JP6749266B2 - Error positioning solution detection device and error positioning solution detection program - Google Patents

Description

The present invention relates to a technique for removing an error positioning solution (miss Fix).

Some positioning solutions obtained by the satellite positioning system, particularly positioning solutions obtained by a positioning method called RTK (Real Time Kinematic), show incorrect results. A positioning solution that gives an incorrect result is called a Miss Fix.

As a method of determining the miss Fix, for example, the following method is available. A positioning solution is obtained by excluding the positioning signal (for example, a signal having a weak radio field strength) that causes the mistake Fix. Further, the satellite positioning information indicating the positioning of the positioning satellites and the sky image obtained by the sky camera are used to perform positioning calculation by removing the signals of the positioning satellites predicted to be diffracted waves or reflected waves.
However, these methods cannot sufficiently eliminate the miss Fix when the RTK is applied to the positioning of the mobile body.
If the miss Fix cannot be removed sufficiently, the correct positioning result of the mobile cannot be obtained.
Furthermore, if the correct positioning solution is also removed as a result of sufficiently removing the mistake Fix, there is a problem that the positioning rate is reduced.

Patent Document 1 discloses a technique for removing the miss Fix based on the satellite arrangement information.

Patent No. 5586278

An object of the present invention is to make it possible to detect an error positioning solution (misfix) based on a change in altitude, a change in azimuth angle, or a change in latitude/longitude.

The error positioning solution detection device of the present invention is
Using the reference data indicating the altitude of the moving body, the azimuth angle of the moving body, and the latitude and longitude of the moving body at each time, the positioning solution of the moving body is erroneous from the positioning solution data indicating at each time. An error detection unit that detects a positioning solution is provided.

According to the present invention, an erroneous positioning solution (misfix) can be detected based on a change in altitude, a change in azimuth angle, or a change in latitude/longitude.

FIG. 3 is an external view of measurement vehicle 300 according to the first embodiment. 1 is a configuration diagram of an erroneous positioning solution detection device 100 according to the first embodiment. 3 is a flowchart of an error positioning solution detection method according to the first embodiment. 3 is a flowchart of error detection processing (S110) according to the first embodiment. FIG. 6 is a diagram showing an error time according to the first embodiment. The figure which shows the altitude group in Embodiment 1. The figure which shows the positioning start time zone in Embodiment 1. 7 is a flowchart of an erroneous positioning solution detection method according to the second embodiment. 6 is a flowchart of error detection processing (S210) according to the second embodiment. FIG. 8 is a diagram showing an error time according to the second embodiment. FIG. 8 is a diagram showing an azimuth angle group according to the second embodiment. The figure which shows the positioning start time zone in Embodiment 2. 9 is a flowchart of an erroneous positioning solution detection method according to the third embodiment. 9 is a flowchart of error detection processing (S310) according to the third embodiment. FIG. 16 is a diagram showing an error time according to the third embodiment. FIG. 13 is a diagram showing an azimuth angle group according to the third embodiment. The figure which shows the positioning start time zone in Embodiment 3. 9 is a flowchart of an erroneous positioning solution detection method according to the fourth embodiment. The flowchart of the error detection process (S410) in Embodiment 4. The figure which shows the positioning solution group in Embodiment 4. The figure which shows the positioning start time zone in Embodiment 4. The block diagram of the error positioning solution detection apparatus 100 in Embodiment 5. The figure which shows the setting screen 200 in Embodiment 5. 6A and 6B are diagrams showing a trajectory before removal and a trajectory after removal according to the embodiment. The figure which shows a doubtful positioning solution in embodiment. 3 is a hardware configuration diagram of the error positioning solution detection device 100 according to the embodiment. FIG.

In the embodiments and the drawings, the same elements and corresponding elements are designated by the same reference numerals. Descriptions of elements having the same reference numerals are omitted or simplified as appropriate. The arrows in the figure mainly indicate the flow of data or the flow of processing.

Embodiment 1.
A mode in which an erroneous positioning solution is removed based on the idea that the altitude of the mobile body does not change rapidly will be described with reference to FIGS. 1 to 7.

A moving body is a moving object. Specifically, the moving body is a vehicle. Examples of other moving bodies include trains and ships.
A device for measuring the position, posture and moving distance of the moving body is attached to the moving body. Specifically, a receiver, an IMU (inertial measurement device), an odometer, and the like are attached to the mobile body. The receiver measures the position of the mobile body by receiving the positioning signal transmitted from the positioning satellite. The IMU measures the posture of the moving body. The odometer measures the distance traveled by the moving body.

FIG. 1 shows the appearance of a measurement vehicle 300 that is a specific example of a moving body.
A receiver 301, an IMU 302, a laser scanner 303, and an odometer 304 are attached to the measurement vehicle 300.

***Composition explanation***
The configuration of the incorrect positioning solution detection device 100 will be described with reference to FIG.
The error positioning solution detection apparatus 100 is a computer including hardware such as a processor 901, a memory 902, and an auxiliary storage device 903. These pieces of hardware are connected to each other via signal lines.

The processor 901 is an IC (Integrated Circuit) that performs arithmetic processing, and controls other hardware. For example, the processor 901 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit).
The memory 902 is a volatile storage device. The memory 902 is also called a main storage device or a main memory. For example, the memory 902 is a RAM (Random Access Memory). The data stored in the memory 902 is saved in the auxiliary storage device 903 as needed.
The auxiliary storage device 903 is a non-volatile storage device. For example, the auxiliary storage device 903 is a ROM (Read Only Memory), a HDD (Hard Disk Drive), or a flash memory. The data stored in the auxiliary storage device 903 is loaded into the memory 902 as needed.

The error positioning solution detection apparatus 100 includes software elements such as an error detection unit 110 and an error removal unit 120. The software element is an element realized by software.

The auxiliary storage device 903 stores an error positioning solution detection program for causing a computer to function as the error detection unit 110 and the error removal unit 120. The error positioning solution detection program is loaded into the memory 902 and executed by the processor 901.
Furthermore, an OS (Operating System) is stored in the auxiliary storage device 903. At least a part of the OS is loaded in the memory 902 and executed by the processor 901.
That is, the processor 901 executes the error positioning solution detection program while executing the OS.
Data obtained by executing the error positioning solution detection program is stored in a storage device such as the memory 902, the auxiliary storage device 903, the register in the processor 901 or the cache memory in the processor 901.

The memory 902 functions as a storage unit 191 that stores data. However, another storage device may function as the storage unit 191 instead of the memory 902 or together with the memory 902.

The error positioning solution detection apparatus 100 may include a plurality of processors that replace the processor 901. The plurality of processors share the role of the processor 901.

The erroneous positioning solution detection program can be computer-readable stored in a non-volatile storage medium such as a magnetic disk, an optical disk, or a flash memory. Non-volatile storage media are non-transitory tangible media.

***Description of operation***
The operation of the error positioning solution detection device 100 corresponds to the error positioning solution detection method. The procedure of the error positioning solution detection method corresponds to the procedure of the error positioning solution detection program.

An error positioning solution detection method will be described with reference to FIG.
In step S110, the error detection unit 110 detects an incorrect positioning solution from the positioning solution data using the reference data. The reference data and the positioning solution data are stored in the storage unit 191.

