JP6477098B2 - Electronic device, position correction method and program - Google Patents

Description

  The present invention relates to an electronic device, a position correction method, and a program.

BACKGROUND In recent years, electronic devices having a positioning function using a GPS (Global Positioning System) have been used.
The position information acquired from the GPS does not necessarily coincide with the position of the road in the map information due to a positioning error or the like. Therefore, in such an electronic device, when displaying the positioning result using GPS on the road in map information, the positioning result by GPS is displayed by map matching. When map matching is performed, in the map information, it is estimated that the position on the road closest to the positioning result by the GPS is the true positioning position.
In addition, the technique regarding such a map matching is described in patent document 1, for example.

JP, 2006-266986, A

  However, in the prior art in which the positioning position is displayed by map matching, including the technology described in Patent Document 1, the accuracy in estimating the true positioning position is not sufficient. Therefore, it has been difficult to properly display the GPS positioning position on the map.

  The present invention has been made in view of such a situation, and it is an object of the present invention to display GPS positioning positions on a map more appropriately.

In order to achieve the above object, an electronic device of one embodiment of the present invention is
GPS information acquisition means for acquiring GPS positioning information;
Map matching means for map matching the GPS positioning information acquired by the GPS information acquisition means to a link in map information;
When the link to which the GPS positioning information is matched changes by the map matching unit, a movement component is calculated from the difference between the GPS positioning information acquired before and after the change of the link, and the positional relationship based on the movement component is calculated While maintaining the position, parallelly move each position based on the GPS positioning information acquired before and after the link change onto each link before and after the link change, and move the moving direction and the movement amount before and after the link changes Position correction information acquisition means acquired as position correction information for correcting the matching position of the acquired GPS positioning information;
When the link to which the GPS positioning information is matched is changed by the map matching unit, the GPS positioning acquired before and after the link is changed based on the position correction information acquired by the position correction information acquiring unit Position correction means for correcting the matching position of information;
And the like.

  According to the present invention, it is possible to more appropriately display the GPS positioning position on the map.

It is a figure which shows the structure of the wrist terminal as one Embodiment of the electronic device of this invention, FIG. 1 (a) is an external appearance block diagram, FIG.1 (b) is a block diagram which shows a hardware constitution. It is a functional block diagram which shows the functional structure for performing a position correction process among the functional structures of the wrist terminal of FIG. It is a schematic diagram for demonstrating an example of map matching. It is a schematic diagram for demonstrating that the difference in a position can be acquired without receiving to the influence of offset noise in GPS positioning information which approaches. It is a schematic diagram for demonstrating the concept of fitting. It is a schematic diagram for demonstrating the state where subsequent map matching is performed using the correction vector acquired by the corner. It is a schematic diagram for demonstrating the state which distributes a correction vector linearly on a time-axis or on distance, and corrects the past map matching result. It is a flowchart explaining the flow of the position correction process performed by the wrist terminal 1 of FIG. 1 which has the functional configuration of FIG.

  Hereinafter, embodiments of the present invention will be described using the drawings.

[Hardware configuration]
Next, the hardware configuration of the wrist terminal 1 as the electronic device in the present embodiment will be described with reference to FIG.
The wrist terminal 1 has an outer shape similar to that of a wristwatch, and is used by a user (runner) wearing the body. This wrist terminal 1 allows the runner to obtain his / her travel route, travel distance, lap, and various other information that provides guidance for travel.
FIG. 1 is a view showing the configuration of a wrist terminal 1 as an embodiment of the electronic device of the present invention, FIG. 1 (a) is an external view, and FIG. 1 (b) is a block diagram showing a hardware configuration. It is.
The wrist terminal 1 is an electronic device which is configured in a wristwatch type 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, and a ROM (Read Only Memory) 16. A RAM (Random Access Memory) 17, a GPS (Global Positioning System) antenna 18, a GPS module 19, a wireless communication antenna 20, a wireless communication module 21, and a drive 22 are provided.

The control unit 11 is configured by an arithmetic processing unit 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 in accordance with a program stored in the ROM 16 such as a program for position correction process (described later).
The sensor unit 12 includes various sensors such as a 3-axis acceleration sensor, a geomagnetic sensor, a gyro sensor, an air pressure sensor, or an air temperature sensor.

