JP6652400B2 - Position output device and position output method - Google Patents

Description

  An embodiment of the present invention relates to a position output device and a position output method.

  A device capable of outputting a current position to a map (hereinafter, referred to as a position output device) is known. Many position output devices determine the current position using a satellite positioning system such as a GPS (Global Positioning System). Generally, GPS cannot determine the current position indoors. Some position output devices use GPS outdoors and use wireless LAN positioning systems indoors in order to be able to determine positions indoors and outdoors.

JP 2005-351823 A

  The position output device may output the determined current position on a map. The map used for the position output device is usually created based on one coordinate system. For example, a map used for a GPS-compatible car navigation device is created based on a coordinate system based on the World Geodetic System 1984 (WGS84) (hereinafter, referred to as a WGS84 coordinate system).

  If the positioning systems are different, the coordinate system serving as the position determination reference is different. For example, the satellite positioning system determines the position based on the WGS84 coordinate system, and the wireless LAN positioning system determines the position based on an arbitrary coordinate system arbitrarily determined by a device developer or the like. When the position output device supports a plurality of positioning systems, the position output device may need to convert the acquired position information into position information of another coordinate system in order to output position information on a map. is there.

  For example, consider a position output device corresponding to a satellite positioning system using the WGS84 coordinate system as a position determination reference and a wireless LAN positioning system using an arbitrary coordinate system as a position determination reference. It is assumed that the position output device includes a map based on the WGS84 coordinate system, and acquires position information of an arbitrary coordinate system by the wireless LAN positioning system. In this case, the position output device displays position information of an arbitrary coordinate system (for example, position information expressed as a distance of the SI unit system from the coordinate origin) in order to display the current position on a map based on the WGS84 coordinate system. Needs to be converted into position information of the WGS84 coordinate system (for example, position information expressed by latitude and longitude). Alternatively, it is assumed that the position output device includes a map (for example, a general architectural drawing) based on an arbitrary coordinate system, and acquires the position information of the WGS84 coordinate system by the satellite positioning system. In this case, the position output device needs to convert the position information of the WGS84 coordinate system into the position information of the arbitrary coordinate system in order to display the current position on a map based on the arbitrary coordinate system.

  However, the transformation of the coordinate system involves difficulties. For example, when the determined current position is converted to position information of a different unit system (for example, when latitude and longitude information is converted to position information of an SI unit system), an error occurs in the position information with a high probability. Further, depending on the positioning system, there is a case where an error is included in the determined position information itself. For example, the position determined by GPS includes an error of 10 m or more in some cases. In this case, if the applicable range of the coordinate system of the conversion destination is a small range (for example, an area of several tens m square), the position information with the accuracy (for example, several tens of cm) required in the coordinate system of the conversion destination Output is difficult. When the coordinate system needs to be transformed, the current position output to the map has low accuracy.

  The problem to be solved by the present invention is to make the current position output on a map highly accurate even when a plurality of positioning systems are used.

Position output apparatus embodiment, a first coordinate system, the first and the coordinate system the second coordinate system and the reference of which is part of the application range of the first coordinate system and the second storing a position置判by means you determine the current position, a first map corresponding to said first coordinate system, and a second map corresponding to the second coordinate system by switching the coordinate system Moving direction information acquiring means for acquiring information on a moving direction based on the second coordinate system at a timing of switching from the first coordinate system to the second coordinate system; A moving direction discriminating means for discriminating a moving direction based on the first coordinate system at a timing of switching from a coordinate system to the second coordinate system based on information of the current position determined by the position discriminating means; The second seat acquired by the moving direction information acquiring means; Determining a posture of the second map with respect to the first map based on a moving direction based on a system and a moving direction based on the first coordinate system acquired by the moving direction determining means. And a position output unit that outputs the current position determined by the position determination unit to a map of a corresponding coordinate system selected from the first map and the second map. Prepare.

1 is a diagram illustrating a position output system including a position output device according to a first embodiment. FIG. 3 is a functional block diagram of a control unit included in the position output device according to the first embodiment. FIG. 4 is a diagram illustrating a state in which various data are stored in a storage unit included in the position output device according to the first embodiment. FIG. 3 is a diagram illustrating a relationship between regions that are applicable ranges of a global coordinate system and a local coordinate system. FIG. 4 is a diagram illustrating an example of a setting state of a wireless transmitter. 5 is a flowchart illustrating a position output process according to the first embodiment. It is a figure showing signs that a current position was outputted to a global map. It is a figure showing signs that a position output device entered into a local field in a global field from a global field. It is a figure showing signs that a position output device entered into another local field in the local field from a local field. It is a figure showing a position output system provided with a position output device of Embodiment 2. FIG. 14 is a diagram illustrating a state in which various data are stored in a storage unit included in the position output device according to the second embodiment. It is a figure which shows an example of the installation situation of an IMES transmitter. 9 is a flowchart illustrating a position output process according to the second embodiment. FIG. 11 is a diagram illustrating a position output system including a position output device according to a third embodiment. FIG. 14 is a diagram illustrating a state in which various data are stored in a storage unit included in the position output device according to the third embodiment. It is a figure showing an example of the installation situation of an RFID reader. 13 is a flowchart illustrating a position output process according to the third embodiment. FIG. 8 is a diagram illustrating a state in which the orientation of the local map is inclined with respect to the global map. It is a functional block diagram of a control part with which the position output device of Embodiment 4 is provided. It is a flowchart which shows an attitude | position discrimination process.

  Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. In the drawings, the same or equivalent parts are denoted by the same reference numerals.

(Embodiment 1)
FIG. 1 is a diagram illustrating a position output system 1 including a position output device 20 according to the first embodiment. The position output device 20 is a device that outputs position information such as a car navigation device and a smartphone. The position output device 20 corresponds to a satellite positioning system (first positioning system) and a wireless LAN positioning system (second positioning system). The position output device 20 determines the current position using one of the two positioning systems.

Position output system 1 comprises a plurality of NSS transmitters ₁₁ 1 to 11 _N, a plurality of radio transmitters ₁₂ 1 to 12 _N, and a position output unit 20. In the present embodiment, N used for a code is an arbitrary integer. _N of 11 _N and N of 12 _N may be different numbers.

NSS transmitter ₁₁ 1 to 11 _N are each, transmitter mounted to a navigation satellite navigation satellite systems (NSS) has. NSS transmitter ₁₁ 1 to 11 _N functions as a transmitter of the first positioning system. The navigation satellite system may be a global navigation satellite system (GNSS) or a regional navigation satellite system (RNSS). Navigation satellite systems are sometimes referred to as satellite positioning systems (SPS). Examples of the global navigation satellite system include a global positioning system (GPS), a global navigation satellite system (GLONASS), Galileo, and Compass. Examples of regional navigation satellite systems include QZSS (quasi-zenith satellite system), DORIS (Doppler Orbitography and Radiopositioning Integrated by Satellite), and IRNSS (Indian Regional Navigation Satellite System). NSS transmitter ₁₁ 1 to 11 _N, respectively, (also referred to as a navigation signal.) Positioning signal to the ground to transmit the.