The positioning solution data is data indicating the positioning solution of the mobile body for each time. The positioning solution shown in the positioning solution data is a value determined by using the data obtained by the measuring device attached to the moving body. The positioning solution indicates the position and orientation of the mobile body.
The position of the moving body is represented by the latitude, longitude and altitude of the point where the moving body is located. The latitude and longitude correspond to the XY coordinates in the XYZ coordinate system, and the altitude corresponds to the Z coordinate in the XYZ coordinates.
The posture of the moving body is represented by the rotation angle, the elevation angle, and the azimuth angle of the moving body. The rotation angle corresponds to the angle around the X axis in the XYZ coordinate system, the elevation angle corresponds to the angle around the Y axis in the XYZ coordinate system, and the azimuth angle corresponds to the angle around the Z axis in the XYZ coordinate system.

Reference data is data referred to in order to detect an erroneous positioning solution.
Part of the positioning solution data is used as reference data.
Specifically, the reference data is data indicating the altitude of the moving body at each time.

In step S120, the error removing unit 120 removes the error positioning solution detected in step S110 from the positioning solution data.
An incorrect positioning solution is a positioning solution that is estimated to be incorrect.

The incorrect positioning solution detection method provides positioning solution data that does not include the incorrect positioning solution.

The error detection process (S110) will be described with reference to FIG.
In step S111, the error detection unit 110 calculates the altitude change amount for each time using the reference data.
The altitude change amount is the change amount of the altitude of the moving body.

Specifically, the error detection unit 110 calculates the altitude change amount at the target time as follows.
First, the error detection unit 110 extracts the altitude of the moving body at the target time from the reference data. The extracted altitude is called the target altitude.
Next, the error detection unit 110 extracts the altitude of the moving body at the previous time from the reference data. The extracted elevation is called the previous elevation.
Then, the error detection unit 110 calculates the difference between the target altitude and the previous altitude. The calculated difference is the altitude change amount at the target time.

In step S112, the error detection unit 110 identifies the error time.
The error time is the time corresponding to the amount of change in altitude that is greater than the altitude threshold.
The altitude threshold is a value determined as an altitude difference that allows the moving body to move from the previous time to the target time.

Specifically, the error detection unit 110 determines whether the target time is an error time as follows.
First, the error detection unit 110 calculates the altitude threshold by calculating the altitude threshold=stationary threshold+(moving speed×unit change amount×time interval). The stationary threshold is a value determined as the amount of change in altitude that is allowed when the moving body is stationary. The moving speed is the speed of the moving body at the target time and is extracted from the speed data. The speed data is data indicating the speed of the moving body for each time, and is stored in the storage unit 191. The unit change amount is a value determined as an altitude change amount per unit speed (for example, 1 km/h). The time interval is the time from the previous time to the target time. However, the altitude threshold may be a fixed value.
Then, the error detection unit 110 compares the altitude change amount at the target time with the altitude threshold.
When the amount of change in altitude at the target time is larger than the altitude threshold, the error detection unit 110 determines that the target time is an error time.
When the amount of change in altitude at the target time is less than or equal to the altitude threshold, the error detection unit 110 determines that the target time is not the error time.

In step S113, the error detection unit 110 identifies the positioning solution at the error time as the positioning error solution among the positioning solutions shown in the positioning solution data.

Through steps S111 to S113, the positioning solution at the error time is identified as the incorrect positioning solution.
In FIG. 5, the altitude change amount AC5 at time T5 and the altitude change amount AC10 at time T10 exceed the altitude threshold. That is, time T5 and time T10 are error times. Therefore, the positioning solution at time T5 and the positioning solution at time T10 are identified as the error positioning solution.

Returning to FIG. 4, the description is continued from step S114.
In step S114, the error detection unit 110 identifies an error group.
The error group is an altitude group that includes the altitude at the error time and includes the altitude less than the number corresponding to the time threshold. An elevation group is one or more elevations.
The time threshold is a length of time in which the positioning environment is estimated not to change much. For example, the positioning environment is the number of visible satellites. The visible satellite is a positioning satellite that can be seen from the moving body, that is, a positioning satellite that does not have an object blocking the moving body from the moving body.
The plurality of altitudes shown in the reference data are divided into a plurality of altitude groups at the time when the positioning solution could not be obtained.

Specifically, the error detection unit 110 identifies the error group as follows.
First, the error detection unit 110 identifies the non-positioning time by referring to the positioning solution data. The non-positioning time is the time when the positioning solution was not obtained.
Next, the error detection unit 110 divides the plurality of altitudes indicated by the reference data into a plurality of altitude groups with the non-positioning time as a boundary.
Then, the error detection unit 110 determines whether each elevation group is an error group.

Specifically, the error detection unit 110 determines whether the target elevation group is an error group as follows.
First, the error detection unit 110 calculates the number of altitudes included in the target altitude group. The calculated number is called the target number.
Next, the error detection unit 110 compares the target number with the number threshold. The number threshold is a value determined as the number corresponding to the time threshold. When the time threshold is 10 seconds and positioning is performed at 0.1 second intervals, the number threshold is 100 (=10/0.1).
Then, when the target number is less than the number threshold, the error detection unit 110 determines that the target altitude group is the error group.
If the number of targets is equal to or greater than the number threshold, the error detection unit 110 determines that the target altitude group is not an error group.

In step S115, the error detection unit 110 identifies one or more positioning solutions corresponding to the error group as error positioning solutions.
The one or more positioning solutions corresponding to the error group are one or more positioning solutions in the time zone corresponding to the error group.

Through steps S114 and S115, one or more positioning solutions corresponding to the error group are identified as error positioning solutions.
In FIG. 6, it is assumed that the positioning solution is obtained at each time from time T1 to time T7 and each time from time T9 to time T11. Further, it is assumed that the positioning solution has not been obtained at time T8.
In that case, 10 altitudes from time T1 to time T11 are divided into altitude group G1 and altitude group G2 with time T8 as a boundary. The altitude group G1 has seven altitudes from time T1 to time T7, and the altitude group G2 has three altitudes from time T9 to time T11.
The altitude group G1 includes the altitude at the error time T5, and the altitude group G2 includes the altitude at the error time T10.
It is assumed that the number threshold value corresponding to the time threshold value is five.
Since the number of altitudes (7) included in the altitude group G1 is larger than the number threshold value (5), the altitude group G1 is not an error group.
On the other hand, since the number of altitudes (three) included in the altitude group G2 is smaller than the number threshold value (five), the altitude group G2 is an error group.
Therefore, the three positioning solutions corresponding to the altitude group G2, that is, the three positioning solutions from time T9 to time T11 are specified as the error positioning solutions.

Returning to FIG. 4, the description is continued from step S116.
In step S116, the error detection unit 110 determines whether the error time is included in the positioning start time zone.
The positioning start time zone is a time zone that starts from the positioning start time and has a fixed time length. The positioning start time is the time when positioning is started. Specifically, the positioning start time is the time when the first positioning solution is obtained.

Specifically, the error detection unit 110 determines whether the error time is included in the positioning start time zone as follows.
First, the error detection unit 110 selects the leading error time from the error times specified in step S112.
Next, the error detection unit 110 calculates the positioning start time zone.
Then, the error detection unit 110 determines whether the leading error time is included in the positioning start time zone.

If the error time is included in the positioning start time zone, the process proceeds to step S117.
If the error time is not included in the positioning start time zone, the error detection process (S110) ends.

In step S117, the error detection unit 110 identifies one or more positioning solutions in the positioning start time zone as error positioning solutions.