The input unit 13 is configured of a position input sensor of a capacitance type or a resistance film type stacked on various buttons and a display area of the LCD 14, and inputs various information in accordance with a user's instruction operation.
The LCD 14 outputs an image in accordance with an instruction from the control unit 11. For example, the LCD 14 displays various images and a screen of a user interface. In the present embodiment, the position input sensor of the input unit 13 is superimposed on the LCD 14 and arranged to form 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 is, for example, a serial flash memory or the like, and 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 a radio wave transmitted from a satellite in GPS, converts it into an electric signal, and outputs the converted electric signal (hereinafter referred to as “GPS signal”) 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 the GPS based on the GPS signal input from the GPS antenna 18. The GPS module 19 also outputs information indicating the detected position and the current time to the control unit 11.

The wireless communication antenna 20 is an antenna capable of receiving radio waves of a frequency corresponding to the wireless communication used by the wireless communication module 21 and is formed of, for example, a loop antenna or a rod antenna. The wireless communication antenna 20 transmits the electric signal of wireless communication input from the wireless communication module 21 as an electromagnetic wave, converts the received electromagnetic wave into an electric signal, and outputs the electric signal to the wireless communication module 21.
The wireless communication module 21 transmits a signal to another device via the wireless communication antenna 20 according to the instruction of the control unit 11. Further, 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 composed of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory (for example, a flash memory) or the like is appropriately attached to the drive 22. The removable media 31 can store various information such as image information.

[Functional configuration]
Next, the functional configuration of the wrist terminal 1 will be described.
FIG. 2 is a functional block diagram showing a functional configuration for executing position correction processing among the functional configurations of the wrist terminal 1 of FIG.
In position correction processing, when performing map matching based on the GPS positioning information acquired from the GPS module 19 and the map information stored in the map information storage unit 71 of the ROM 16, the current position is determined using the shape of the road. It is a series of processing which corrects the information to represent and corrects the movement locus in the past. In the present embodiment, information representing the movement locus corrected as described above can be recorded on the removable medium 31.

  When position correction processing is performed, as shown in FIG. 2, in the control unit 11, the GPS positioning information acquisition unit 51, the map matching unit 52, the correction vector calculation unit 53, the matching history correction unit 54, and display control The unit 55 functions. Further, a map information storage unit 71 is formed in the ROM 16.

  The map information storage unit 71 stores map information including road network data. Road network data is, for example, data indicating a graph structured road network.

The GPS positioning information acquisition unit 51 acquires positioning information on the current position of the wrist terminal 1 from the GPS module 19 each time a predetermined time (for example, 2 to 5 seconds) elapses.
The map matching unit 52 moves the positioning point to a position on the road (link) closest to the position indicated by the GPS positioning information acquired by the GPS positioning information acquisition unit 51 in the map information held by the map information storage unit 71. Let When a correction vector to be described later is set, the map matching unit 52 moves the positioning point to the position obtained by adding the correction vector from the position indicated by the GPS positioning information to correct the position, and then corrects the position. Move the positioning point to the nearest road position from.

  If the link matching the position indicated by the GPS positioning information changes, the correction vector calculation unit 53 moves the positions indicated by the two points of GPS positioning information before and after the link changes, and translates the links before and after the link changes. Get vectors of directions and magnitudes that overlap with each other. Since this vector is considered to be an error of the current map matching in the map matching unit 52, it becomes a correction vector for moving the positioning point in the map matching. The correction vector calculation unit 53 maintains the correction vector as long as the link matching the position indicated by the GPS positioning information does not change.

  Note that the correction vector calculation unit 53 may gradually decrease the size of the correction vector when the link matching the position indicated by the GPS positioning information does not change for the set threshold time or more.

  The matching history correction unit 54 corrects the past map matching result (matching history) each time the correction vector calculation unit 53 acquires the correction vector.

  When the link matching the position indicated by the GPS positioning information changes, the matching history correction unit 54 distributes and weights the newly acquired correction vector on the time axis or on the distance, Reflect on the correction of past matching results.