Radio transmitter ₁₂ 1 to 12 _N is a wireless device for transmitting a signal in. Radio transmitter ₁₂ 1 to 12 _N functions as a transmitter of the second positioning system. Radio transmitter ₁₂ 1 to 12 _N, for example, radio wave, light (including infrared.), Or sounds (including ultrasound.) Using the transmitting signals. In the present embodiment, as an example, it is assumed that the wireless transmitters 12 _{1 to} 12 _N are wireless LAN communication devices (for example, wireless LAN access points). Radio transmitter ₁₂ 1 to 12 _N, for example, inside a building, or installed on site such as amusement park, and transmits the terrestrial like Beacon signal. Terrestrial waves are radio waves that travel on the ground.

  The position output device 20 is a device that outputs position information. The position output device 20 may be a mobile terminal such as a smartphone or a tablet terminal, or may be a device installed on a moving body such as a car navigation device. The position of the position output device 20 changes as the user moves or as the user operates the moving body. The position output device 20 includes an NSS receiving unit 21a, a wireless receiving unit 21b, a display unit 22, a communication unit 23, a control unit 24, and a storage unit 25.

NSS receiving unit 21a is a device that receives a positioning signal transmitted from NSS transmitter ₁₁ 1 to 11 _N. The NSS receiver 21a functions as a first receiver of the position output device 20. The NSS receiver 21a transmits the received positioning signal to the controller 24. Alternatively, the NSS receiving unit 21a transmits the position information determined based on the positioning signal to the control unit 24. In the following description, the position information determined based on the positioning signal received by the NSS receiver 21a is referred to as global position information for easy understanding.

  The global position information is position information using a predetermined coordinate system as a determination reference. For example, the global position information is latitude / longitude information based on a predetermined latitude / longitude coordinate system. The global position information may include altitude information in addition to the latitude and longitude information. The altitude information may be an altitude or an ellipsoidal height. The ellipsoid height is the height measured from the reference ellipsoid.

  A coordinate system (hereinafter referred to as a global coordinate system) serving as a reference for determining global position information is a latitude / longitude coordinate based on a global geodetic system such as the World Geodetic System 1984 (WGS84) and the Japanese Geodetic System 2000 (JGD2000). It may be a system. Alternatively, the global coordinate system may be a latitude / longitude coordinate system belonging to a local coordinate system such as the Japan Geodetic System (TKY). A global datum is a datum that can be applied to the entire earth. Even when the global coordinate system is a coordinate system based on the global geodetic system, the applicable range of the coordinate system does not necessarily need to be the entire earth. The application range of the coordinate system may be a part of the earth, such as Japan, the United States, China, and Europe.

Wireless receiving unit 21b is a device that receives a signal transmitted from the radio transmitter ₁₂ 1 to 12 _N. The wireless receiving unit 21b functions as a second receiving unit of the position output device 20. The wireless receiving unit 21b is, for example, a wireless LAN receiver. The wireless receiving unit 21b transmits the received signal to the control unit 24. Alternatively, the wireless receiving unit 21b transmits the position information determined based on the received signal to the control unit 24. The received signal is, for example, a Beacon signal. In the following description, the position information determined based on the signal received by the wireless reception unit 21b is referred to as local position information for easy understanding.

  The local position information is position information using a predetermined coordinate system as a determination reference. For example, the local position information is coordinate information using a predetermined orthogonal coordinate system (for example, an XY plane coordinate system, an XYZ space coordinate system) as a determination reference. The local position information may be a coordinate value (X, Y value or X, Y, Z value) with a preset point as the coordinate origin. At this time, the X and Y values are values in the X-axis and Y-axis directions (horizontal direction), and the Z values are values in the Z-axis direction (height direction). The X, Y, and Z values may be numerical values in the SI unit system. The rectangular coordinate system may be an arbitrary coordinate system applied to a map (for example, an architectural drawing, a photograph, or the like) managed by a device designer or the like. There may be a plurality of orthogonal coordinate systems serving as a reference for determining local position information. Coordinate systems with different coverages can be considered different coordinate systems.

  The display unit 22 is a display device such as a liquid crystal display (Liquid Crystal Display) and an organic EL display (Organic Electro-Luminescent Display). The display unit 22 displays various information to the user under the control of the control unit 24.

  The communication unit 23 is a communication interface for connecting the position output device 20 to an external device. For example, the communication unit 23 may be an external device connection interface such as a USB (Universal Serial Bus) interface or a network connection interface such as a LAN (Local Area Network) interface. The communication unit 23 may be a wired interface or a wireless interface such as a wireless LAN and Bluetooth (registered trademark). The communication unit 23 communicates with an external device under the control of the control unit 24.

  The control unit 24 is a processing device such as a processor. The control unit 24 operates according to a program stored in a ROM (Read Only Memory) or a RAM (Random Access Memory) (not shown) or a storage unit 25 to realize various operations including “position output processing” described later. I do. FIG. 2 is a functional block diagram of the control unit 24. The control unit 24 has functions as a position determination unit 241, a map acquisition unit 242, a switching timing determination unit 243, and a position output unit 244. The position determining unit 241 functions as a position determining unit of the position output device 20, the map obtaining unit 242 functions as a map obtaining unit of the position output device 20, and the switching timing determining unit 243 functions as a switching timing determining unit of the position output device 20. The position output unit 244 functions as a position output unit of the position output device 20. Each functional block shown in FIG. 2 may be a software block or a hardware block.

  The storage unit 25 is a data readable / writable storage device such as a dynamic random access memory (DRAM), a static random access memory (SRAM), a flash memory, and a hard disk. The storage unit 25 functions as a storage unit of the position output device 20. FIG. 3 is a diagram illustrating a state in which various data are stored in the storage unit 25. The storage unit 25 stores map information 251, local map position information 252, transmitter position information 253, and the like.

  The map information 251 is map data used by the position output device 20 to indicate the current position to the user. The map information 251 includes a global map G (first map) and a plurality of local maps. The plurality of local maps include a local map A (second map), a local map B (third map), and a local map C (fourth map). The global map G is a map of an area which is an application range of the global coordinate system. Each of the local maps A to C is a map of an area which is an application range of the local coordinate system. In the present embodiment, the number of local maps is, for example, three, A to C, but the number of local maps is not limited to three. The number of local maps may be more or less than three.

  FIG. 4 is a diagram illustrating a relationship between the respective regions that are the application ranges of the global coordinate system and the local coordinate system. The area G is an area to be applied in the global coordinate system. The region G is, for example, the whole earth or a part of the earth. Each of the areas A to C is an area to be applied to the local coordinate system. The areas A to C are each a part of the area G. The areas A and C are independent areas on the area G, and the area B is a partial area of the area A. The areas A and C are, for example, a site of an amusement park or a factory, and the area B is, for example, a building in an amusement park. FIG. 4 is merely an example. The number, range, and dependency of the regions are not limited to the example shown in FIG.