By steps S116 and S117, one or more positioning solutions in the positioning start time zone including the error time are identified as the error positioning solution.
In FIG. 7, the time zone from time T1 to time T5 is the positioning start time zone SP. The positioning start time zone SP includes an error time T5. Therefore, the five positioning solutions in the positioning start time zone SP, that is, the five positioning solutions from time T1 to time T5 are specified as the error positioning solutions.

By the error detection processing (S110), the positioning solution at the error time, the one or more positioning solutions corresponding to the error group, and the one or more positioning solutions in the positioning start time zone including the error time are detected as the error positioning solution. ..

***Effect of Embodiment 1***
Erroneous positioning solutions can be eliminated based on the idea that the altitude of the mobile does not change rapidly.

Embodiment 2.
Regarding the configuration in which the erroneous positioning solution is removed based on the idea that the traveling direction of the moving body does not change abruptly, differences from the first embodiment will be mainly described with reference to FIGS. 8 to 12.

***Composition explanation***
The configuration of error positioning solution detection apparatus 100 is the same as the configuration (see FIG. 2) in the first embodiment.
However, the storage unit 191 stores posture data.
The posture data is data indicating the posture of the moving body for each time.

***Description of operation***
The error positioning solution detection method will be described with reference to FIG.
In step S210, the error detection unit 110 detects an incorrect positioning solution from the positioning solution data using the reference data.
Part of the positioning solution data is used as reference data.
Specifically, the reference data is data indicating the azimuth angle of the moving body at each time. The azimuth of the moving body specifies the direction in which the moving body is traveling.

In step S220, the error removing unit 120 removes the error positioning solution detected in step S210 from the positioning solution data.

The incorrect positioning solution detection method provides positioning solution data that does not include the incorrect positioning solution.

The error detection process (S210) will be described with reference to FIG.
In step S211, the error detection unit 110 calculates the azimuth angle change amount for each time using the reference data.
The azimuth change amount is the change amount of the azimuth angle of the moving body.

Specifically, the error detection unit 110 calculates the azimuth angle change amount at the target time as follows.
First, the error detection unit 110 extracts the azimuth angle of the moving body at the target time from the reference data. The extracted azimuth angle is called the target azimuth angle.
Next, the error detection unit 110 extracts the azimuth angle of the moving body at the previous time from the reference data. The extracted azimuth angle is called the previous azimuth angle.
Then, the error detection unit 110 calculates the difference between the target azimuth angle and the previous azimuth angle. The calculated difference is the azimuth angle change amount at the target time.

In step S212, the error detection unit 110 identifies the error time.
The error time is a time corresponding to an azimuth change amount larger than the azimuth threshold.
The azimuth angle threshold is a value determined as an azimuth angle difference that allows the moving body to change its direction from the previous time to the target time.

Specifically, the error detection unit 110 determines whether the target time is an error time as follows.
The error detection unit 110 compares the azimuth angle change amount at the target time with the azimuth angle threshold.
When the azimuth change amount at the target time is larger than the azimuth threshold, the error detection unit 110 determines that the target time is an error time.
When the azimuth change amount at the target time is less than or equal to the azimuth threshold, the error detection unit 110 determines that the target time is not the error time.

In step S213, the error detection unit 110 identifies the positioning solution at the error time among the positioning solutions shown in the positioning solution data as the error positioning solution.

Through steps S211 to S213, the positioning solution at the incorrect time is identified as the incorrect positioning solution.
In FIG. 10, the azimuth angle change amount DC5 at time T5 and the azimuth angle change amount DC10 at time T10 exceed the azimuth angle threshold value. That is, time T5 and time T10 are error times. Therefore, the positioning solution at time T5 and the positioning solution at time T10 are identified as the error positioning solution.

Returning to FIG. 9, the description is continued from step S214.
In step S214, the error detector 110 identifies an error group.
The error group is an azimuth group including the azimuth angle at the error time and including the azimuth angles smaller than the number corresponding to the time threshold. An azimuth group is one or more azimuth angles.
The time threshold is a time when the positioning environment is estimated not to change much. For example, the positioning environment is the number of visible satellites.
The plurality of azimuth angles shown in the reference data are divided into a plurality of azimuth angle groups at the time when the positioning solution was not obtained.

Specifically, the error detection unit 110 identifies the error group as follows.
First, the error detection unit 110 identifies the non-positioning time by referring to the positioning solution data. The non-positioning time is the time when the positioning solution was not obtained.
Next, the error detection unit 110 divides the plurality of azimuth angles shown in the reference data into a plurality of azimuth angle groups with the non-positioning time as a boundary.
Then, the error detection unit 110 determines whether each azimuth angle group is an error group.

Specifically, the error detection unit 110 determines whether the target azimuth angle group is an error group as follows.
First, the error detection unit 110 calculates the number of azimuth angles included in the target azimuth angle group. The calculated number is called the target number.
Then, the error detection unit 110 compares the target number with the number threshold. The number threshold is a value determined as the number corresponding to the time threshold.
When the number of targets is less than the number threshold, the error detection unit 110 determines that the target azimuth angle group is an error group.
When the target number is equal to or larger than the number threshold, the error detection unit 110 determines that the target azimuth angle group is not the error group.

In step S215, the error detection unit 110 identifies one or more positioning solutions corresponding to the error group as error positioning solutions.
The one or more positioning solutions corresponding to the error group are one or more positioning solutions in the time zone corresponding to the error group.

By steps S214 and S215, one or more positioning solutions corresponding to the error group are identified as error positioning solutions.
In FIG. 11, it is assumed that the positioning solution is obtained at each time from time T1 to time T7 and each time from time T9 to time T11. Further, it is assumed that the positioning solution has not been obtained at time T8.
In that case, the 10 azimuth angles from time T1 to time T11 are divided into azimuth angle group G1 and azimuth angle group G2 with time T8 as a boundary. The azimuth angle group G1 is seven azimuth angles from time T1 to time T7, and the azimuth angle group G2 is three azimuth angles from time T9 to time T11.
The azimuth angle group G1 includes the azimuth angle at the error time T5, and the azimuth angle group G2 includes the azimuth angle at the error time T10.
It is assumed that the number threshold value corresponding to the time threshold value is five.
Since the number of azimuth angles (7) included in the azimuth angle group G1 is larger than the number threshold value (5), the azimuth angle group G1 is not an error group.
On the other hand, since the number of azimuth angles (three) included in the azimuth angle group G2 is smaller than the number threshold (five), the azimuth angle group G2 is an error group.
Therefore, the three positioning solutions corresponding to the azimuth group G2, that is, the three positioning solutions from time T9 to time T11 are specified as the error positioning solutions.

Returning to FIG. 9, the description is continued from step S216.
In step S216, the error detection unit 110 determines whether the error time is included in the positioning start time zone.
The positioning start time zone is a time zone that starts from the positioning start time and has a fixed time length. The positioning start time is the time when positioning is started. Specifically, the positioning start time is the time when the first positioning solution is obtained.

Specifically, the error detection unit 110 determines whether the error time is included in the positioning start time zone as follows.
First, the error detection unit 110 selects the leading error time from the error times specified in step S212.
Next, the error detection unit 110 calculates the positioning start time zone.
Then, the error detection unit 110 determines whether the leading error time is included in the positioning start time zone.

If the error time is included in the positioning start time zone, the process proceeds to step S217.
If the error time is not included in the positioning start time zone, the error detection process (S210) ends.

In step S217, the error detection unit 110 identifies one or more positioning solutions in the positioning start time zone as error positioning solutions.