At this time, the matching history correction unit 54 may perform weighting by distributing the newly acquired correction vector linearly on the time axis or on the distance.
The display control unit 55 controls the display operation of the LCD 14 which doubles as the function of the input unit 13 by the touch panel as described above.

Next, the position correction method in the wrist terminal 1 will be described.
FIG. 3 is a schematic view for explaining an example of map matching.
As shown in FIG. 3A, there are roads RD1-RD2 as represented by the road network data illustrated by solid lines, and it is assumed that they are moved by routes RR1-RR2 as depicted by dashed arrows. Do.
The GPS positioning points at this time are the GPS positioning points P1 to P7 in FIG. 3B, and these are acquired by the GPS positioning information acquisition unit 51. The closest positions of the GPS positioning points P1 to P7 to the links (roads RD1 to RD2) are M1 to M7. That is, the results of map matching of the GPS positioning points P1 to P7 to the roads RD1 and RD2 by the map matching unit 52 are M1 to M7.

  Further, FIG. 3 (b) shows the result of map matching in the case where the corner of the road RD1-RD2 is bent at time t = 4. After turning the corners of the roads RD1-RD2, looking at points M1 to M7 of the map matching result, at t = 6, the link changes from the roads RD1 to RD2. In fact, while the corner is bent at time t = 4, it is not yet bent at time t = 5 due to an error.

  FIG. 4 is a schematic diagram for explaining that it is possible to acquire the difference in position without being affected by the offset noise in the GPS positioning information in proximity.

Positioning information P (t) including an error (noise) at a certain time t is expressed by the following equation (1). P (t) = Ptrue (t) + N1 + N2 (1) where Ptrue (t): true value of the position at time t N1: random noise which becomes 0 on average N2: offset noise
In the equation (1), the random noise N1 can be suppressed by averaging in the time direction, a Kalman filter, etc.

Although the offset noise N2 is superimposed on the GPS positioning information as constant noise, it can be considered that the offset noise is not affected when calculating the relative movement distance in the nearby GPS positioning information . The difference between the positioning positions at different times (the difference between the GPS positioning information at both time points t and t-1), that is, the movement component ΔP is expressed as the following equation (2). ΔP = P (t) −P (t−1) (2) As shown in the equation (2), the offset noise N2 is canceled with respect to ΔP.
In FIG. 4, the arrow ΔP is a movement component, and as described above, since the offset noise N2 is not included in the movement component ΔP, it is considered to be a vector representing an accurate relative movement direction and a relative movement distance. Be

  FIG. 5 is a concept (hereinafter referred to as “fitting” as appropriate) to superimpose the positions indicated by the GPS positioning information before and after the link change on the links before and after the link changes, when the link matching the position indicated by the GPS position information changes. It is a schematic diagram for demonstrating.

  FIG. 5A schematically shows movement components ΔP of positioning information P (t) and P (t−1) before and after when a link matching the position indicated by the GPS positioning information changes, for example, when a corner is bent. In the

  In FIG. 5B, in the correction vector calculation unit 53, the movement component ΔP is translated in parallel, and the end point P (t) and the end point P (t−1) of the movement component ΔP are overlapped on corresponding links and fitting is performed. Processing (that is, processing for acquiring the correction vector Correct (t)) is schematically shown. By obtaining the correction vector Correct (t) in this manner, it is possible to obtain a correction vector that cancels out the offset noise.

  In the correction vector calculation unit 53, the above-described fitting and acquisition of the correction vector Correct (t) are performed at each corner. Therefore, when a correction vector is obtained at a corner, map matching is performed using the current correction vector until the correction vector changes next.

  FIG. 6 is a schematic diagram for explaining a state in which the subsequent map matching is performed using the correction vector acquired at the corner. FIG. 6A shows positions P61 to P67 indicated by the GPS positioning information. Further, FIG. 6B shows a state (M64 to M67) in which the GPS positioning information (P64 to P67) is map-matched by the correction vector. In FIG. 6B, map matching is performed using the correction vector Correct (t6) at time t = 6 in FIG. As shown in FIG. 6B, after passing through the corner, map matching using the correction vector is continued.