  In the following description, a coordinate system having the area G as an application range is referred to as a global coordinate system G (first coordinate system). Further, a local coordinate system having an area A as an application range is a local coordinate system A (second coordinate system), a local coordinate system having an area B as an application range is a local coordinate system B (third coordinate system), Is referred to as a local coordinate system C (a fourth coordinate system). The coordinate origins A to C of the local coordinate systems A to C may be arbitrarily determined by an apparatus designer or the like.

  Returning to FIG. 3, the local map position information 252 is information indicating the positions of the local maps A to C on the global map G. For example, the local map position information 252 is information in which identification information of the local maps A to C is associated with position information of the coordinate origins A to C. The position information of the coordinate origins A to C is position information in the global coordinate system G. If the global coordinate system G is a latitude / longitude coordinate system, the position information of the coordinate origins A to C is latitude / longitude information.

  Note that the position information of the coordinate origin does not necessarily have to be the position information in the global coordinate system. If there is a higher-level local map in the relevant local map, the position information of the coordinate origin may be position information in the coordinate system of the higher-level local map. In the example of FIG. 4, since the local map B includes the local map A as a higher-level local map, the position information of the coordinate origin B may be position information in the local coordinate system A. If the local coordinate system A is an arbitrary coordinate system, the position information of the coordinate origin B is, for example, position information (for example, X, Y values) expressed as a distance from the coordinate origin A in the SI unit system.

Returning to FIG. 3, the transmitter position information 253 is information in which the installation positions of the wireless transmitters 12 _{1 to} 12 _N are recorded. The transmitter position information 253 includes identification information of the wireless transmitters 12 _{1 to} 12 _N and information on their installation positions. Radio transmitter ₁₂ 1 to 12 _N are installed, for example, the application range of the local coordinate system. Figure 5 is a diagram showing an example of an installation state of a wireless transmitter ₁₂ 1 to 12 _6. In the example of FIG. 5, the radio transmitter ₁₂ 1 to 12 ₃ of the three transmitters are installed in the area A, the radio transmitter ₁₂ 4-12 ₆ three transmitter is installed in the area B. Position of the radio transmitters 12 ₁ to 12 _N are recorded as the position information of the coordinate system applied to the installation area. For example in FIG. 5, the installation location of the radio transmitter ₁₂ 1 to 12 _3, as shown in FIG. 3, is recorded in the transmitter position information 253 as the position information I1~I3 on the local coordinate system A, the radio transmission position of the machine ₁₂ 4-12 ₆ is recorded as position information I4~I6 on the local coordinate system B.

  Next, the operation of the position output device 20 having such a configuration will be described.

  When power is supplied to the position output device 20, the control unit 24 starts position output processing. As described above, the control unit 24 has functions as the position determination unit 241, the map acquisition unit 242, the switching timing determination unit 243, and the position output unit 244. Hereinafter, the position output processing will be described with reference to the flowchart of FIG.

Position determining section 241 acquires a positioning signal from the NSS transmitter ₁₁ 1 to 11 _N. The position determining unit 241 corresponds to at least the global coordinate system G and the local coordinate systems A to C. That is, the position determination unit 241 is capable of determining the reference current position of the global coordinate system G based on the positioning signals acquired from the NSS transmitter ₁₁ 1 to 11 _N, acquired from the wireless transmitter ₁₂ 1 to 12 _N It is possible to determine the current position with reference to the local coordinate systems A to C based on the signal thus obtained. Position determining unit 241, based on the positioning signals acquired from the NSS transmitter ₁₁ 1 to 11 _N, to determine the current position P1 relative to the global coordinate system G (step S101). Since the global coordinate system G is a latitude / longitude coordinate system, the current position P1 is latitude / longitude information. The current position P1 may include altitude information.

  Subsequently, the position determining unit 241 determines whether the current position P1 has been determined (step S102). When the current position cannot be determined (Step S102: No), the position determining unit 241 advances the processing to Step S105.

  When the current position P1 can be determined (Step S102: Yes), the map acquisition unit 242 acquires a map corresponding to the coordinate system of the current position P1 from the plurality of maps stored in the storage unit 25. Since the current position P1 is position information based on the global coordinate system G, the corresponding map is the global map G. The map acquisition unit 242 acquires the global map G from the storage unit 25 as a corresponding map (Step S103).

  When the acquisition of the global map G is completed, the position output unit 244 outputs the current position P1 to the global map G acquired in Step S103 (Step S104). Since both the global map G and the current position P1 are in the global coordinate system G, the position output unit 244 can output the current position P1 to a map without converting the current position P1 into position information of another coordinate system. The position output unit 244 displays the global map G on which the current position P1 is displayed on the display unit 22. FIG. 7 is a diagram illustrating a state where the global map G to which the current position P1 has been output is displayed on the display unit 22. The position output unit 244 may output information on the current position P1 (for example, latitude and longitude information) to the storage unit 25 as log information.

  Next, the switching timing determining unit 243 determines whether or not the current time is the switching timing of the coordinate system (step S105). Which point in time is the switching timing can be arbitrarily set by a device designer. For example, the switching timing determination unit 243 may use the timing at which the position output device 20 enters the application area of one coordinate system from the application area of another coordinate system as the switching timing. In the example of FIG. 4, the switching timing is the timing at which the position output device 20 changes from the area G to the area A or the area C, from the area A or the area C to the area C, or from the area A to the area B. This is the timing of entering the area and the timing of entering the area A from the area B.

  Various methods can be used as a method of determining whether or not the user has entered the application area of another coordinate system. For example, the switching timing determination unit 243 sends a signal having a preset strength (for example, a signal strength equal to or higher than the set reception strength) from one or more of the radio transmitters installed in the application area of another coordinate system. May be determined, the position output device 20 has entered an area of another coordinate system. Alternatively, the switching timing determination unit 243 can determine the current position by the position determination unit 241 based on a signal from a wireless transmitter installed in an area of another coordinate system. If the position is within the applicable area of the system, it may be determined that the position output device 20 has entered the area of another coordinate system.

  If the current time is not the coordinate system switching timing (step S105: No), the switching timing determination unit 243 advances the process to step S107. If the current time is the coordinate system switching timing (Step S105: Yes), the position determining unit 241 switches the coordinate system serving as the current position determination reference to another coordinate system (Step S106). For example, it is assumed that the position output device 20 has entered the area A from the area G as shown in FIG. In FIG. 8A, the position of P2 is the position of the position output device 20. At this time, the position determining unit 241 switches the coordinate system serving as the reference for determining the current position from the global coordinate system G to the local coordinate system A. It is also assumed that the position output device 20 has entered the area B from the area A as shown in FIG. In FIG. 9A, the position of P3 is the position of the position output device 20. At this time, the position determining unit 241 switches the coordinate system serving as the reference for determining the current position from the local coordinate system A to the local coordinate system B.