By steps S216 and S217, one or more positioning solutions in the positioning start time zone including the error time are identified as the error positioning solution.
In FIG. 12, the time zone from time T1 to time T5 is the positioning start time zone SP. The positioning start time zone SP includes an error time T5. Therefore, the five positioning solutions in the positioning start time zone SP, that is, the five positioning solutions from time T1 to time T5 are specified as the error positioning solutions.

By the error detection processing (S210), the positioning solution at the error time, the one or more positioning solutions corresponding to the error group, and the one or more positioning solutions in the positioning start time zone including the error time are detected as the error positioning solution. ..

***Effects of Embodiment 2***
An erroneous positioning solution can be removed based on the idea that the traveling direction of the moving body does not change rapidly.

***Other configurations***
The error detection unit 110 may specify a time having a speed faster than the speed threshold, select a positioning solution at the specified time from the positioning solution data, and detect an error positioning solution from the selected positioning solutions. Since the change in the azimuth angle obtained when stationary is large, it is possible to avoid that the correct positioning solution when stationary is eliminated as an erroneous positioning solution. Times of speeds higher than the speed threshold can be specified by using speed data. The speed data is data indicating the speed of the moving body for each time, and is stored in the storage unit 191.
The error detection unit 110 may determine the azimuth threshold based on the speed of the moving body. Specifically, a threshold table in which the speed and the azimuth threshold value are associated with each other is stored in the storage unit 191, and the error detection unit 110 selects the azimuth angle threshold value associated with the speed at the target time from the threshold table. To do. The azimuth threshold associated with the slow speed is large, and the azimuth threshold associated with the fast speed is small. Since the change in the azimuth angle obtained when stationary is large, it is possible to avoid that the correct positioning solution when stationary is eliminated as an erroneous positioning solution.

Embodiment 3.
13 is different from the first embodiment mainly in the configuration in which the erroneous positioning solution is removed based on the idea that the moving distance calculated based on the latitude and longitude should almost match the moving distance obtained by the odometer. From now on, it will be explained based on FIG.

***Composition explanation***
The configuration of error positioning solution detection apparatus 100 is the same as the configuration (see FIG. 2) in the first embodiment.

***Description of operation***
The error positioning solution detection method will be described with reference to FIG.
In step S310, the error detection unit 110 detects an incorrect positioning solution from the positioning solution data using the reference data.
Part of the positioning solution data is used as reference data.
Specifically, the reference data is data indicating the latitude and longitude of the moving body for each time.

In step S320, the error removing unit 120 removes the error positioning solution detected in step S310 from the positioning solution data.

The incorrect positioning solution detection method provides positioning solution data that does not include the incorrect positioning solution.

The error detection process (S210) will be described with reference to FIG.
In step S311, the error detection unit 110 uses the reference data to calculate the moving distance of the moving body at each time.

Specifically, the error detection unit 110 calculates the moving distance at the target time as follows.
First, the error detection unit 110 extracts the latitude and longitude of the moving body at the target time from the reference data. A point specified by the extracted latitude and longitude is called a target point.
Next, the error detection unit 110 extracts the latitude and longitude of the moving body at the previous time from the reference data. The point specified by the extracted latitude and longitude is called the previous point.
Then, the error detection unit 110 calculates the distance from the previous point to the target point. The calculated distance is the movement distance at the target time.

In step S312, the error detector 110 identifies the error time.
The error time is a time corresponding to a moving distance whose difference from the moving distance obtained by the odometer is longer than the distance threshold.
The distance threshold is a distance determined as an error of the moving distance measured by the odometer.

Specifically, the error detection unit 110 determines whether the target time is an error time as follows.
First, the error detection unit 110 acquires the measured distance at the target time and the measured distance at the previous time from the odometer data, and calculates the difference between the measured distance at the target time and the measured distance at the previous time. The calculated difference is called a reference distance. The odometer data is data indicating the measured distance for each time, and is stored in the storage unit 191. The measurement distance is the distance measured by the odometer.
Next, the error detection unit 110 calculates the difference between the moving distance at the target time and the reference distance at the target time. The calculated difference is called a distance difference.
Then, the error detection unit 110 compares the distance difference with the distance threshold.
If the distance difference is longer than the distance threshold, the error detection unit 110 determines that the target time is an error time.
If the distance difference is less than or equal to the distance threshold, the error detection unit 110 determines that the target time is not an error time.

In step S313, the error detection unit 110 identifies the positioning solution at the error time as the positioning error solution among the positioning solutions indicated by the positioning solution data.

Through steps S311 to S313, the positioning solution at the incorrect time is identified as the incorrect positioning solution.
In FIG. 15, the moving distance TD5 at time T5 and the azimuth angle change amount TD10 at time T10 exceed the azimuth angle threshold. That is, time T5 and time T10 are error times. Therefore, the positioning solution at time T5 and the positioning solution at time T10 are identified as the error positioning solution.

Returning to FIG. 14, the description is continued from step S214.
In step S314, the error detection unit 110 identifies an error group.
The error group is a latitude/longitude group including the latitude/longitude at the error time and including the latitude/longitude smaller than the number corresponding to the time threshold. The latitude/longitude group is one or more latitudes/longitudes.
The time threshold is a time when the positioning environment is estimated not to change much. For example, the positioning environment is the number of visible satellites.
The plurality of latitude/longitudes shown in the reference data are divided into a plurality of latitude/longitude groups at the time when the positioning solution cannot be obtained.

Specifically, the error detection unit 110 identifies the error group as follows.
First, the error detection unit 110 identifies the non-positioning time by referring to the positioning solution data. The non-positioning time is the time when the positioning solution was not obtained.
Next, the error detection unit 110 divides the plurality of latitude/longitudes shown in the reference data into a plurality of latitude/longitude groups with the non-positioning time as a boundary.
Then, the error detection unit 110 determines whether each latitude/longitude group is an error group.

Specifically, the error detection unit 110 determines whether the target latitude/longitude group is an error group as follows.
First, the error detection unit 110 calculates the number of latitudes and longitudes included in the target latitude and longitude group. The calculated number is called the target number.
Then, the error detection unit 110 compares the target number with the number threshold. The number threshold is a value determined as the number corresponding to the time threshold.
If the number of targets is less than the number threshold, the error detection unit 110 determines that the target latitude/longitude group is an error group.
When the target number is equal to or larger than the number threshold, the error detection unit 110 determines that the target latitude/longitude group is not the error group.

In step S315, the error detection unit 110 identifies one or more positioning solutions corresponding to the error group as error positioning solutions.
The one or more positioning solutions corresponding to the error group are one or more positioning solutions in the time zone corresponding to the error group.

Through steps S314 and S315, one or more positioning solutions corresponding to the error group are identified as error positioning solutions.
In FIG. 16, it is assumed that the positioning solution is obtained at each time from time T1 to time T7 and each time from time T9 to time T11. Further, it is assumed that the positioning solution has not been obtained at time T8.
In this case, the 10 latitudes and longitudes from time T1 to time T11 are divided into a latitude/longitude group G1 and a latitude/longitude group G2 with time T8 as a boundary. The latitude/longitude group G1 is seven latitude/longitude from time T1 to time T7, and the latitude/longitude group G2 is three latitude/longitude from time T9 to time T11.
The latitude/longitude group G1 includes the latitude/longitude at the error time T5, and the latitude/longitude group G2 includes the latitude/longitude at the error time T10.
It is assumed that the number threshold value corresponding to the time threshold value is five.
Since the number of latitude/longitudes (7) included in the latitude/longitude group G1 is larger than the number threshold (5), the latitude/longitude group G1 is not an error group.
On the other hand, since the number of latitude/longitudes (3) included in the latitude/longitude group G2 is smaller than the number threshold (5), the latitude/longitude group G2 is an error group.
Therefore, the three positioning solutions corresponding to the latitude/longitude group G2, that is, the three positioning solutions from time T9 to time T11 are identified as the error positioning solutions.