  Note that offset noise may change with time, so if the correction vector does not change for a fixed time or more (that is, if the link matching the position indicated by the GPS positioning information does not change for a set threshold time or more) Alternatively, the magnitude of the correction vector may be gradually reduced.

  FIG. 7 is a schematic diagram for explaining a state in which a correction vector is linearly distributed on a time axis or a distance to correct a past map matching result.

  As described above, the correction vector calculation unit 53 updates the correction vector for each corner, and the matching history correction unit 54 corrects the past map matching result using the correction vector. Since this correction vector reflects the state at the time of turning the turn, the possibility of different positioning conditions increases as time and distance go back from the time of turning the turn. Specifically, Correct (t1) and Correct (t1) between Correcting (t1) and Correct (t2), which are correction vectors acquired by the correction vector calculating unit 53 at different times, from Time t1 to t2. This means that the offset noise has fluctuated by a minute.

  More specifically, when the correction vectors obtained by the correction vector calculation unit 53 between time t1 and time t2 are Correct (t1) and Correct (t2), these variations are shown in FIG. 7A. It becomes what is shown by the arrow line Vc, and is represented by the following (3) formula. Vc = Correct (t2) −Correct (t1) (3) In the case of linearly distributing this variation Vc at time t between time t1 and time t2, for example, it is calculated by the following equation (4) be able to. Correct (t) = (Correct (t2) * (t-t1) + Correct (t1) * (t2-t) / (t2-t1) (4)

  As described above, the fluctuation component Vc of the equation (3) is linearly distributed on the time axis according to the equation (4). As a result, as shown by arrows v1 to v5 in FIG. As the position is retrospectively in time, the correction range for correcting the past map matching result becomes smaller. Also in the case of linear distribution over the distance, the width of the position correction can be similarly adjusted.

  By adjusting the width of position correction in this way, even if the correction value changes suddenly immediately after updating the correction value, the correction value changes gently as a history, and it is sudden before and after the link change. It is possible to suppress phenomena such as movement. The different times t1 and t2 for determining the movement component do not necessarily have to be consecutive times (times adjacent to and adjacent to each other in the order of positioning), and the offset noise does not change significantly It can be selected within a degree of time.

[Operation]
Next, the operation will be described.
FIG. 8 is a flow chart for explaining the flow of position correction processing executed by the wrist terminal 1 of FIG. 1 having the functional configuration of FIG.
The position correction process is started upon powering on the wrist terminal 1 and is repeatedly executed.

In step S801, the map matching unit 52 resets the correction vector used for map matching.
In step S802, the GPS positioning information acquisition unit 51 acquires current GPS positioning information.

  In step S803, the map matching unit 52 executes map matching, and in the map information held by the map information storage unit 71, on the road closest to the position indicated by the GPS positioning information acquired by the GPS positioning information acquisition unit 51. Move the positioning point to the position of. At this time, when the correction vector is set, the map matching unit 52 moves the positioning point to the position where the correction vector is added from the position indicated by the GPS positioning information to correct the position, and then from the corrected position. Move the positioning point to the closest location on the road.

In step S804, the correction vector calculation unit 53 determines whether or not the corner has been passed. In step S804, it is determined whether the vehicle has passed a turn depending on whether the link matching the position indicated by the GPS positioning information has changed.
If the vehicle has passed the corner, YES is determined in step S804, and the process proceeds to step S805.
On the other hand, if the vehicle has not passed the corner, NO is determined in step S804, and the process proceeds to step S802.

  In step S805, the correction vector calculation unit 53 is a vector indicating movement components from positions indicated by two points of GPS positioning information before and after passing through a corner, that is, before and after a link link matching the position indicated by GPS positioning information changes. To get

In step S806, the correction vector calculation unit 53 translates the vector of the movement component in parallel, and fits the start point and the end point of the vector to the links before and after the link changes.
In step S 807, the correction vector calculation unit 53 acquires, as a correction vector, a vector obtained by translating the vector of the movement component in parallel in the fitting.
In step S808, the matching history correction unit 54 corrects the past map matching result by the map matching unit 52 using the correction vector.
After step S808, the position correction process is repeated.