  The position determining unit 241 determines the current position based on the switched coordinate system (Step S107). If the switched coordinate system is the global coordinate system G, the position determination unit 241 determines the current position by the same method as that shown in step S101. On the other hand, if the switched coordinate system is the local coordinate system, the position determining unit 241 determines the current position based on the signal received by the wireless receiving unit 21b. For example, the position determination unit 241 determines the current position using a position estimation method based on RSS (Received Signal Strength). For example, it is assumed that the switched coordinate system is the local coordinate system A and the applicable area is the area A shown in FIG. At this time, the position determining unit 241 determines the current position of the position output device 20 according to the following procedure.

First, the position determination unit 241 determines a respective received signal strength RSS radio transmitter ₁₂ 1 to 12 _3. Furthermore, the position determination unit 241, received signal strength (e.g., RSSI (Received Signal Strength Indicator), etc.) to determine the respective distances to the radio transmitter ₁₂ 1 to 12 _3, based on the. Then, the position determination unit 241 acquires position information I1~I3 on the local coordinate system A radio transmitter ₁₂ 1 to 12 ₃ from the storage unit 25 shown in FIG. The position determination unit 241, based on the position information I1~I3 distance and wireless transmitter ₁₂ 1 to 12 ₃ to the wireless transmitter ₁₂ 1 to 12 _3, and calculates the current position of the position output device 20. If it is not possible to obtain enough received signals to calculate the current position, the position determining unit 241 may determine the position of the wireless transmitter having the strongest received signal strength as the current position.

  Next, the map obtaining unit 242 obtains a map corresponding to the coordinate system of the current position obtained in step S107 from the plurality of maps stored in the storage unit 25 (step S108). For example, if the current position acquired in step S107 is the position information of the global coordinate system G, the map acquisition unit 242 acquires the global map G as a corresponding map. If the current position acquired in step S107 is the position information of the local coordinate system A, the map acquisition unit 242 acquires the local map A as a corresponding map. If the current position obtained in step S107 is the position information of the local coordinate system B, the map obtaining unit 242 obtains the local map B as a corresponding map.

  Subsequently, the position output unit 244 outputs the current position acquired in Step S107 to the map acquired in Step S108 (Step S109). Since the coordinate system of the map and the coordinate system of the current position match, the position output unit 244 can output the current position without converting the current position into position information of another coordinate system. The position output unit 244 outputs a map on which the current position is displayed to the display unit 22. For example, assume that the position determination unit 241 has acquired the current position P2 of the local coordinate system A in step S107. At this time, the position output unit 244 displays the current position P2 on the local map A as shown in FIG. It is also assumed that the position determination unit 241 has acquired the current position P3 of the local coordinate system B in step S107. At this time, the position output unit 244 displays the current position P2 on the local map B as shown in FIG. The position output unit 244 may display the current position on the display unit 22 as numerical information (for example, coordinate values). Further, the position output unit 244 may output information of the current position of the position output device 20 (for example, the coordinate value of the SI unit system and the latitude and longitude information of the coordinate origin) to the storage unit 25 as log information. The position output unit 244 may output information on the current position to an external device via the communication unit 23.

  When the output of the position information is completed, the control unit 24 returns to step S105, and repeats steps S105 to S109.

  According to the present embodiment, the position output device 20 outputs the current position determined by the position determination unit 241 to a map in the same coordinate system as the coordinate system using the current position determined by the position determination unit 241 as a reference. There is no need to convert to location information. For this reason, it is not necessary to consider an error due to the coordinate system conversion and an error of the positioning system itself. Therefore, even when a plurality of positioning systems are used, the position output device 20 can output the current output to the map. The position can be made highly accurate.

  In the case of a world map, the latitude and longitude position information is easier for the user to handle the information. On the other hand, in the case of an architectural drawing, the position information in the SI unit system is easier for the user to handle. Since the position output device 20 supports a plurality of coordinate systems, in the case of a map corresponding to latitude and longitude (for example, a world map), the position output device 20 can output position information in latitude and longitude, and a map corresponding to the SI unit system ( For example, for architectural drawings), position information can be output in SI units. Therefore, the position output device 20 can realize high convenience.

  Further, since the position output device 20 switches the coordinate system based on the switching timing determined by the switching timing determining unit 243, the position can be displayed seamlessly indoors and outdoors.

  Further, since the position output device 20 does not select the coordinate system of the map, the user can freely select the map that the position output device 20 uses for position output. Since the position output device 20 can handle various coordinate systems, the minimum unit of the position display can be refined by using a coordinate system with fine units.

(Embodiment 2)
In the first embodiment, the second positioning system is a wireless LAN positioning system. However, the second positioning system is not limited to the wireless LAN positioning system. The second positioning system may be an IMES (Indoor Messaging System). Hereinafter, the position output system 1 including the position output device 20 according to the second embodiment will be described.

FIG. 10 is a diagram illustrating a position output system 1 including the position output device 20 according to the second embodiment. Position output system 1 comprises a plurality of NSS transmitters ₁₁ 1 to 11 _N, and a plurality of IMES transmitters ₁₃ 1 to 13 _N, and a position output unit 20. The plurality of NSS transmitters 11 _{1 to} 11 _N are the same as in the first embodiment, and a description thereof will be omitted. Note that N used for the code is an arbitrary integer. The _N of 11 _{N and} the N of 13 _N may be different numbers.

IMES transmitter ₁₃ 1 to 13 _N is the IMES corresponding transmitter. The IMES transmitter functions as a transmitter of the second positioning system. IMES is specified in the quasi-zenith satellite system user interface specification (IS-QZSS) and the like. IMES transmitter ₁₃ 1 to 13 _N, for example, is installed inside the ground buildings. The signal transmitted from the IMES transmitter ₁₃ 1 to 13 _N, the position information (longitude and latitude information, altitude information) of the transmitter itself is included. The altitude information transmitted by the IMES transmitters 13 _{1 to} 13 _N is floor information indicating the number of floors of the building. The IMES transmission signal of the transmitter ₁₃ 1 to 13 _N, can be included ID information called a short ID, medium ID.

  The position output device 20 includes an NSS receiving unit 21a, an IMES receiving unit 21c, a display unit 22, a communication unit 23, a control unit 24, and a storage unit 25. The configurations of the NSS receiving unit 21a, the display unit 22, and the control unit 24 are the same as those in the first embodiment, and a description thereof will be omitted.

IMES receiver 21c is a device for receiving a transmission signal of the IMES transmitter ₁₃ 1 to 13 _N. The IMES receiver 21c functions as a second receiver of the position output device 20. The IMES receiver 21c is, for example, an IMES receiver. The IMES receiving unit 21c transmits the received signal to the control unit 24. The position determining unit 241 determines the current position of the position output device 20 based on the received signal.

  The storage unit 25 is a storage device that can read and write data. FIG. 11 is a diagram illustrating a state in which various data are stored in the storage unit 25. The storage unit 25 stores map information 251, local map position information 252, transmitter position information 254, and the like. The data configuration of the map information 251 and the local map position information 252 is the same as in the first embodiment.

