direction specified in step S13. The position advanced in the direction (or the direction closest to the moving direction) is specified (map matching or route matching) as the estimated position of the mobile terminal 10 (or the estimated position of the user of the mobile terminal 10).

  In step S <b> 16, the control unit 11 performs control so that the estimated position of the user specified in step S <b> 15 is displayed on the display unit 15.

  As described above, according to the present embodiment, the matching in step S15 is based not on matching the route closest to the position measured in step S13, but based on the moving distance of the user specified in step S14. The position of the user is specified at a position on the route. Therefore, the accumulation of errors as described with reference to FIG. 5 does not occur. As a result, according to the present embodiment, the position of the mobile terminal 10 (or the position of the user of the mobile terminal 10) can be measured with higher accuracy.

  The present invention is not limited to the above-described embodiment, and can be implemented in various other forms without departing from the gist of the present invention. The above-described embodiment is merely an example in all respects, and is not construed as limiting.

  The program of the present invention can be installed or loaded on a computer through various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory, or via a communication network. .

  DESCRIPTION OF SYMBOLS 10 Portable terminal, 11 Control part, 12 Communication part, 13 Storage part, 14 Operation part, 15 Display part, 16 Sensor, 17 Speaker

Claims (6)

Starting point position acquisition means for acquiring information on the starting position of the movement of the user on the route;
Detection position acquisition means for acquiring, as detection position information, information on the position of the user specified based on information on movement of the user detected by a sensor;
A moving distance specifying means for specifying, as moving distance information, information on a distance between the detected position after the user has started moving from the starting position and a predetermined time has elapsed, and the starting position;
Matching means for specifying a position advanced from the starting position by the moving distance along the route as the estimated position of the user after the predetermined time has elapsed;
Equipped with a,
The information on the detection position is specified based on the information on the movement of the user detected by the sensor accumulated for a predetermined period,
The estimated position specified by the matching means is a position corrected according to the accumulation period.
Information processing device.   The information processing apparatus according to claim 1, further comprising route presentation means for presenting the route to the destination to the user.   The information processing apparatus according to claim 1, wherein the information on the starting position is information on a position specified based on a signal received from an external apparatus. Signal positioning position acquisition means for acquiring information on the position of the user specified based on a signal received from an external device as signal positioning position information at predetermined time intervals,
The starting position acquisition means, when information of the signal positioning position that is more than a predetermined distance away from the estimated position specified by the matching means is continuously acquired by the signal positioning position acquisition means more than a predetermined number of times, The information processing apparatus according to any one of claims 1 to 3 , wherein information on a signal positioning position is acquired as information on the starting position. A starting position acquisition step of acquiring information of a starting position of the movement of the user on the route;
A detection position acquisition step of acquiring, as detection position information, information on the position of the user specified based on information on movement of the user detected by a sensor;
A moving distance specifying step for specifying information on a distance between the detected position after the user has started moving from the starting position and a predetermined time has elapsed as information on a moving distance; and
A matching step of specifying a position advanced from the starting position by the moving distance along the route as the estimated position of the user after the predetermined time has elapsed;
Equipped with a,
The information on the detection position is specified based on the information on the movement of the user detected by the sensor accumulated for a predetermined period,
The estimated position specified by the matching step is a position corrected according to the accumulation period.
Information processing method. On the computer,
A starting position acquisition step of acquiring information of a starting position of the movement of the user on the route;
A detection position acquisition step of acquiring, as detection position information, information on the position of the user specified based on information on movement of the user detected by a sensor;
A moving distance specifying step for specifying information on a distance between the detected position after the user has started moving from the starting position and a predetermined time has elapsed as information on a moving distance; and
A matching step of specifying a position advanced from the starting position by the moving distance along the route as the estimated position of the user after the predetermined time has elapsed;
A program for executing,
The information on the detection position is specified based on the information on the movement of the user detected by the sensor accumulated for a predetermined period,
The estimated position specified by the matching step is a position corrected according to the accumulation period.
program.