JP6511924B2 - Positioning method, electronic device - Google Patents

Description

  The present invention relates to a positioning method and an electronic device that performs positioning calculation based on a positioning satellite signal.

  Conventionally, GPS (Global Positioning System) is widely known as a positioning system using a satellite signal for positioning, and is used for an electronic device built in a portable telephone, a car navigation device, and the like. A GPS receiver that receives positioning satellite signals uses the positioning satellite signals received from a plurality of GPS satellites to perform positioning calculation based on information such as pseudo distances between each GPS satellite and the GPS receiver. The coordinates of the current position of the own machine, etc. are calculated (see, for example, Patent Document 1).

JP 2001-42023 A

In recent years, the miniaturization of electronic devices incorporating a positioning system has progressed, and portable electronic devices carried by users include portable telephones including smart phones, portable car navigation devices, or running while worn by the user on the wrist. Various portable electronic devices such as a runner's watch that calculates and displays information such as position information and moving speed have become widespread.
In a positioning method using a portable electronic device that receives a positioning satellite signal and calculates a position, for example, a given position calculation cycle such as once per second is set, and reception is performed within the position calculation cycle. Processing is performed such as calculating the position using, as measurement information, an average value obtained by sampling a plurality of positioning satellite signals at a plurality of points. However, for example, when a portable electronic device such as a runner's watch is attached to the arm of the user and positioning is performed when walking or traveling in the given position calculation cycle described above, the traveling direction of the user It has been found that there is a possibility that a measurement error may occur that is caused by movement in a direction different from that of movement, that is, movement of the user's arm or foot.

  The present invention has been made to solve at least a part of the above-mentioned problems, and in the case where an electronic device for receiving a positioning satellite signal and calculating a position is mounted on an extremity such as an arm to perform positioning. Even if, it aims at providing an electronic device which can control a measurement error, and a positioning method using the same.

  Application Example 1 A positioning method according to this application example is a positioning method using an electronic device mounted on a user or an appliance that moves with the movement of the user, and receives a positioning signal from a satellite In addition, it is determined whether the movement of the electronic device has periodicity, and when it is determined that the movement has periodicity, the measurement period in which measurement data is calculated using the positioning satellite signal is It is characterized by including determining based on periodicity and performing positioning calculation using the measurement data of the measurement period.

According to this application example, it is determined whether the exercise of the electronic device has periodicity, and when it is determined that the exercise has the periodicity, the measurement period for calculating the measurement information is determined. Here, it can be said that the periodicity of movement of the electronic device is due to periodic body movement such as arm swing and foot movement, so by setting the measurement period based on the periodicity, periodic body movement It is possible to suppress the error of the positioning calculation result due to the influence.
Therefore, it is possible to provide a positioning method capable of suppressing a measurement error due to a periodic body movement of the user even when the electronic device is attached to the user or an instrument moving with the movement of the user.

  Application Example 2 In the positioning method according to the application example, the received positioning satellite signal is subjected to frequency analysis to determine whether the periodicity is present or not.

  According to this application example, it is possible to determine the presence or absence of periodic physical movement of the user by analyzing the frequency of the received positioning satellite signal, so that the measurement period of the positioning satellite signal should be set appropriately. Becomes possible.

  Application Example 3 In the positioning method according to the application example, it is preferable that the electronic device includes an inertial sensor, and whether or not the periodicity is present is determined based on output information of the inertial sensor.

  According to this application example, since the presence or absence of periodicity is determined based on the output information of the inertial sensor, the measurement period of the positioning satellite signal can be set appropriately.

  Application Example 4 In the positioning method according to the application example, it is preferable that the measurement period be N cycles (N is a natural number) of the movement cycle.

  According to this application example, since the measurement period is N cycles of movement, measurement information of N cycles can be used for positioning calculation. Since it is possible to suppress that the measurement information of the remaining period exceeding N cycles affects the positioning result, it is possible to suppress the error of the positioning calculation.

  Application Example 5 In the positioning method according to the application example, the electronic device is preferably attached to the user's limb.

  The electronic device of this application example can suppress the measurement error of the position caused by the periodic body movement such as the arm swing and the foot swing caused by the movement of the user such as walking or running, thereby causing the periodic body movement. It is suitable as an electronic device attached to a part.