The wrist terminal 1 configured as described above includes a GPS positioning information acquisition unit 51, a map matching unit 52, and a correction vector calculation unit 53.
The GPS positioning information acquisition unit 51 acquires GPS positioning information.
The map matching unit 52 maps the GPS positioning information acquired by the GPS positioning information acquisition unit 51 to a link in the map information.
When the link to which the GPS positioning information is matched changes, the map matching unit 52 corrects the position based on the GPS positioning information acquired before and after the link changes to the position of each link before and after the link changes.
As a result, when the map matching target link in the map information changes, the GPS positioning information before and after the link change is corrected to the position of each link before and after the link change.
Therefore, it becomes possible to display a GPS positioning position on a map more appropriately.

The wrist terminal 1 further includes a correction vector calculation unit 53.
When the link to which the GPS positioning information is matched is changed by the map matching unit 52, the correction vector calculation unit 53 sets the position based on the GPS positioning information acquired before and after the link change to each link before and after the link change. Position correction information (correction vector) for correcting to the position of.
In addition, the map matching unit 52 corrects the position based on the GPS positioning information based on the position correction information acquired by the correction vector calculation unit 53.
Thereby, the position of the GPS positioning information can be easily corrected by the position correction information (correction vector) acquired by the correction vector calculation unit 53.

Further, when the link to which the GPS positioning information is matched is changed by the map matching unit 52, the correction vector calculation unit 53 calculates a movement component from the difference between the GPS positioning information acquired before and after the change of the link. Each position based on the GPS positioning information acquired before and after the link change is translated on each link before and after the link changes while maintaining the positional relationship based on the movement component, and the movement direction and movement amount are used as correction vectors get.
Thereby, position correction information (correction vector) can be acquired by simple processing.

The wrist terminal 1 further includes a matching history correction unit 54.
The matching history correction unit 54 corrects the map matching result before the link is changed by the map matching unit 52 based on the position correction information acquired by the correction vector calculation unit 53.
This makes it possible to more appropriately display on the map the movement locus indicated by the GPS positioning information before the link in the wrist terminal 1 changes.

In addition, the map matching unit 52 maintains the position correction information acquired by the correction vector calculation unit 53 until the link to which the GPS positioning information is matched changes next.
Thereby, the GPS positioning information can be corrected more efficiently using the acquired position correction information.

In addition, the correction vector calculation unit 53 decreases the acquired position correction information when the link to which the GPS positioning information is matched by the map matching unit 52 does not change for the set time or more.
Therefore, the position correction information can be appropriately used for correcting the GPS positioning information in response to the change in the reliability of the position correction information caused by the change in the positioning condition or the like.

Further, the matching history correction unit 54 distributes the position correction information acquired by the correction vector calculation unit 53 on the time axis or on the distance to correct the map matching result.
Therefore, it is possible to correct the map matching result by appropriately reflecting the position correction information in time or distance.

  The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like in the range in which the object of the present invention can be achieved are included in the present invention.

Although the map information is described as being stored in the map information storage unit 71 of the wrist terminal 1 in the above embodiment, the present invention is not particularly limited thereto. For example, an electronic device other than the wrist terminal 1 may include the map information storage unit, and the wrist terminal 1 may acquire map information of such an external map information storage unit via the wireless communication module 21.
Further, in the above-described embodiment, the specific method for calculating the correction vector and correcting the GPS positioning information is described as an example, and if the same position correction can be performed, the calculation procedure The process can also be by other means.

Moreover, in the above-mentioned embodiment, although the wrist terminal was demonstrated as an example as an electronic device to which this invention is applied, it is not specifically limited to this.
For example, the present invention is generally applicable to electronic devices having a function of estimating a position. Specifically, for example, the present invention is applicable to a laptop 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 performed by hardware or software.
In other words, the functional configuration of FIG. 2 is merely illustrative and not particularly limited. That is, it is sufficient if the wrist terminal 1 has a function capable of executing the above-described series of processes as a whole, and what functional block is used to realize this function is not particularly limited to the example of FIG.
Further, one functional block may be configured by hardware alone, may be configured by software alone, or may be configured by a combination of them.