Returning to FIG. 14, the description is continued from step S316.
In step S316, the error detection unit 110 determines whether the error time is included in the positioning start time zone.
The positioning start time zone is a time zone that starts from the positioning start time and has a fixed time length. The positioning start time is the time when positioning is started. Specifically, the positioning start time is the time when the first positioning solution is obtained.

Specifically, the error detection unit 110 determines whether the error time is included in the positioning start time zone as follows.
First, the error detection unit 110 selects the first error time from the error times specified in step S312.
Next, the error detection unit 110 calculates the positioning start time zone.
Then, the error detection unit 110 determines whether the leading error time is included in the positioning start time zone.

If the error time is included in the positioning start time zone, the process proceeds to step S317.
If the error time is not included in the positioning start time zone, the error detection process (S310) ends.

In step S317, the error detection unit 110 identifies one or more positioning solutions in the positioning start time zone as error positioning solutions.

By steps S316 and S317, one or more positioning solutions in the positioning start time zone including the error time are identified as the error positioning solution.
In FIG. 17, the time zone from time T1 to time T5 is the positioning start time zone SP. The positioning start time zone SP includes an error time T5. Therefore, the five positioning solutions in the positioning start time zone SP, that is, the five positioning solutions from time T1 to time T5 are specified as the error positioning solutions.

By the error detection process (S310), the positioning solution at the error time, the one or more positioning solutions corresponding to the error group, and the one or more positioning solutions in the positioning start time zone including the error time are detected as the error positioning solution. ..

***Effects of Embodiment 3***
The erroneous positioning solution can be removed based on the idea that the travel distance calculated based on the latitude and longitude should almost match the travel distance obtained by the odometer.

***Other configurations***
The error detection unit 110 may specify a time having a speed slower than the speed threshold, select a positioning solution at the specified time from the positioning solution data, and detect an error positioning solution from the selected positioning solutions. Since the error of the moving distance measured by the odometer at high speed is large, it is possible to avoid that the correct positioning solution at high speed is removed as an erroneous positioning solution. The time of a speed lower than the speed threshold can be specified by using the speed data. The speed data is data indicating the speed of the moving body for each time, and is stored in the storage unit 191.
The error detection unit 110 may determine the distance threshold based on the speed of the moving body. Specifically, the threshold table in which the speed and the distance threshold are associated with each other is stored in the storage unit 191, and the error detection unit 110 selects the distance threshold associated with the speed at the target time from the threshold table. The distance threshold associated with the slow speed is small, and the distance threshold associated with the fast speed is large. Since the error of the moving distance measured by the odometer at high speed is large, it is possible to avoid that the correct positioning solution at high speed is removed as an erroneous positioning solution.

Fourth Embodiment
With respect to the form in which the erroneous positioning solution is removed based on a plurality of types of feature amounts, differences from the forms in the first to third embodiments will be mainly described with reference to FIGS. 18 to 21.

The altitude change amount described in the first embodiment, the azimuth angle change amount described in the second embodiment, and the moving distance described in the third embodiment are examples of the feature amount of the positioning solution.

***Composition explanation***
The configuration of erroneous positioning solution detection apparatus 100 is the same as the configuration in the first to third embodiments (see FIG. 2).

***Description of operation***
The error positioning solution detection method will be described with reference to FIG.
In step S410, the error detection unit 110 detects an incorrect positioning solution from the positioning solution data using the reference data.
Part of the positioning solution data is used as reference data.
Specifically, the reference data is data indicating the altitude of the moving body, the azimuth angle of the moving body, and the latitude and longitude of the moving body at each time.

In step S420, the error removing unit 120 removes the error positioning solution detected in step S410 from the positioning solution data.

The incorrect positioning solution detection method provides positioning solution data that does not include the incorrect positioning solution.

The error detection process (S410) will be described with reference to FIG.
In step S411, the error detection unit 110 detects an altitude error solution. The elevation error solution is a positioning solution in which the elevation is estimated to be incorrect.
Specifically, the error detection unit 110 executes the error detection process (S110) of FIG. The error positioning solution detected by the error detection process (S110) of FIG. 4 is an altitude error solution.

In step S412, the error detector 110 detects an azimuth error solution. The azimuth error solution is a positioning solution estimated to have an incorrect azimuth angle.
Specifically, the error detection unit 110 executes the error detection process (S210) of FIG. The error positioning solution detected by the error detection process (S210) of FIG. 9 is an azimuth error solution.

In step S413, the error detection unit 110 detects a latitude/longitude error solution. The latitude/longitude error solution is a positioning solution in which the latitude/longitude is estimated to be incorrect.
Specifically, the error detection unit 110 executes the error detection process (S310) of FIG. The error positioning solution detected by the error detection process (S310) of FIG. 14 is a latitude/longitude error solution.

In step S414, the error detection unit 110 detects a satellite number error solution.
The satellite number error solution is a positioning solution corresponding to a time when the number of visible satellites is small. The number of visible satellites is the number of visible satellites at the time when the positioning solution is obtained, and is an example of the feature amount of the positioning solution.

Specifically, the error detection unit 110 determines for each positioning solution whether the positioning solution is the satellite number error solution as follows.
First, the error detection unit 110 acquires the number of visible satellites at the time corresponding to the target positioning solution from the observation data. The observation data is data that indicates the number of visible satellites for each time, is obtained by a receiver attached to the moving body, and is stored in the storage unit 191.
Then, the error detection unit 110 compares the number of visible satellites with the satellite number threshold. The satellite number threshold is a value determined as the number of visible satellites required to obtain a highly accurate positioning solution.
When the number of visible satellites is less than the satellite number threshold, the error detection unit 110 determines that the target positioning solution is a satellite error solution.
When the number of visible satellites is greater than or equal to the satellite number threshold, the error detection unit 110 determines that the target positioning solution is not a satellite error solution.

The process of step S414 is based on the idea that the accuracy of the positioning solution is low when the number of visible satellites is insufficient.

In step S415, the error detection unit 110 detects a collective error solution.
The collective error solution is a positioning solution included in a positioning solution group consisting of a few positioning solutions. The number of collective solutions is the number of positioning solutions included in the positioning solution group to which the positioning solution belongs, and is an example of the feature amount of the positioning solution.

Specifically, the error detector 110 detects a collective error solution as follows.
First, the error detection unit 110 divides a plurality of positioning solutions included in the positioning solution data into a plurality of positioning solution groups with a time point when the positioning solution is not obtained as a boundary.
Next, the error detection unit 110 calculates the number of positioning solutions included in the positioning solution group for each positioning solution group. The calculated number is the collective solution number.
Next, the error detection unit 110 determines whether each positioning solution set is an error set. A positioning solution group whose group solution number is less than the solution number threshold is an error group. The solution number threshold is a collective solution number corresponding to the length of time in which the positioning environment is estimated not to change much.
Then, the error detection unit 110 identifies the positioning solution belonging to the error group as the group error solution.