  Application Example 6 An electronic device according to this application example is an electronic device mounted on a user or an appliance that moves with the movement of the user, and the receiving circuit unit for receiving a positioning satellite signal; An exercise period detection unit that determines whether or not movement of the electronic device has periodicity, and a measurement period during which measurement data is calculated using the positioning satellite signal when it is determined that the periodicity exists, the period being the period It is characterized by including a measurement period setting unit to be determined based on the property, and a position calculation unit to perform positioning calculation based on the measurement data of the measurement period.

  According to this application example, when it is determined that the electronic device has periodicity and the exercise period detection unit that determines whether there is periodicity, measurement information is calculated using the positioning satellite signal. And a measurement period setting unit that determines the measurement period to be performed based on the periodicity. Thereby, it is possible to provide an electronic device capable of suppressing a measurement error due to a periodic body movement by the user even when the user is attached to an apparatus which is used by the user and moves as the user moves. it can.

  Application Example 7 In the electronic device according to the application example, the motion cycle detection unit performs frequency analysis on the received positioning satellite signal to determine whether or not the periodicity is present.

  According to this application example, the motion period detection unit can perform frequency analysis of the received positioning satellite signal to determine the presence or absence of the periodic body movement of the user. Therefore, the measurement period of the positioning satellite signal can be determined. Can be set appropriately.

  Application Example 8 In the electronic device according to the application example, it is preferable to further include an inertial sensor, and the motion cycle detection unit preferably determines whether the periodicity is present or not based on output information of the inertial sensor .

  According to this application example, since the presence or absence of periodicity is determined based on the output information of the inertial sensor, the measurement period of the positioning satellite signal can be set appropriately.

  Application Example 9 In the electronic device according to the application example, it is preferable that the measurement period setting unit set N periods (N is a natural number) of the exercise cycle as the measurement period.

  According to this application example, since the measurement period is N cycles of movement, measurement information of N cycles can be used for positioning calculation. Since it is possible to suppress that the measurement information of the remaining period exceeding N cycles affects the positioning result, it is possible to suppress the error of the positioning calculation.

  Application Example 10 In the electronic device according to the application example described above, it is preferable that the electronic device according to the application example include a mounting unit that mounts the electronic device on the user's limb.

  According to this application example, it is possible to suppress the measurement error of the position caused by the periodic body movement such as the arm swing and the foot swing caused by the movement of the user such as walking or running, so that the portion causing the periodic body movement It is suitable as an electronic device attached to

FIG. 1 is a block diagram showing an outline of a configuration of a portable electronic device according to a first embodiment. Explanatory drawing which shows an example of a change of the receiving frequency at the time of measuring a non-periodic movement by a given position calculation period. Explanatory drawing which shows an example of a change of the receiving frequency at the time of measuring a motion with periodicity by a given position calculation period. FIG. 7 is an explanatory view showing an example of a change in reception frequency when a motion having periodicity is measured in the set measurement period of the first embodiment. FIG. 2 is a functional configuration diagram of a baseband processing circuit of the portable electronic device according to the first embodiment. 6 is a flowchart for explaining the flow of processing of the positioning method according to the first embodiment. FIG. 5 is a block diagram showing an outline of a configuration of a portable electronic device according to a second embodiment. 10 is a flowchart for explaining the flow of processing of a positioning method according to a second embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each of the following drawings, the scale of each layer or each member is made different from the actual size in order to make each layer or each member recognizable.

(Embodiment 1)
[overall structure]
FIG. 1 is a block diagram showing an outline of the configuration of the portable electronic device according to the first embodiment. First, an outline of the entire configuration of the portable electronic device 1 according to the first embodiment will be described.
In FIG. 1, the portable electronic device 1 is used by being attached to or carried by the user's body, or attached to a device that moves along with the movement of the user, such as a pedal of a bicycle on which the user rides. Small electronic device, and is realized by, for example, a watch-type wearable computer called a runner's watch. Of course, it may be configured to be attached to any of the four limbs such as an ankle other than the arms such as the wrist and the upper arm, but in the present embodiment, it will be described as being attached to the arm.