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

  The recording medium including such a program is not only configured by the removable medium 31 of FIG. 1 distributed separately from the apparatus main body to provide the program to the user, but also the user in a state incorporated in advance in the apparatus main body The recording medium etc. provided to The removable medium 31 is made of, for example, a magnetic disk (including a floppy disk), an optical disk, or a magneto-optical disk. The optical disc is composed of, for example, a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), a Blu-ray (registered trademark) Disc (Blu-ray Disc), or the like. The magneto-optical disc is constituted by MD (Mini-Disc) or the like. Further, the recording medium provided to the user in a state of being incorporated in the apparatus main body is, for example, the ROM 16 or the like of FIG. 1 in which a program is recorded.

  In the present specification, in the step of describing the program to be recorded on the recording medium, the processing performed chronologically along the order is, of course, parallel or individually not necessarily necessarily chronologically processing. It also includes the processing to be performed.

  While some embodiments of the present invention have been described above, these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take various other embodiments, and furthermore, various changes such as omissions and substitutions can be made without departing from the scope of the present invention. These embodiments and modifications thereof are included in the scope and the gist of the invention described in the present specification, etc., and are included in the invention described in the claims and the equivalent scope thereof.

The invention described in the claims at the beginning of the application of the present application is appended below.
[Supplementary Note 1]
GPS information acquisition means for acquiring GPS positioning information;
Map matching means for map matching the GPS positioning information acquired by the GPS information acquisition means to a link in map information;
When the link to which the GPS positioning information is matched is changed by the map matching means, the position based on the GPS positioning information acquired before and after the link change is corrected to the position of each link before and after the link changes. Position correction means,
An electronic device comprising:
[Supplementary Note 2]
When the link to which the GPS positioning information is matched is changed by the map matching means, the position based on the GPS positioning information acquired before and after the link change is corrected to the position of each link before and after the link changes. Further comprising position correction information acquisition means for acquiring position correction information for
The electronic device according to claim 1, wherein the position correction unit corrects the position based on the GPS positioning information based on the position correction information acquired by the position correction information acquisition unit.
[Supplementary Note 3]
The position correction information acquisition unit
When the link to which the GPS positioning information is matched changes by the map matching unit, a movement component is calculated from the difference between the GPS positioning information acquired before and after the change of the link, and the positional relationship based on the movement component is calculated While maintaining the position, parallel move each position based on the GPS positioning information acquired before and after the link change onto each link before and after the link change, and acquire the movement direction and movement amount as the position correction information The electronic device according to Appendix 2, characterized in that
[Supplementary Note 4]
A history correction unit for correcting the result of map matching before the link is changed by the map matching unit according to the position correction information acquired by the position correction information acquiring unit, according to claim 2 or 3. Electronics.
[Supplementary Note 5]
5. The position correction means maintains the position correction information acquired by the position correction information acquisition means until the link to which the GPS positioning information is matched changes to the next. Electronic device described in one.
[Supplementary Note 6]
The position correction information acquisition unit decreases the acquired position correction information when the link to which the GPS positioning information is matched by the map matching unit does not change for a set time or more. The electronic device according to any one of the above.
[Supplementary Note 7]
The electronic according to appendix 4, wherein the history correction means distributes the position correction information acquired by the position correction information acquisition means on a time axis or on a distance to correct the map matching result. machine.
[Supplementary Note 8]
A position correction method performed by an electronic device, comprising:
GPS information acquisition step for acquiring GPS positioning information;
Map matching step of map matching the GPS positioning information acquired in the GPS information acquisition step with a link in map information;
When the link to which the GPS positioning information is matched changes in the map matching step, the position based on the GPS positioning information acquired before and after the link change is corrected to the position of each link before and after the link changes Position correction step,
A position correction method comprising the step of
[Supplementary Note 9]
In a computer that controls electronic devices,
GPS information acquisition function to acquire GPS positioning information,
A map matching function that maps the GPS positioning information acquired by the GPS information acquisition function to a link in map information;
When the link to which the GPS positioning information is matched is changed by the map matching function, the position based on the GPS positioning information acquired before and after the link change is corrected to the position of each link before and after the link changes Position correction function,
A program that is characterized by realizing