In FIG. 20, five positioning solutions from time T1 to time T5 and four positioning solutions from time T7 to time T10 are obtained. On the other hand, the positioning solution at time T6 has not been obtained. Therefore, the nine positioning solutions from time T1 to time 10 are divided into a positioning solution group G1 from time T1 to time T5 and a positioning solution group G2 from time T7 to time T10. It is assumed that the number of solution thresholds is five. Since the number (5) of positioning solutions included in the positioning solution group G1 is equal to or larger than the solution number threshold (5), the positioning solutions included in the positioning solution group G1 are not collective error solutions. On the other hand, since the number of positioning solutions (four) included in the positioning solution group G2 is smaller than the solution number threshold (5), the positioning solution included in the positioning solution group G2 is a collective error solution. That is, the four positioning solutions from time T6 to time T10 are collective error solutions.

The process of step S415 is based on the idea that the accuracy of the positioning solution is low in a situation where the positioning solution cannot be continuously obtained for a certain time or longer because the number of visible satellites is not sufficient.

In step S416, the error detection unit 110 detects a time zone error solution.
The time zone erroneous solution is a solution for positioning at a time included in the positioning start time zone. The positioning time zone is a time zone in which the positioning solution is obtained, and is an example of the feature amount of the positioning solution.
Specifically, the error detection unit 110 identifies one or more positioning solutions in the positioning start time zone as time zone error solutions.

In FIG. 21, the positioning start time zone SP is the time zone from time T1 to time T8. Therefore, the eight positioning solutions from time T1 to time T8 are time zone error solutions.

The process of step S416 is based on the idea that the accuracy of the positioning solution obtained immediately after the positioning is started is low.

In step S417, the error detection unit 110 calculates an error score for each positioning solution based on the results of the processing from step S411 to step S416.
The error score is a score indicating the degree to which the positioning solution is estimated to be incorrect. The higher the error score of the positioning solution, the higher the possibility that the positioning solution is incorrect.

Specifically, the error detection unit 110 calculates the error score of the target positioning solution as follows. The initial value of the error score is 0.
First, the error detection unit 110 determines whether the target positioning solution is an elevation error solution. When the target positioning solution is an altitude error solution, the error detection unit 110 adds an altitude weight to the error score of the target positioning solution. The altitude weight is an error score given to the altitude error solution.
Next, the error detection unit 110 determines whether the target positioning solution is an azimuth error solution. When the target positioning solution is an azimuth error solution, the error detection unit 110 adds an azimuth weight to the error score of the target positioning solution. The azimuth weight is the error score given to the azimuth error solution.
Next, the error detection unit 110 determines whether the target positioning solution is a latitude/longitude error solution. If the target positioning solution is a latitude/longitude error solution, the error detection unit 110 adds the latitude/longitude weight to the error score of the target positioning solution. The latitude/longitude weight is an error score given to the latitude/longitude error solution.
Next, the error detection unit 110 determines whether the target positioning solution is the satellite number error solution. When the target positioning solution is the satellite number error solution, the error detection unit 110 adds the satellite number weight to the error score of the target positioning solution. The satellite number weight is an error score given to the satellite number error solution.
Next, the error detection unit 110 determines whether the target positioning solution is a collective error solution. When the target positioning solution is the collective error solution, the error detection unit 110 adds the collective weight to the error score of the target positioning solution. The collective weight is an error score given to the collective error solution.
Then, the error detection unit 110 determines whether the target positioning solution is the start error solution. When the target positioning solution is the time zone error solution, the error detection unit 110 adds the time zone weight to the error score of the target positioning solution. The time zone weight is an error score given to the time zone error solution.

Each weight is determined according to the priority of the type of feature amount.
For example, it is assumed that the priority is high in the order of the altitude change amount, the azimuth angle change amount, and the moving distance, and the priority is low in the number of visible satellites, the number of collective solutions and the positioning time zone. In this case, the weight is high in the order of elevation change amount, azimuth angle change amount, and moving distance, and low in the number of visible satellites, the number of collective solutions, and the positioning time zone. For example, the altitude weight is 20, the azimuth angle weight is 15, the latitude/longitude weight is 10, and the satellite number weight, the group weight and the time zone weight are 5.

In step S418, the error detection unit 110 identifies a positioning solution having an error score higher than the error threshold as an error positioning solution.
The error threshold is a score determined as the error score of the error positioning solution.

The error threshold value is determined according to the accuracy of detecting the error positioning solution.
In order to reduce the omission of detection of an incorrect positioning solution, the error threshold may be set to a low score (for example, 11 points). In this case, false detection of an incorrect positioning solution may increase. False detection is an event in which a correct positioning solution is detected as an incorrect positioning solution.
When it is desired to reduce the false detection of the error positioning solution while reducing the omission of detection of the error positioning solution, the error threshold may be set to a medium score (for example, 19 points).
When it is desired to reduce the false detection of the incorrect positioning solution, the error threshold may be set to a high score (for example, 26 points). In this case, there is a possibility that the missed detection of the incorrect positioning solution may increase.

By the error detection process (S410), a positioning solution having an error score higher than the error threshold is detected as an error positioning solution.

***Effects of Embodiment 4***
An erroneous positioning solution can be removed based on a plurality of types of feature quantities. As a result, it is possible to increase the removal rate of erroneous positioning solutions while avoiding the removal of correct positioning solutions.

***Other configurations***
The combination of a plurality of types of feature amounts may be a combination of a part of an altitude change amount, an azimuth angle change amount, a moving distance, the number of visible satellites, a collective solution number, and a positioning time zone. Also, other types of feature quantities may be included in the combination.

Embodiment 5.
Regarding the mode of selecting the error threshold, the points different from the fourth embodiment will be mainly described with reference to FIGS. 22 and 23.

***Composition explanation***
The configuration of the error positioning solution detection device 100 will be described with reference to FIG.
The error positioning solution detection apparatus 100 includes an error threshold setting unit 130 as a software element in addition to the error detection unit 110 and the error removal unit 120.
The error positioning solution detection program is a program for causing a computer to function as the error detection unit 110, the error removal unit 120, and the error threshold value setting unit 130.

The error positioning solution detection apparatus 100 includes an input/output interface 904 in addition to the hardware described in the first embodiment.

The input/output interface 904 is a port to which an input device and an output device are connected. For example, the input/output interface 904 is a USB terminal, the input device is a keyboard and a mouse, and the output device is a display. USB is an abbreviation for Universal Serial Bus.

The input/output interface 904 functions as a display unit 192 that displays an image and the like on a display and also functions as a reception unit 193 that receives an input.

***Description of operation***
The error positioning solution detection method is the same as the method (see FIGS. 18 and 19) in the fourth embodiment.

However, the error threshold used in step S418 (see FIG. 19) of the error detection process (S410) is set as follows.
First, the display unit 192 displays the setting screen 200 for setting the error threshold on the display.
23, the setting screen 200 includes a GUI (graphical user interface) such as a check box 201, an option button 202, and a save button 203.
The check box 201 is a check box for selecting whether or not to remove the incorrect positioning solution. When the check box 201 is checked, the function for removing the error positioning solution is enabled. That is, the function of the error detection unit 110 and the function of the error removal unit 120 are enabled.
The option button 202 is an option button for selecting an error threshold. The option button 202 has a plurality of options such as “low”, “medium”, and “high”.
The save button 203 is a button for setting an error threshold corresponding to the option selected by the option button 202 as an error threshold used in step S418 (see FIG. 19).

When the save button 203 is pressed, the receiving unit 193 receives the option selected by the option button 202.

Then, the error threshold setting unit 130 stores the error threshold corresponding to the accepted option in the storage unit 191 as the error threshold used in step S418 (see FIG. 19).