Transmitter location information 254 is information that the installation position of the IMES transmitter ₁₃ 1 to 13 _N was recorded. The transmitter position information 254 includes identification information of the IMES transmitters 13 _{1 to} 13 _N and information on the installation positions. IMES transmitter ₁₃ 1 to 13 _N are installed, for example, the application range of the local coordinate system. FIG. 12 is a diagram illustrating an example of an installation state of the IMES transmitters 13 _{1 to} 13 ₁₅ . In the example of FIG. 12, _eleven IMES transmitters 13 _{1 to} 13 ₁₁ are installed in the area A, and four IMES transmitters 13 _{12 to} 13 ₁₅ are installed in the area B. I have. IMES position of the transmitter ₁₃ 1 to 13 _N are recorded as the position information of the coordinate system applied to the installation area. In the case of the example of FIG. 12, the installation positions of the IMES transmitters 13 _{1 to} 13 ₁₁ are recorded as position information J1 to J11 on the local coordinate system A, as shown in FIG. 11, and the IMES transmitters 13 _{12 to} 13 ₁₅ Are recorded as position information J12 to J15 on the local coordinate system B.

The position output unit 20 may be configured to obtain the transmitter position information 254 from the IMES transmitter ₁₃ 1 to 13 _N. For example, the system builder, the information transmitted by the IMES transmitters 13 _{1 to} 13 _N to the position output device 20 includes the position information of the IMES transmitter itself and the position information of the IMES transmitters around the IMES transmitter. Thus, the position output system 1 is configured. ID information (for example, medium ID) may be used for transmitting the position information. Note that various methods can be used as a method for the IMES transmitter to acquire the position information of the surrounding IMES transmitters. For example, the IMES transmitter may attempt to wirelessly communicate with the surrounding IMES transmitter, and may acquire the location information of the surrounding IMES transmitter by receiving the location information from the established IMES transmitter. When acquiring the position information from the IMES transmitter, the position output device 20 may store the acquired position information in the storage unit 25 in association with the identification information of the IMES transmitter.

  Next, the operation of the position output device 20 having such a configuration will be described.

  When power is supplied to the position output device 20, the control unit 24 starts position output processing. The control unit 24 has functions as a position determination unit 241, a map acquisition unit 242, a switching timing determination unit 243, and a position output unit 244, as in the first embodiment. Hereinafter, the position output processing will be described with reference to the flowchart in FIG.

Position determining unit 241, based on the positioning signals acquired from the NSS transmitter ₁₁ 1 to 11 _N, to determine the current position P1 relative to the global coordinate system G (step S201). Then, the position determining unit 241 determines whether the current position P1 has been determined (step S202). When the current position P1 cannot be determined (Step S202: No), the position determining unit 241 advances the processing to Step S205. When the current position P1 can be determined (Step S202: Yes), the map acquisition unit 242 acquires a global map G corresponding to the coordinate system of the current position P1 from among the plurality of maps stored in the storage unit 25. (Step S203). Then, the position output unit 244 outputs the current position P1 to the global map G (Step S204). The position output unit 244 may output information on the current position P1 to the storage unit 25 as log information.

  Next, the switching timing determining unit 243 determines whether or not the current time is the switching timing of the coordinate system (step S205). Which point in time is the switching timing can be arbitrarily set by a device designer. For example, the switching timing determination unit 243 may use the timing at which the position output device 20 enters the application area of another coordinate system from the application area of one coordinate system as the switching timing.

  Various methods can be used as a method of determining whether or not the user has entered the application area of another coordinate system. For example, when the switching timing determination unit 243 can acquire the latitude and longitude information from one or more of the IMES transmitters installed in the application area of another coordinate system, the position output device 20 transmits the information to the area of another coordinate system. It may be determined that it has entered. Alternatively, the switching timing determination unit 243 can determine the current position by the position determination unit 241 based on a signal from the IMES transmitter installed in an area of another coordinate system. If the position is within the applicable area of the system, it may be determined that the position output device 20 has entered the area of another coordinate system.

  If the current time is not the switching timing of the coordinate system (step S205: No), the switching timing determination unit 243 advances the process to step S207. If the current time is the switching timing of the coordinate system (step S205: Yes), the position determining unit 241 switches the coordinate system serving as the current position determination reference to another coordinate system (step S206). Then, the position determining unit 241 determines the current position based on the switched coordinate system (Step S207). If the switched coordinate system is the local coordinate system, the position determining unit 241 determines the current position based on the signal received from the IMES receiving unit 21c.

  For example, when the IMES receiving unit 21c receives signals from a predetermined number or more (for example, three or more) of IMES transmitters, the position determination unit 241 determines whether the strength of a signal received from these IMES transmitters is low. The current position may be determined based on the current position. The coordinate system used as the reference for determining the current position is the coordinate system of the switching destination. The information on the current position may include floor information. On the other hand, if the IMES receiving unit 21c has not received a signal from a predetermined number or more of IMES transmitters, the position determining unit 241 determines the IMES transmitter with the highest received signal strength, and determines the determined IMES transmitter. Is determined as it is as the current position. At this time, the position determination unit 241 may acquire the position information of the IMES transmitter from the transmitter position information 254 shown in FIG. Note that the method by which the position determination unit 241 determines the current position is not limited to the above. For example, the position determination unit 241 may determine the current position by positioning using a carrier wave or a code signal, similarly to the GPS.

  Next, the map obtaining unit 242 obtains a map corresponding to the coordinate system of the current position obtained in step S207 from the plurality of maps stored in the storage unit 25 (step S208). Then, the position output unit 244 outputs the current position acquired in Step S207 to the map acquired in Step S208 (Step S209). The position output unit 244 displays the map on which the current position has been output on the display unit 22. The position output unit 244 may output information on the current position of the position output device 20 (coordinate values of the target coordinate system and floor information) to the storage unit 25 as log information.

  When the output of the position information is completed, the control unit 24 returns to step S205, and repeats steps S205 to S209.

  Also in the present embodiment, the position output device 20 can make the current position output to the map highly accurate. The position output device 20 can also obtain floor information as position information by supporting IMES.

(Embodiment 3)
In the first and second embodiments, the second positioning system is a system that measures the distance between the transmitter and the receiver (hereinafter, referred to as a distance measurement system). However, the second positioning system need not necessarily be a ranging system. For example, the second positioning system may be a system using an RFID (Radio Frequency Identifier) (for example, an entry / exit system). Hereinafter, the position output system 1 including the position output device 20 according to the third embodiment will be described.

FIG. 14 is a diagram illustrating a position output system 1 including the position output device 20 according to the third embodiment. Position output system 1 comprises a plurality of NSS transmitters ₁₁ 1 to 11 _N, a plurality of RFID readers ₁₄ 1 to 14 _N, and a position output unit 20. The plurality of NSS transmitters 11 _{1 to} 11 _N are the same as in the first embodiment, and a description thereof will be omitted. Note that N used for the code is an arbitrary integer. _N of 11 _N and N of 14 _N may be different numbers.