  According to FIG. 1, the portable electronic device 1 includes a GPS antenna 10, a GPS receiver 20, a power supply unit 30, a main processing unit 50, an operation unit 52, a display unit 54, and a sound output unit 56. , A clock unit 58, a main storage unit 60, and a communication unit 70.

  The GPS antenna 10 is an antenna for receiving an RF (Radio Frequency) signal including a GPS satellite signal which is a positioning satellite signal transmitted from a GPS satellite.

  The GPS receiver 20 receives GPS satellite signals transmitted from GPS satellites, and based on navigation messages such as orbit information (Ephemeris and almanac) of the GPS satellites conveyed superimposed on the received GPS satellite signals. , Position and velocity of the GPS receiver 20 are calculated. Also, the GPS receiver 20 is configured to include an RF receiving circuit unit 22 and a baseband processing circuit unit 24. The RF reception circuit unit 22 and the baseband processing circuit unit 24 can be manufactured as separate LSIs (Large Scale Integration) or can be manufactured as one chip.

  The RF reception circuit unit 22 down-converts an RF signal received by the GPS antenna 10 into a signal of an intermediate frequency (IF (Intermediate Frequency) signal), amplifies the signal, and the like, converts the signal into a digital signal, and outputs it. Note that the receiver circuit unit may be configured as a direct conversion system in which the signal is directly converted to a baseband signal without being converted to an intermediate frequency signal.

  The baseband processing circuit unit 24 captures and tracks a GPS satellite signal using data of a signal received by the RF receiving circuit unit 22, and uses GPS time information extracted from the captured GPS satellite signal, satellite orbit information, etc. The position of the receiver 20 (portable electronic device 1) and the clock error are calculated.

  The power supply unit 30 supplies power to each unit (the RF reception circuit unit 22 and the baseband processing circuit unit 24) of the GPS receiver 20 according to the power control signal from the baseband processing circuit unit 24.

  The main processing unit 50 is a processor that generally controls each part of the portable electronic device 1 in accordance with various programs such as a system program stored in the main storage unit 60, and includes a processor such as a CPU (Central Processing Unit). And be configured. Further, the main processing unit 50 uses the position calculated by the baseband processing circuit unit 24 to calculate information such as the position and speed of the user wearing the portable electronic device 1 and the cumulative movement distance.

  The operation unit 52 is an input device including a touch panel, a button switch, and the like, and outputs an operation signal according to the user's operation to the main processing unit 50. The display unit 54 is a display device configured of an LCD or the like, and performs various displays based on display signals from the main processing unit 50. The sound output unit 56 is a sound output device configured of a speaker or the like, and performs various sound outputs based on the sound signal from the main processing unit 50. The clock unit 58 is an internal clock of the portable electronic device (runner's watch) 1, is constituted by an oscillation circuit having a crystal oscillator or the like, and counts the current time, an elapsed time from designated timing, and the like.

  The communication unit 70 is a communication device for transmitting and receiving information used inside the device to and from an external information processing device (for example, a personal computer or a smartphone) under the control of the main processing unit 50. As a communication method of the communication unit 70, there are used a form of wired connection via a cable conforming to a predetermined communication standard, a form of connection via an intermediate device shared with a charger called a cradle, and short distance wireless communication. It is possible to apply various methods such as a method of wireless connection.

  The main storage unit 60 is a storage device constituted by a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and is a system for the main processing unit 50 to control each part of the portable electronic device 1 in an integrated manner. A program and programs and data for realizing various functions of the portable electronic device 1 are stored and used as a work area of the main processing unit 50, and the calculation result of the main processing unit 50 and the operation unit 52 Temporarily store operation data etc.

  In the GPS receiver, the reception frequency of the GPS satellite signal fluctuates due to the influence of Doppler caused by the change in relative positional relationship with the GPS satellite. When the GPS receiver is worn on the arm of a walking or traveling user, the relative velocity vector between the GPS receiver and the GPS satellite periodically fluctuates due to the periodic arm swinging motion of the user in the forward and backward directions Causes the Doppler to fluctuate periodically. As a result, an error is superimposed on the reception frequency. For this reason, in the present embodiment, the measurement period of measurement data in the position calculation process is set to be a period equal to N times the period of the body movement having periodicity such as arm swing, etc. Control of the This principle will be described with reference to the drawings.