Specifically, the error threshold setting unit 130 and the storage unit 191 operate as follows.
The storage unit 191 stores error thresholds corresponding to the respective options. The error threshold corresponding to the option “low” has a high score, the error threshold corresponding to the option “medium” has a medium score, and the error threshold corresponding to the option “high” has a low score.
The error threshold setting unit 130 selects an error threshold corresponding to the accepted option, and stores the selected error threshold in the storage unit 191 as the error threshold used in step S418 (see FIG. 19).

***Effect of Embodiment 5***
Since the error threshold value can be selected, it is possible to increase the removal rate of the error positioning solution while avoiding the removal of the correct positioning solution.

***Summary of Embodiments***
In the first to third embodiments, the method of removing the positioning solution indicating the movement that is impossible as the moving body has been described.
For example, a vehicle is positioned and a plurality of positioning solutions are obtained. Then, as a result of expressing each positioning solution by points, the locus shown in (1) of FIG. 24 was obtained. The time interval of the positioning solution is 0.1 second. The locus indicated by the three points surrounded by the broken line is deviated from the loci indicated by the other points by 50 cm. Since it is impossible to turn the steering wheel of the car back in 0.3 seconds, the three points enclosed by the broken lines can be said to indicate movements that are impossible for a car. Even if the car gets on something or gets stuck in a pit, the three points surrounded by the broken line cannot move. Therefore, the three positioning solutions corresponding to these three points are removed as erroneous positioning solutions. As a result, as shown in (2) of FIG. 24, a locus that does not include movement that is impossible for a car is obtained.

In the fourth embodiment, the method of weighting the positioning solution according to the suspicion and determining the positioning solution to be removed using the weight threshold value has been described. In the fifth embodiment, the user interface for selecting the weight threshold has been described.
The weight threshold may be determined according to the exercise capacity of the moving body. For example, if the mobile body is a train, the mass of the mobile body is large. In addition, the moving body runs on the track. Therefore, the moving body should move smoothly. Therefore, it is advisable to lower the weight threshold and make the determination of the positioning solution strict. For example, when the speed of the moving body is high, the weighting threshold value may be increased to loosen the determination of the positioning solution.
The positioning solution obtained when the number of visible satellites is small and the positioning solution obtained immediately after the positioning is started are questionable. In FIG. 25, the three points surrounded by the broken line are suspicious because they are positioning solutions obtained immediately after the positioning is started. If it is desired to remove a suspicious positioning solution, it is advisable to lower the weight threshold and make the determination of the positioning solution strict.
By adjusting the weighting threshold, it is possible to increase the removal rate of erroneous positioning solutions while avoiding the removal of correct positioning solutions.

In each of the embodiments, an RTK positioning result in which an object (for example, a car, a ship, or an airplane) equipped with a GPS (positioning device) makes a movement that is physically impossible in principle is detected as an abnormality.
The determination threshold value is defined by the movement ability of the object on which the positioning device is mounted. For example, a truck and a 4WS (4 Wheel Steering) sports car have different determination criteria.
The physical principle is determined by the weight of an object, engine power, and the capacity of a propulsion engine (such as tires and screws). Specifically, it is the physics principle that it does not accelerate, bend, or rise faster than a certain level.
As a basic idea, a case where a movement that exceeds the physical principle is performed by the RTK is determined as a miss Fix.
The error detection unit 110 compares the change in altitude, the change in azimuth angle, or the change in latitude/longitude with the movement performance limit ability of the object. The error detection unit 110 determines that the positioning solution when the change exceeds the motion performance limit ability is an erroneous positioning solution.

*** Supplement to the embodiment ***
In the embodiment, the function of the error positioning solution detection device 100 may be realized by hardware.
FIG. 26 shows a configuration in which the function of the error positioning solution detection apparatus 100 is realized by hardware.
The error positioning solution detection apparatus 100 includes a processing circuit 990. The processing circuit 990 is also called a processing circuit.
The processing circuit 990 is a dedicated electronic circuit that implements the error detection unit 110, the error removal unit 120, and the error threshold value setting unit 130.
For example, the processing circuit 990 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, an FPGA, or a combination thereof. GA is an abbreviation for Gate Array, ASIC is an abbreviation for Application Specific Integrated Circuit, and FPGA is an abbreviation for Field Programmable Gate Array.

The error positioning solution detection apparatus 100 may include a plurality of processing circuits that replace the processing circuit 990. The plurality of processing circuits share the role of the processing circuit 990.

The function of the error positioning solution detection device 100 may be realized by a combination of software and hardware. That is, some functions may be realized by software and the remaining functions may be realized by hardware.

The embodiment is an exemplification of a preferred embodiment, and is not intended to limit the technical scope of the present invention. The embodiment may be partially implemented or may be implemented in combination with other embodiments. The procedure described using the flowcharts and the like may be modified as appropriate.

100 error positioning solution detection device, 110 error detection unit, 120 error removal unit, 130 error threshold setting unit, 191 storage unit, 192 display unit, 193 reception unit, 200 setting screen, 201 check box, 202 option button, 203 save button , 300 measurement vehicle, 301 receiver, 302 IMU, 303 laser scanner, 304 odometer, 901 processor, 902 memory, 903 auxiliary storage device, 904 input/output interface, 990 processing circuit.

Claims (18)