RFID reader ₁₄ 1 to 14 _N is an RF tag 21d and wireless devices communicating attached to position output unit 20. RFID reader ₁₄ 1 to 14 _N functions as a transmitter of the second positioning system. RFID reader ₁₄ 1 to 14 _N respectively have unique identification information. RFID reader ₁₄ 1 to 14 _N, respectively, as well as read information from the RF tag 21d, and transmits the identification information of the RFID reader to the position output apparatus 20 via the RF tag 21d.

  The position output device 20 includes an NSS receiving unit 21a, an RF tag 21d, a display unit 22, a communication unit 23, a control unit 24, and a storage unit 25. The configurations of the NSS receiving unit 21a, the display unit 22, and the control unit 24 are the same as those in the first embodiment, and a description thereof will be omitted.

RF tags 21d is a RFID tag that communicates with the RFID reader ₁₄ 1 to 14 _N (also referred to as IC tag.). The RF tag 21d functions as a second receiving unit of the position output device 20. IMES receiving unit 21c transmits the identification information included in the signal received from the RFID reader ₁₄ 1 to 14 _N to the control unit 24. The position determining unit 241 determines the current position of the position output device 20 based on the identification information of the RFID reader.

  The storage unit 25 is a storage device that can read and write data. FIG. 15 is a diagram illustrating a state in which various data are stored in the storage unit 25. The storage unit 25 stores map information 251, local map position information 252, and RFID reader position information 255. The data configuration of the map information 251 and the local map position information 252 is the same as in the first embodiment.

RFID reader position information 255 is information that the installation position of the RFID reader ₁₄ 1 to 14 _N was recorded. RFID reader position information 255 is composed of identification information of the RFID reader ₁₄ 1 to 14 _N and its installation position information. RFID reader ₁₄ 1 to 14 _N are installed, for example, the application range of the local coordinate system.

Figure 16 is a diagram showing an example of the installation state of the RFID reader ₁₄ 1 to 14 _N. In the example of FIG. 16, RFID reader ₁₄ 1-14 ₆ 6 transmitters are installed in the area A, RFID reader ₁₄ 7-14 ₉ three transmitters are installed in the area B. The area A is divided into nine sub-areas A1 to A6, and the area B is divided into three sub-areas B1 to B3. RFID reader ₁₄ 1-14 ₆ is disposed entrance subregion A1 to A6, the RFID reader ₁₄ 7-14 ₉ is disposed entrance subregion B1 to B3. In particular,
RFID reader 14 ₁ is installed in the entrance region A (the boundary of the global area G and subregion A1), RFID reader 14 ₂ is placed on the boundary of the sub-areas A1 and A2, · · · ·, RFID reader 14 ₆ are installed on the boundary of the sub-region A5 and A6. Moreover, RFID reader 14 ₇ is placed entrance (between region A and the sub-region B1) of the region B, RFID reader 14 ₈ is installed at the boundary between the sub-regions B1 and B2, RFID reader 146 is sub It is installed at the boundary between the areas A5 and A6.

Position of the RFID reader ₁₄ 1 to 14 _N are recorded as the position information of the coordinate system applied to the installation area. For example in FIG. 16, the installation position of the RFID reader ₁₄ 1-14 _6, as shown in FIG. 15, is recorded as position information K1~K6 on the local coordinate system A, the position of the RFID reader ₁₄ 7-14 ₉ Are recorded as position information K7 to K9 on the local coordinate system B. The position information may be a coordinate value or information in a unique format indicating which region is located at which boundary.

  Next, the operation of the position output device 20 having such a configuration will be described.

  When power is supplied to the position output device 20, the control unit 24 starts position output processing. The control unit 24 has functions as a position determination unit 241, a map acquisition unit 242, a switching timing determination unit 243, and a position output unit 244, as in the first embodiment. Hereinafter, the position output processing will be described with reference to the flowchart in FIG.

Position determining unit 241, based on the positioning signals acquired from the NSS transmitter ₁₁ 1 to 11 _N, to determine the current position P1 relative to the global coordinate system G (step S301). Then, the position determination unit 241 determines whether the current position P1 has been determined (step S302). If the current position P1 cannot be determined (step S302: No), the position determining unit 241 proceeds to step S305. When the current position P1 can be determined (Step S302: Yes), the map obtaining unit 242 obtains a global map G corresponding to the coordinate system of the current position P1 from the plurality of maps stored in the storage unit 25. (Step S303). Then, the position output unit 244 outputs the current position P1 to the global map G (Step S304). The position output unit 244 may output information on the current position P1 to the storage unit 25 as log information.

Position determining unit 241 determines whether the received signals from either the RFID reader ₁₄ 1 to 14 _N (step S305). When the signal has not been received (step S305: No), the position determining unit 241 advances the process to step S308.

When the signal has been received (step S305: Yes), the switching timing determination unit 243 determines whether or not the current time is the switching timing of the coordinate system (step S306). For example, the switching timing determination unit 243 determines that the current time is the switching timing of the coordinate system when receiving a signal from the RFID reader at the boundary (entrance) of the coordinate system. In the example of FIG. 16, switching timing determination unit 243, when receiving a signal from the RFID reader ₁₄ 1, 14 _7, current is determined to be in switching timing of the coordinate system. Which RFID reader has received the signal may be determined based on the identification information included in the signal.

If the current time is not the coordinate system switching timing (step S306: No), the switching timing determination unit 243 advances the process to step S308. If the current time is the coordinate system switching timing (step S306: Yes), the position determining unit 241 switches the coordinate system serving as the reference for determining the current position to another coordinate system (step S307). For example, the current position of the global area G state and the RF tag 21d receives a signal from the RFID reader 14 ₁ shown in FIG. 16. In this case, the position determining unit 241 switches the coordinate system serving as the reference for determining the current position from the global coordinate system G to the local coordinate system A. Further, the current position in the state of the local area A, the RF tag 21d receives a signal from the RFID reader 14 _7. In this case, the position determining unit 241 switches the coordinate system serving as the reference for determining the current position from the local coordinate system A to the local coordinate system B.

Subsequently, the position determining unit 241 determines the current position based on the switched coordinate system (Step S308). For example, the current position RF tag 21d in the state of the global area G receives a signal from the RFID reader 14 _1. In this case, the position determination unit 241 determines the current position of the position output device 20 as the sub area A1. Further, the current position to the RF tag 21d in the state of the sub-region A1 receives a signal from the RFID reader 14 _2. In this case, the position determining unit 241 determines the current position of the position output device 20 as the sub area A2.

  Subsequently, the map acquisition unit 242 acquires a map corresponding to the coordinate system of the current position from among the plurality of maps stored in the storage unit 25 (Step S309). Then, the position output unit 244 outputs the current position to the acquired map (Step S310). For example, if the current position is the sub-region A1, the position output unit 244 displays the current position P2 at the center of the sub-region A1, as shown in FIG. The position output unit 244 outputs a map on which the current position is displayed to the display unit 22. The position output unit 244 may output information on the current position of the position output device 20 to the storage unit 25 as log information.

  When the output of the position information is completed, the control unit 24 returns to step S305, and repeats steps S305 to S310.