  FIG. 2 is a simulation calculation result when the GPS receiver is mounted on a car and traveled, and shows the reception frequency of the GPS satellite signal in the GPS receiver. The horizontal axis is time, and the vertical axis is frequency. Here, the position calculation cycle (set as a fixed value to 1 second. The measurement period of measurement data coincides with the position calculation cycle. That is, FIG. 2 shows no periodicity for a given measurement period. This shows an example of the change in the reception frequency when movement (car travel) is measured, as shown in Fig. 2. A large number of sampling timings (not shown) included in a given position calculation cycle (measurement period) For example, there is no periodicity (periodic change) in the reception frequency of sampling every 20 ms, which means that the movement of the car is movement in the direction of travel (sometimes referred to as translational movement), which is different from translational movement Directional movement (sometimes referred to as non-translational movement), that is, due to the fact that the effect of periodical movement is very small, so that the average frequency has almost no change at every position calculation period. That. Therefore, the result of the position calculating operation using all of the signals received during the essentially position calculation cycle, it can be said to be a less accurate value of error.

  FIGS. 3 and 4 are both simulation calculation results in the case where the user wears the GPS receiver and runs, and the reception frequency of the GPS satellite signal in the GPS receiver corresponds to FIG. 3 and FIG. , Shows the reception frequency measured in different measurement periods.

  FIG. 3 shows the case where the measurement period of the position calculation process is fixed to a given position calculation cycle (1 second) as in FIG. That is, FIG. 3 shows an example of the change in the reception frequency when the motion having periodicity is measured in a given measurement period. As shown in FIG. 3, the reception frequency exhibits periodicity that fluctuates according to the arm swing cycle. In addition, the position calculation cycle (1 second) and the cycle of the user's arm swing operation do not match. That is, the average frequency is an average value of the reception frequency in a period longer than the period of the arm swing operation. As a result, it is understood that the average frequency fluctuates at every position calculation cycle. The position calculation operation basically uses all the signals received during the position calculation cycle. More precisely, there are many sample timings during the position calculation cycle, and measurement information such as the code phase and the Doppler frequency is calculated at each sample timing. The position calculation operation uses all of the measurement information calculated during the position calculation cycle.

  Therefore, it can be said that the average frequency shown in FIGS. 3 and 4 is an index value representing the total of all signals (all measurement information) received during the position calculation cycle. The fact that the average frequency fluctuates means that the total of measurement information (in particular, the Doppler frequency) used for each position calculation cycle changes, and if the position calculation operation is performed as it is, the accuracy of the position calculation becomes It will deteriorate.

  When periodicity is included in the motion of the user according to the positioning method including baseband processing of this embodiment described later, FIG. 4 performs measurement drive in the measurement period set based on the periodicity. That's the case. That is, FIG. 4 shows an example of the change of the reception frequency when the movement having periodicity is measured in the setting measurement period of this embodiment. In FIG. 4, the reception frequency fluctuates in the period of the arm swinging operation, and N periods (one period in FIG. 4) based on the period are set as measurement periods. That is, measurement data is calculated using signals for N cycles. In other words, measurement information of N cycles is used for position calculation. The position calculation cycle is fixed to, for example, one second, as in FIG. In this case, it can be said that the average frequency is an average value of the reception frequency for one cycle of the period of the arm swing operation and hardly fluctuates. Therefore, deterioration in the accuracy of position calculation is suppressed.

[Configuration of baseband processing circuit unit]
FIG. 5 is a functional block diagram of the baseband processing circuit unit 24. As shown in FIG. In FIG. 5, the baseband processing circuit unit 24 includes a BB processing unit 100 and a BB storage unit 200.

  The BB processing unit 100 is realized by a processor such as a CPU or a DSP, and controls the respective units of the baseband processing circuit unit 24 in an integrated manner. In addition, the BB processing unit 100 includes a frequency information detection unit 101, an exercise cycle detection unit 102, a measurement period setting unit 104, a satellite capture unit 108, and a position calculation unit 110.