The reference data indicating the altitude of the moving body for each time, a error positioning solution detector for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
The plurality of altitudes shown in the reference data are divided into a plurality of altitude groups with a time point when a positioning solution was not obtained as a boundary,
An altitude change amount is calculated for each time using the reference data, an error time that is a time corresponding to an altitude change amount larger than an altitude threshold value is specified, and the altitude of the error time is included and the time threshold value is also included. An error detection unit that specifies an error group that is an altitude group that includes less than the number of altitudes, and specifies one or more positioning solutions corresponding to the error group among the positioning solutions shown in the positioning solution data as the error positioning solution. An error positioning solution detection device comprising: The error detection unit, wherein if the error time is included in the positioning start time zone, error positioning solution detection apparatus according to one or more positioning solution in the positioning time window in claim 1, identified as the error positioning solution .. The reference data indicating the altitude of the moving body for each time, a error positioning solution detector for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
An altitude change amount is calculated for each time as a feature amount of the positioning solution using the reference data, and an altitude error positioning solution that is a positioning solution that is estimated to have an incorrect altitude is detected based on the altitude change amount. Other erroneous positioning solution is detected based on the feature amount of the position error, and an altitude weight is added to the error score of the positioning solution that is the altitude error positioning solution, and another weight is added to the error score of the positioning solution that is the other error positioning solution. In addition, the error positioning solution detection device is provided with an error detection unit that identifies a positioning solution having an error score higher than an error threshold among the positioning solutions shown in the positioning solution data as the error positioning solution. The incorrect positioning solution detection device includes a display unit that displays a setting screen for setting the error threshold,
The setting screen includes an option button for selecting the error threshold,
The error positioning solution detection device according to claim 3 , wherein the option button has a plurality of options for selecting the error threshold. The reference data indicating the azimuth angle of the mobile object for each time, a error positioning solution detector for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
The plurality of azimuth angles shown in the reference data are divided into a plurality of azimuth angle groups at the time when the positioning solution was not obtained,
An azimuth angle change amount is calculated for each time using the reference data, an error time that is a time corresponding to an azimuth angle change amount larger than an azimuth angle threshold is specified, and the azimuth angle of the error time is included, and the time is An error group, which is an azimuth group including an azimuth angle smaller than the number corresponding to the threshold value, is identified, and one or more positioning solutions corresponding to the error group among the positioning solutions shown in the positioning solution data are identified as the error positioning solution. An error positioning solution detection device including an error detection unit specified as . The error positioning solution detection device according to claim 5 , wherein, when the error time is included in a positioning start time zone, the error detection unit specifies one or more positioning solutions in the positioning start time zone as the error positioning solution. .. The reference data indicating the azimuth angle of the mobile object for each time, a error positioning solution detector for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
An azimuth change amount is calculated for each time as a feature amount of the positioning solution using the reference data, and an azimuth error positioning solution that is a positioning solution estimated to have an incorrect azimuth angle is based on the azimuth change amount. The other erroneous positioning solution is detected based on the other feature amount, the azimuth weight is added to the error score of the positioning solution that is the azimuth error positioning solution, and the other erroneous positioning solution An error positioning solution detection device comprising: an error detection unit that adds another weight to the error score and specifies a positioning solution having an error score higher than an error threshold among the positioning solutions shown in the positioning solution data as the error positioning solution. The incorrect positioning solution detection device includes a display unit that displays a setting screen for setting the error threshold,
The setting screen includes an option button for selecting the error threshold,
The error positioning solution detection device according to claim 7 , wherein the option button has a plurality of options for selecting the error threshold. The reference data indicating the latitude through of the mobile each time a error positioning solution detector for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
A plurality of latitude and longitude shown in the reference data is divided into a plurality of latitude and longitude groups with a time when a positioning solution was not obtained as a boundary,
The movement distance is calculated for each time using the reference data, the error time which is the time corresponding to the movement distance whose difference from the movement distance obtained by the odometer is longer than the distance threshold is specified, and the latitude and longitude of the error time. And an error group, which is a latitude/longitude group including a latitude/longitude less than the number corresponding to the time threshold, is specified, and one or more positionings corresponding to the error group among the positioning solutions shown in the positioning solution data are specified. An error positioning solution detection device comprising an error detection unit that identifies a solution as the error positioning solution. The error positioning solution detection device according to claim 9 , wherein the error detection unit identifies one or more positioning solutions in the positioning start time zone as the error positioning solution when the error time is included in the positioning start time zone. .. The reference data indicating the mobile weft Dokei degree every time a error positioning solution detector for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
Using the reference data, the moving distance is calculated as a feature amount of the positioning solution for each time, and the latitude/longitude incorrect positioning solution, which is the positioning solution estimated to have incorrect latitude/longitude, is detected based on the moving distance. Other erroneous positioning solution based on the feature amount of the above, the latitude and longitude weight is added to the error score of the positioning solution that is the latitude and longitude error positioning solution, and the error score of the positioning solution that is the other error positioning solution is Of the positioning solution shown in the positioning solution data, and identifies the positioning solution having an error score higher than an error threshold as the positioning error solution. The incorrect positioning solution detection device includes a display unit that displays a setting screen for setting the error threshold,
The setting screen includes an option button for selecting the error threshold,
The error positioning solution detection device according to claim 11 , wherein the option button has a plurality of options for selecting the error threshold. The reference data indicating the altitude of the moving body for each time, a error positioning solution detection program for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
The plurality of altitudes shown in the reference data are divided into a plurality of altitude groups with a time point when a positioning solution was not obtained as a boundary,
An altitude change amount is calculated for each time using the reference data, an error time that is a time corresponding to an altitude change amount larger than the altitude threshold value is specified, and the altitude of the error time is included and the time threshold value is also included. An error detection unit that specifies an error group that is an altitude group that includes less than the number of altitudes, and specifies one or more positioning solutions corresponding to the error group among the positioning solutions shown in the positioning solution data as the error positioning solution. Erroneous positioning solution detection program to make a computer function as. The reference data indicating the altitude of the moving body for each time, a error positioning solution detection program for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
An altitude change amount is calculated for each time as a feature amount of the positioning solution using the reference data, and an altitude error positioning solution that is a positioning solution that is estimated to have an incorrect altitude is detected based on the altitude change amount. Other erroneous positioning solution is detected based on the feature amount of the position error, and an altitude weight is added to the error score of the positioning solution that is the altitude error positioning solution, and another weight is added to the error score of the positioning solution that is the other error positioning solution. In addition, an error positioning solution detection program for causing a computer to function as an error detection unit that identifies a positioning solution having an error score higher than an error threshold among the positioning solutions shown in the positioning solution data as the error positioning solution. The reference data indicating the azimuth angle of the mobile object for each time, a error positioning solution detection program for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
The plurality of azimuth angles shown in the reference data are divided into a plurality of azimuth angle groups at the time when the positioning solution was not obtained,
An azimuth angle change amount is calculated for each time using the reference data, an error time that is a time corresponding to an azimuth angle change amount larger than an azimuth angle threshold is specified, and the azimuth angle of the error time is included, and the time is An error group, which is an azimuth group including an azimuth angle smaller than the number corresponding to the threshold value, is identified, and one or more positioning solutions corresponding to the error group among the positioning solutions shown in the positioning solution data are identified as the error positioning solution. An error positioning solution detection program for causing a computer to function as an error detection unit specified as . A reference program showing an azimuth angle of a moving body for each time, and a positioning solution data showing the positioning solution of the moving body for each time, and an error positioning solution detection program for detecting an error positioning solution,
Using the reference data, the azimuth angle change amount is calculated as the feature amount of the positioning solution at each time, and the azimuth angle is calculated.
Azimuth error positioning solution that is a positioning solution estimated to be incorrect is detected based on the azimuth angle change amount, and another error positioning solution is detected based on another feature amount. Azimuth weight is added to the error score of the positioning solution, and another weight is added to the error score of the positioning solution that is the other error positioning solution, and an error higher than the error threshold value among the positioning solutions shown in the positioning solution data is added. An erroneous positioning solution detection program for causing a computer to function as an error detection unit that identifies a positioning solution having a score as the erroneous positioning solution. The reference data indicating the latitude through of the mobile each time a error positioning solution detection program for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
A plurality of latitude and longitude shown in the reference data is divided into a plurality of latitude and longitude groups with a time when a positioning solution was not obtained as a boundary,
The movement distance is calculated for each time using the reference data, the error time which is the time corresponding to the movement distance whose difference from the movement distance obtained by the odometer is longer than the distance threshold is specified, and the latitude and longitude of the error time. And an error group, which is a latitude/longitude group including a latitude/longitude less than the number corresponding to the time threshold, is specified, and one or more positionings corresponding to the error group among the positioning solutions shown in the positioning solution data are specified. An error positioning solution detection program for causing a computer to function as an error detection unit that identifies a solution as the error positioning solution. The reference data indicating the mobile weft Dokei degree every time a error positioning solution detection program for detecting an error positioning solution using a positioning solution data shown for each time the positioning solution of the movable body,
Using the reference data, the moving distance is calculated as a feature amount of the positioning solution for each time, and the latitude/longitude incorrect positioning solution, which is the positioning solution estimated to have incorrect latitude/longitude, is detected based on the moving distance. Other erroneous positioning solution based on the feature amount of the above, the latitude and longitude weight is added to the error score of the positioning solution that is the latitude and longitude error positioning solution, and the error score of the positioning solution that is the other error positioning solution is The error positioning solution detection program for causing a computer to function as an error detection unit that identifies a positioning solution having an error score higher than an error threshold among the positioning solutions shown in the positioning solution data as the error positioning solution.

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