  Also in the present embodiment, the position output device 20 can make the current position output to the map highly accurate. By using the RFID, the position output device 20 can reliably inform the user of which sub-area in the building the user is in.

(Embodiment 4)
The vertical and horizontal directions (Y-axis X-axis direction) of the upper map and the vertical and horizontal directions (Y-axis X-axis direction) of the lower map do not always match. For example, it is assumed that the local map is a map (for example, an architectural drawing) based on an arbitrary coordinate system arbitrarily determined by a facility manager or the like. In this case, the X-axis and Y-axis directions of the local map are not always in the east-west north-south direction. In many global maps, the X-axis and Y-axis directions are aligned with the east, west, north and south directions. In this case, the X-axis and Y-axis directions of the global map and the local map do not match. Further, since the map is obtained by projecting a part of the elliptical earth on a plane, the distortion of the map increases as the distance from the coordinate origin or the distance from the central meridian to the east and west increases. Therefore, since the X-axis and Y-axis directions of the global map are not always in the east-west-north-south direction, even if the X-axis and Y-axis directions of the local map are matched with the east-west-north-south direction, the X-axis and Y-axis directions of the global map And the X-axis and Y-axis directions of the local map do not always match.

For the above reasons, for example, as shown in FIG. 18, X-axis Y-axis of the lower map (X _A axis Y _A-axis of the local maps A in the example in the drawing) X-axis Y-axis of the upper map (Global in the example of FIG. may Sometimes it is inclined with respect to _{X G} axis _{Y G} axis) of the map G. In this case, even if the position of the coordinate origin of the local coordinate system A in the global coordinate system G is known, it is difficult for the user to obtain the position information of the global coordinate system G from the position information of the local coordinate system A. However, if the inclination of the lower map in the X-axis and Y-axis directions with respect to the X-axis and Y-axis directions of the upper map (hereinafter referred to as the attitude of the map) is known, the user can easily transfer the position information of the local coordinate system to the position of the global coordinate system. Can be converted to information. Hereinafter, the position output system 1 including the position output device 20 according to the fourth embodiment will be described.

The device configuration of the position output system 1 is the same as that of the position output system 1 of the first embodiment shown in FIG. Position output system 1 comprises a plurality of NSS transmitters ₁₁ 1 to 11 _N, a plurality of radio transmitters ₁₂ 1 to 12 _N, and a position output unit 20. The position output device 20 includes an NSS receiving unit 21a, a wireless receiving unit 21b, a display unit 22, a communication unit 23, a control unit 24, and a storage unit 25. The configuration other than the control unit 24 is the same as that of the first embodiment.

  The control unit 24 is a processing device such as a processor. The control unit 24 can execute a “posture determination process” described later in addition to the “position output process” described in the first embodiment. FIG. 19 is a functional block diagram of the control unit 24. The control unit 24 functions as a movement direction information acquisition unit 245, a movement direction determination unit 246, and a posture determination unit 247 in addition to the functions of the position determination unit 241, the map acquisition unit 242, the switching timing determination unit 243, and the position output unit 244. It has the function of The movement direction information acquisition unit 245 functions as movement direction information acquisition means of the position output device 20, the movement direction determination unit 246 functions as movement direction determination means of the position output device 20, and the posture determination unit 247 controls the position output device 20. It functions as a posture determination unit. Each functional block shown in FIG. 19 may be a software block or a hardware block.

  Next, the operation of the position output device 20 having such a configuration will be described. When the switching timing determination unit 243 determines that the current time is the switching timing of the coordinate system in step S105 illustrated in FIG. 6, the control unit 24 starts the posture determination processing. The posture determination processing is executed at each switching timing. Further, the posture determination processing is executed in parallel with the position output processing. Hereinafter, the posture determination processing will be described with reference to the flowchart in FIG.

The movement direction information acquisition unit 245 acquires information on the movement direction of the position output device 20 at the switching timing of the coordinate system, and information on the movement direction based on the coordinate system of the switching destination (the coordinate system of the lower map). (Step S401). For example, as shown in FIG. 18, it is assumed that the position output device 20 moves from the area of the global map G to the area of the local map A, and the coordinate system is switched from the global coordinate system G to the local coordinate system A. At this time, the movement direction information acquisition unit 245 acquires information on the movement direction of the position output device 20 based on the local coordinate system A. The information on the moving direction may be the moving direction vector V _A (a1, n1). a1 is the value of _{X A-axis} component of the movement direction vector _{V A,} n1 is the value of _{Y A-axis} component of the movement direction vector _{V A.}

  The moving direction information acquisition unit 245 can acquire the moving direction information using various methods. For example, the moving direction information acquisition unit 245 may calculate the moving direction vector based on the current position of the position output device 20 at the switching timing and the current position of the position output device 20 after a predetermined time. If the area of the coordinate system of the switching destination is indoors and the moving direction of the position output device 20 at the entrance is fixed, the moving direction information acquiring unit 245 uses the fixed moving direction as it is as the moving direction vector. It may be. At this time, the moving direction vector may be stored in the storage unit 25.

Subsequently, the moving direction determination unit 246 uses the information on the moving direction of the position output device 20 at the switching timing of the coordinate system, that is, the information on the moving direction based on the coordinate system of the switching source (the coordinate system of the upper map). Obtain (step S402). For example, as shown in FIG. 18, it is assumed that the position output device 20 has moved from the area of the global map G to the area of the local map A, and the coordinate system has been switched from the global coordinate system G to the local coordinate system A. At this time, the movement direction information acquisition unit 245 acquires information on the movement direction of the position output device 20 based on the local coordinate system G. The information on the moving direction may be a moving direction vector V _G (a2, n2). a2 is the value of _{X G} axis component of the movement direction vector _{V G,} n2 is the value of _{Y G} axis component of the movement direction vector _{V G.}

  The moving direction determining unit 246 can determine the moving direction using various methods. For example, the movement direction determination unit 246 may calculate the movement direction vector based on the current position of the position output device 20 at the switching timing and the current position of the position output device 20 a predetermined time before the switching position. The current position information a predetermined time ago may be acquired from the log information stored in the storage unit 25.

Next, the posture determining unit 247 determines the posture of the lower map with respect to the upper map based on the moving direction information obtained in step S401 and the moving direction information obtained in step S402 (step S403). For example, the posture determination unit 247 determines the difference in angle between the movement direction vector acquired in step S401 and the movement direction vector acquired in step S401 as the posture of the lower map. In the example of FIG. 18, the posture determination unit 247 determines the difference angle between the moving direction vector _V A (a1, n1) and the moving direction vector _V G (a2, n2) as the posture of the lower map theta. The orientation of the lower map may be a vector or a norm instead of an angle.

  When the determination of the attitude of the lower map is completed, the position output device 20 outputs the determined attitude of the lower map to the display unit 22 or the storage unit 25 as attitude information (step S404). At this time, the position output device 20 may output the posture information together with the information on the current position. When the output is completed, the control unit 24 ends the posture determination processing.