  The frequency information detection unit 101 detects frequency information based on the positioning satellite signal received by the RF reception circuit unit 22 (see FIG. 1). The frequency information is, for example, time-series data of the Doppler frequency calculated at each sample timing, and is included in measurement information acquired by the position calculation unit 110 described later. The exercise cycle detection unit 102 determines the presence or absence of the periodicity of the frequency information detected by the frequency information detection unit 101. In other words, it is determined whether the exercise of the user with the GPS receiver 20 (portable electronic device 1) attached has periodicity. Further, the exercise cycle detection unit 102 detects the exercise cycle (frequency of exercise) of the user or the GPS receiver 20 (portable electronic device 1) attached to the user based on the frequency information. For example, when the GPS receiver 20 (portable electronic device 1) is worn on the user's arm and used, the user's arm swing cycle in the front-rear direction is detected as the exercise cycle. Specifically, frequency analysis such as FFT (Fast Fourier Transform: Fast Fourier Transform) is performed on the detected frequency information, and whether or not the frequency information has periodicity is detected from the analysis result. Here, if it is determined that the frequency information has periodicity, the body movement different from the movement in the traveling direction of the user wearing the portable electronic device 1, for example, the portable electronic device 1 is attached It can be considered that the frequency component due to the arm swing motion is included in the frequency information. The exercise cycle information detected by the exercise cycle detection unit 102 is stored as exercise cycle data 204.

  When the exercise period detection unit 102 determines that the frequency information has periodicity, the measurement period setting unit 104 sets the measurement period of the positioning satellite signal based on the detected exercise period. Specifically, when it is determined that the frequency information has periodicity, one cycle of the detected movement cycle or N cycles (N is a natural number) is set as the measurement period, and the cycle is set to the frequency information. If it is determined that there is no gender, the given measurement period (default measurement period) is applied as it is. In the present embodiment, the default measurement period is assumed to coincide with the position calculation period. The measurement period set by the measurement period setting unit 104 is stored as measurement period data 206.

  The satellite acquisition unit 108 performs digital signal processing such as carrier (carrier wave) removal and correlation operation on data (received data) of the reception signal from the RF reception circuit unit 22 to acquire a GPS satellite (GPS satellite signal). Do.

  The position calculation unit 110 calculates satellite acquisition data 208 and measurement data 210 for each of the GPS satellites acquired by the satellite acquisition unit 108, and uses acquired data for each predetermined position calculation cycle (for example, one second). The position calculation processing is performed to calculate the position of the GPS receiver 20, clock error (clock bias), and moving speed. As the position calculation process, known methods such as the least squares method and the Kalman filter can be applied. At this time, if the measurement period set by the measurement period setting unit 104 is N cycles set based on the exercise period detected by the frequency information detection unit 101, the measurement period of the position calculation period The position calculation process is performed using data (measurement data) acquired using the positioning satellite signal received during the period of N periods of the period.

  The satellite acquisition data 208 is data such as almanac and ephemeris of each GPS satellite, and is acquired by decoding the received GPS satellite signal. Although only almanac data may be used as long as it is only for capturing GPS satellites, ephemeris data is needed to calculate the position of the GPS receiver 20 (portable electronic device 1). The measurement data 210 (measurement information) is data such as a code phase and a Doppler frequency related to the received GPS satellite signal, and is calculated based on the result of the correlation calculation with the replica code. Then, the data of the position and the clock error calculated by the position calculation unit 110 are accumulated and stored as the calculation result data 212.

  The BB storage unit 200 is realized by a storage device such as a ROM or a RAM, and a system program for the BB processing unit 100 to control the baseband processing circuit unit 24 in a centralized manner, a program or data for realizing various functions. And the like, and is used as a work area of the BB processing unit 100, and temporarily stores the calculation result of the BB processing unit 100 and the like. In the present embodiment, the BB storage unit 200 stores a baseband program 202, motion cycle data 204, measurement period data 206, satellite capture data 208, measurement data 210, and calculation result data 212. Ru.