  DESCRIPTION OF SYMBOLS 1 ... List terminal, 11 ... Control part, 12 ... Sensor unit, 13 ... Input part, 14 ... LCD, 15 ... Clock circuit, 16 ... ROM, 17 ... · · · RAM, 18 · · · GPS antenna, 19 · · · GPS module, 20 · · · antenna for wireless communication, 21 · · · wireless communication module, 22 · · · drive, 31 · · · removable media, 51 · · · GPS positioning information acquisition unit 52 Map matching unit 53 Correction vector calculation unit 54 Matching history correction unit 55 Display control unit 71 Map information storage unit

Claims (7)

GPS information acquisition means for acquiring GPS positioning information;
Map matching means for map matching the GPS positioning information acquired by the GPS information acquisition means to a link in map information;
When the link to which the GPS positioning information is matched changes by the map matching unit, a movement component is calculated from the difference between the GPS positioning information acquired before and after the change of the link, and the positional relationship based on the movement component is calculated While maintaining the position, parallelly move each position based on the GPS positioning information acquired before and after the link change onto each link before and after the link change, and move the moving direction and the movement amount before and after the link changes Position correction information acquisition means acquired as position correction information for correcting the matching position of the acquired GPS positioning information;
When the link to which the GPS positioning information is matched is changed by the map matching unit, the GPS positioning acquired before and after the link is changed based on the position correction information acquired by the position correction information acquiring unit Position correction means for correcting the matching position of information;
An electronic device comprising: 2. The electronic system according to claim 1 , further comprising: history correction means for correcting the result of map matching before the link is changed by the map matching means according to the position correction information obtained by the position correction information obtaining means. machine. 3. The apparatus according to claim 1, wherein the position correction means maintains the position correction information acquired by the position correction information acquisition means until the link to which the GPS positioning information is matched changes next. Electronic device described. The position correcting information obtaining means, when the link where the GPS positioning information by the map matching means is matched does not change more than the set time, from claim 1, wherein the reducing the obtained said position correction information The electronic device of any one of 3 . The history correcting means, by distributing the position correction information acquired by the position correction information acquisition unit on the time axis or distance on, according to claim 2, characterized in that modifying the map matching result Electronics. A position correction method performed by an electronic device, comprising:
GPS information acquisition step for acquiring GPS positioning information;
Map matching step of map matching the GPS positioning information acquired in the GPS information acquisition step with a link in map information;
When the link to which the GPS positioning information is matched changes in the map matching step, a movement component is calculated from the difference between the GPS positioning information acquired before and after the change of the link, and the positional relationship based on the movement component is calculated While maintaining the position, parallelly move each position based on the GPS positioning information acquired before and after the link change onto each link before and after the link change, and move the moving direction and the movement amount before and after the link changes A position correction information acquisition step of acquiring as position correction information for correcting the matching position of the acquired GPS positioning information;
When the link to which the GPS positioning information is matched changes in the map matching step, the GPS positioning acquired before and after the link is changed based on the position correction information acquired by the position correction information acquiring step A position correction step of correcting a matching position of information;
A position correction method comprising the step of In a computer that controls electronic devices,
GPS information acquisition function to acquire GPS positioning information,
A map matching function that maps the GPS positioning information acquired by the GPS information acquisition function to a link in map information;
When the link to which the GPS positioning information is matched is changed by the map matching function, a movement component is calculated from the difference of the GPS positioning information acquired before and after the change of the link, and the positional relationship based on the movement component is calculated While maintaining the position, parallelly move each position based on the GPS positioning information acquired before and after the link change onto each link before and after the link change, and move the moving direction and the movement amount before and after the link changes A position correction information acquisition function acquired as position correction information for correcting the matching position of the acquired GPS positioning information;
When the link to which the GPS positioning information is matched is changed by the map matching function, the GPS positioning acquired before and after the link is changed based on the position correction information acquired by the position correction information acquiring function Position correction function to correct the matching position of information;
A program that is characterized by realizing

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