  According to the present embodiment, the user can easily know the attitude of the lower map based on the upper map. Therefore, the user can easily convert the position information of the local coordinate system into the position information of the global coordinate system. Even if there are a plurality of independent local coordinate systems on the global coordinate system, the user can link the plurality of local coordinate systems via the global coordinate system. In the fourth embodiment, the position output device 20 of the first embodiment is modified. However, the modification of the fourth embodiment can be applied to the position output devices 20 of the second and third embodiments.

  Each of the above-described embodiments is merely an example, and various modifications and applications are possible.

  For example, in the first to fourth embodiments, the second positioning system is a wireless LAN positioning system, an IMES positioning system, or an RFID positioning system. However, the second positioning system is not limited to these. For example, the second positioning system may be a positioning system using UWB (Ultra Wide Band), Bluetooth (registered trademark), ZigBee (registered trademark), a mobile phone network, laser, sound wave, or ultrasonic wave. At this time, the transmitters of the second positioning system included in the position output system 1 include a UWB communication device (for example, a UWB access point), a Bluetooth (registered trademark) communication device, a ZigBee (registered trademark) communication device, and a mobile phone base station. , A laser output device, and a sound / ultrasonic output device. The second receiving means included in the position output device 20 is a UWB communication device (for example, a UWB slave device), a Bluetooth (registered trademark) communication device, a ZigBee (registered trademark) communication device, a portable radio wave reception device, a laser detection device. , A sound / ultrasonic detector.

  In the first to fourth embodiments, the position output device 20 supports two positioning systems, the first positioning system and the second positioning system. However, the position output device 20 has more than two positioning systems. May be supported.

  In the first, second, and fourth embodiments, the position determination unit 241 determines the current position of the position output device 20 in the local area using the position estimation method based on RSS. However, the method by which the position determination unit 241 determines the current position is not limited to the RSS position estimation method. The method by which the position determination unit 241 determines the current position may be a position estimation method based on TOA (Time of Arrival), or may be a position estimation method based on TDOA (Time Difference of Arrival). A position estimation method based on AOA (Angle of Arrival) may be used.

  The control device that controls the position output device 20 of the present embodiment may be realized by a dedicated computer system, or may be realized by a normal computer system. For example, a program for executing the above operation is stored and distributed on a computer-readable recording medium such as an optical disk, a semiconductor memory, a magnetic tape, and a flexible disk, and the program is installed in a computer. The control device may be configured by executing the control. The control device may be a device external to the position output device 20 (for example, a personal computer) or a device internal to the position output device 20 (for example, the control unit 24). Further, the program may be stored in a disk device provided in a server device on a network such as the Internet, and may be downloaded to a computer. Further, the above functions may be realized by cooperation between an OS (Operating System) and application software. In this case, a part other than the OS may be stored in a medium and distributed, or a part other than the OS may be stored in a server device and downloaded to a computer.

  Although an embodiment of the present invention has been described, this embodiment is provided by way of example and is not intended to limit the scope of the invention. The new embodiment can be implemented in other various forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and their equivalents.

1 ... position output system 11 ₁ to 11 _N ... NSS transmitter 12 ₁ to 12 N _... wireless transmitter 13 ₁ to 13 _N ... IMES transmitter 14 ₁ to 14 _N ... RFID reader 20 ... position output apparatus 21a ... NSS receiver 21b ... Wireless receiving unit 21c ... IMES receiving unit 21d ... RF tag 22 ... Display unit 23 ... Communication unit 24 ... Control unit 241 ... Position determining unit 242 ... Map obtaining unit 243 ... Switching timing determining unit 244 ... Position output unit 245 ... Moving Direction information acquisition unit 246 ... moving direction determination unit 247 ... posture determination unit 25 ... storage unit 251 ... map information 252 ... local map position information 253,254 ... transmitter position information 255 ... reader position information

Claims (7)

The current position is switched by switching between the first coordinate system and the second coordinate system with reference to a first coordinate system and a second coordinate system that is a part of the adaptive range of the first coordinate system. Position determining means for determining
Storage means for storing a first map corresponding to the first coordinate system and a second map corresponding to the second coordinate system;
Moving direction information acquiring means for acquiring information on a moving direction based on the second coordinate system at a timing of switching from the first coordinate system to the second coordinate system;
A moving direction discrimination that determines a moving direction based on the first coordinate system at the timing of switching from the first coordinate system to the second coordinate system based on the information on the current position determined by the position determining unit. Means,
Based on the moving direction based on the second coordinate system acquired by the moving direction information acquiring means and the moving direction based on the first coordinate system acquired by the moving direction discriminating means, Attitude determination means for determining the attitude of the second map with respect to the first map;
Position output means for outputting the current position determined by the position determination means to a map of a corresponding coordinate system selected from the first map and the second map.
Position output device. Switching timing determination means for determining whether or not the current time is the switching timing of the coordinate system,
When the current time is the switching timing of the coordinate system, the position determining means switches the coordinate system as the reference for determining the current position.
The position output device according to claim 1. The position discriminating means includes means for discriminating the current position based on the first coordinate system and means for discriminating the current position based on the second coordinate system. When it is the switching timing, the coordinate system used as the reference for determining the current position is changed from the first coordinate system to the second coordinate system, or from the second coordinate system to the first coordinate system. Switch,
The position output device according to claim 2. The storage means stores a third map corresponding to a third coordinate system,
The application range of the third coordinate system is a part of the application range of the second coordinate system,
The position determination means includes means for determining the current position based on the third coordinate system, and based on the switching timing, sets a reference coordinate system from the second coordinate system based on the second coordinate system. Switching to the third coordinate system, or from the third coordinate system to the second coordinate system,
The position output device according to claim 3. The storage unit stores a position of a coordinate origin of the second coordinate system as position information based on the first coordinate system.
The position output device according to claim 3. The first coordinate system is a latitude-longitude coordinate system that covers the entire earth or a preset area of the earth,
The second coordinate system is a rectangular coordinate system having a part of an application range of the first coordinate system as an application range.
The position output device according to any one of claims 3 to 5. The current position is switched by switching between the first coordinate system and the second coordinate system with reference to a first coordinate system and a second coordinate system that is a part of the adaptive range of the first coordinate system. A position determining step of determining
A map obtaining step of obtaining a first map corresponding to the first coordinate system and a second map corresponding to the second coordinate system;
A moving direction information acquiring step of acquiring information on a moving direction based on the second coordinate system at a timing of switching from the first coordinate system to the second coordinate system;
Moving direction discrimination that determines a moving direction based on the first coordinate system at the timing of switching from the first coordinate system to the second coordinate system based on the information on the current position determined in the position determining step. Steps and
The moving direction based on the second coordinate system acquired in the moving direction information acquiring step and the moving direction based on the first coordinate system determined in the moving direction determining step , An attitude determination step of determining an attitude of a second map corresponding to the second coordinate system with respect to a first map corresponding to the first coordinate system;
Outputting the current position determined in the position determination step to a map of a corresponding coordinate system selected from the first map and the second map,
Position output method.

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