[Flow of processing]
FIG. 6 is a flow chart for explaining the flow of the positioning method of the embodiment 1 using the portable electronic device 1 described above. In this positioning method, the processing (baseband processing) of calculating the position and the like of the user wearing the portable electronic device 1 is realized by the BB processing unit 100 executing the baseband program 202.

  First, the GPS receiver 20 of the portable electronic device 1 receives a GPS satellite signal transmitted from a GPS satellite by the GPS antenna 10 (step S1). The RF reception circuit unit 22 down-converts the RF signal received by the GPS antenna 10 into a signal (IF signal) of an intermediate frequency, amplifies it, etc., converts it into a digital signal, and outputs it to the baseband processing circuit unit 24. Do.

Next, in the baseband processing circuit unit 24, the position calculation unit 110 of the BB processing unit 100 calculates measurement information at a predetermined sampling period (for example, 20 ms) from the digital signal input from the RF reception circuit unit 22 and detects frequency information The unit 101 detects frequency information from the measurement information (step S2). The acquired measurement information is temporarily stored in the BB storage unit 200.
Then, the exercise cycle detection unit 102 performs frequency analysis such as FFT on the frequency information detected by the frequency information detection unit 101, whereby the user who wears the GPS receiver 20 (portable electronic device 1) The detection of the exercise cycle and the determination of the presence or absence of the periodicity of the frequency information are performed (step S3). Note that, for frequency analysis, for example, frequency information of N periods of the position calculation cycle can be used.

  If it is determined in step S3 that the frequency information has no periodicity (step S4: NO), the measurement period setting unit 104 continuously applies a given default measurement period as the measurement period (step S5-1). ). If it is determined in step S3 that the frequency information has periodicity (step S4: YES), N periods (N is a natural number) of the movement period are measured based on the detected period (movement period). (Step S5-2). When the position calculation cycle is a fixed value, the measurement period has a length equal to or less than the position calculation cycle. Here, by setting the measurement period to N periods of the detected period, it is possible to avoid using measurement information of a period outside the N period in the position calculation period for position calculation. In particular, fluctuations in the Doppler frequency can be suppressed, and deterioration in the accuracy of positioning calculation can be suppressed. Further, when N is 2 or more, the number of samples of measurement information is larger than when using measurement information of one cycle, so that the accuracy of the positioning calculation can be further improved. The measurement period may be one detected cycle (N = 1).

  Then, the baseband processing circuit unit 24 acquires measurement information (step S7). Specifically, the BB processing unit 100 extracts, from the measurement information temporarily stored in the BB storage unit 200, measurement information corresponding to a measurement period in a period targeted for frequency analysis.

  Then, the average of the measurement information acquired by the receiver is calculated to acquire the measurement data 210 (step S10), and the average of the code phase and the average of the Doppler frequency are calculated. Then, the position calculation unit 110 performs a position calculation process using the acquired measurement data 210, and stores and outputs the calculation result (step S11).

  After that, the BB processing unit 100 determines whether to end the baseband processing based on the presence or absence of an externally input end instruction, etc. If it does not end (step S12: NO), the process returns to step S3 and similar processing repeat. If completed (step S12: YES), the baseband processing is ended.

As described above, according to the portable electronic device 1 according to the present embodiment and the positioning method (baseband processing) using the same, the following effects can be obtained.
In the portable electronic device 1 of the present embodiment, the frequency information detection unit 101 of the BB processing unit 100 of the baseband processing circuit unit 24 controls the frequency information of the digital signal based on the GPS satellite signal output from the RF reception circuit unit 22. The motion cycle detection unit 102 detects the presence or absence of periodicity of the frequency information by performing frequency analysis on the frequency information. Then, when it is determined that the frequency information has periodicity (the motion of the portable electronic device 1 has periodicity), the measurement period setting unit 104 corresponds to N periods of the detected period (N is a natural number) ) Was set as the measurement period.
Thereby, when there is periodicity of frequency information, an error of the positioning calculation result that may occur when the period or a period deviated from the N period is included in the measurement period is suppressed, and highly accurate positioning calculation is performed. It will be possible. Therefore, even when the electronic device is applied to a running watch as in the portable electronic device 1 of the present embodiment, periodicity such as arm swinging, which is an operation in a direction different from movement in the traveling direction, is detected. It is possible to set an accurate measurement period and suppress errors in measurement accuracy.

Second Embodiment
FIG. 7 is a block diagram showing an outline of the configuration of the portable electronic device according to the second embodiment. Moreover, FIG. 8 is a flowchart explaining the flow of processing of the positioning method according to the second embodiment.
A portable electronic device 1 ′ according to the present embodiment and a positioning method using the same will be described with reference to these drawings. In addition, about the structure same as Embodiment 1, the same number is used and the overlapping description is abbreviate | omitted.

  As shown in FIG. 7, the portable electronic device 1 ′ according to the second embodiment includes the GPS antenna 10, the GPS receiver 20, the power supply unit 30, the main processing unit 50, and the operation that the portable electronic device 1 of the first embodiment has. In addition to the unit 52, the display unit 54, the sound output unit 56, the clock unit 58, the main storage unit 60, and the communication unit 70, a sensor unit 40 is provided.

  The sensor unit 40 is a sensor unit having various sensors such as the acceleration sensor 42 and the gyro sensor 44. The sensor unit 40 can be configured, for example, using an inertial measurement device (inertial sensor).

  The main processing unit 50 uses the position calculated by the baseband processing circuit unit 24 and the measurement value of each sensor of the sensor unit 40 to determine the position and speed of the user wearing the portable electronic device 1 ′, and the movement cumulative distance Calculate information (performance information) such as heart rate, number of steps, pitch and pace.

  Also, the frequency information detection unit 101 of the baseband processing circuit unit 24 acquires the measurement value (output information) of the sensor unit 40. The motion cycle detection unit 102 (see FIG. 5) detects the presence or absence of periodicity of the frequency information (determination as to whether or not the movement of the portable electronic device 1 'has periodicity), the acquired measurement value ( Output information). In the present embodiment, the output information of the sensor unit 40 corresponds to frequency information.

  In the positioning method by the portable electronic device 1 'of this embodiment, as shown in FIG. 8, a process of receiving GPS satellite signals by the GPS receiver 20 (step S1) and acquiring measurement information (step S2') Do. Further, the sensor unit 40 starts measurement by each sensor, and measured values (output information) such as acceleration and angular velocity from the sensor unit 40 are input (received) to the BB processing unit 100. These processes are performed substantially in parallel.

  Next, the exercise period detection unit 102 performs frequency analysis on the frequency information detected by the frequency information detection unit 101, whereby the exercise period of the user wearing the GPS receiver 20 (portable electronic device 1 ') And the presence or absence of the periodicity of the frequency information (step S33). Specifically, for example, frequency analysis such as FFT is performed on the time-series measured values of the acceleration sensor 42, and from the analysis result, it is possible to detect the presence or absence of periodicity and the motion cycle.

  Thereafter, the flow of the same process as the process (steps S5-1 to S12 in FIG. 6) in the positioning method of the first embodiment is executed. That is, when it is determined in step S33 that the frequency information does not have periodicity (step S34: NO), the measurement period setting unit 104 continuously applies a given default measurement period as the measurement period (step S5). -1). If it is determined in step S3 that the frequency information has periodicity (step S34: YES), N periods (N is a natural number) of the movement period are measured based on the detected period (movement period). (Step S5-2). Then, based on the measurement data 210 obtained by calculating and averaging the measurement information of the measurement period, the position calculation unit 110 performs position calculation processing, and stores and outputs the calculation result (steps S7 to S11).

  After that, the BB processing unit 100 determines whether to end the baseband processing based on the presence of an externally input end instruction, etc. If it does not end (step S12: NO), the process returns to step S34, and the same processing is performed. repeat. If completed (step S12: YES), the baseband processing is ended.

As described above, according to the portable electronic device 1 ′ according to the present embodiment and the positioning method using the same, the following effects can be obtained in addition to the effects of the first embodiment.
In addition to the configuration of the portable electronic device 1 of Embodiment 1, the portable electronic device 1 'of this embodiment further includes a sensor unit 40 having various inertial sensors such as the acceleration sensor 42 and the gyro sensor 44. It was composition. Then, the frequency information detected based on the output information of the various sensors of the sensor unit 40 is subjected to frequency analysis to determine the presence or absence of the periodicity of the frequency information, and when it is determined that the periodicity is present, the period It was decided to set the measurement period based on the gender.
Thereby, since periodic physical movement of the user wearing the portable electronic device 1 ′ provided with the sensor unit 40 can be detected more accurately, an appropriate measurement period is set, and an error of measurement accuracy is obtained. It can be suppressed.

  As mentioned above, although embodiment of this invention made by the inventor was described concretely, this invention is not limited to above-described embodiment, A various change is added in the range which does not deviate from the summary. Is possible.

  For example, in the above embodiment, a case was assumed where running (running) or walking (walking) was assumed as exercise involving periodic physical movement of the user, but other exercises such as cycling may also be used. Of course.

  Moreover, although GPS was mentioned as an example as a satellite positioning system and demonstrated, Wide Area Augmentation System (WAAS), Quasi Zenith Satellite System (QZSS), Global Navigation Satellite System (GLONASS), GALILEO, Beidou Navigation Satellite System (Gei) etc. It may be another satellite positioning system.

  It will be readily understood by those skilled in the art that many other variations are possible without substantially departing from the novelty and effects of the present invention. Accordingly, all such modifications are intended to be included within the scope of the present invention. For example, in the specification or the drawings, the terms described together with the broader or synonymous different terms at least once can be replaced with the different terms anywhere in the specification or the drawings. Further, the configuration and operation of the portable electronic device (electronic device) are not limited to those described in the present embodiment, and various modifications can be made.

  1, 1 '-Portable electronic device, 10-GPS antenna, 20-GPS receiver, 22-RF reception circuit unit, 24-baseband processing circuit unit, 30-power supply unit, 40-sensor unit, 42-acceleration sensor 44: Gyro sensor 50: Main processing unit 52: Operation unit 54: Display unit 56: Sound output unit 58: Clock unit 60: Main storage unit 70: Communication unit 100: BB processing unit 101: frequency information detection unit, 102: motion cycle detection unit, 104: measurement period setting unit, 108: satellite capture unit, 110: position calculation unit, 200: BB storage unit, 202: baseband program, 204: motion cycle data 206 measurement period data 208 satellite acquisition data 210 measurement data 212 calculation result data.

Claims (8)

A positioning method using an electronic device attached to a user or an apparatus that moves as the user moves,
Receiving positioning satellite signals from the satellites;
Determining whether the motion of the electronic device has periodicity;
Determining a measurement period for calculating measurement data using the positioning satellite signal based on the periodicity when it is determined that the periodicity is present;
Performing positioning calculation using measurement data of the measurement period;
Only including,
The measurement method is characterized in that the measurement period is N cycles (N is a natural number) of the cycle of the movement . In the positioning method according to claim 1,
A positioning method comprising: analyzing the frequency of the received positioning satellite signal to determine whether the periodicity is present. In the positioning method according to claim 1,
The electronics include an inertial sensor
It is determined whether or not the periodicity is present based on the output information of the inertial sensor. The positioning method according to any one of claims 1 to 3 .
The positioning method according to claim 1, wherein the electronic device is attached to the user's limb. An electronic device attached to a user or a device that moves as the user moves,
A receiving circuit unit for receiving a positioning satellite signal;
An exercise cycle detection unit that determines whether the exercise of the electronic device has periodicity;
A measurement period setting unit that determines, based on the periodicity, a measurement period in which measurement data is calculated using the positioning satellite signal when it is determined that there is periodicity;
A position calculation unit that performs positioning calculation using the measurement data of the measurement period;
Only including,
The electronic device, wherein the measurement period setting unit sets N periods (N is a natural number) of the movement period as the measurement period . In the electronic device according to claim 5 ,
The electronic device according to claim 1, wherein the motion cycle detection unit analyzes the frequency of the received positioning satellite signal to determine whether the periodicity is present. In the electronic device according to claim 5 ,
Further includes an inertial sensor,
The electronic device, wherein the motion cycle detection unit determines whether or not the periodicity is present based on output information of the inertia sensor. The electronic device according to any one of claims 5 to 7 .
An electronic device comprising: mounting means for mounting the electronic device on the user's limb.

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