JP6775707B2 - Mobile terminal and current position correction system - Google Patents

Description

The present invention relates to a mobile terminal and a current position correction system, particularly to positioning the current position of the mobile terminal.

PDR (Pedestrian Dead Reckoning) is one of the methods for determining the current position indoors where GPS (Global Positioning System) radio waves are difficult or unreachable. The PDR estimates the position of the pedestrian from the sensor value of the smartphone carried by the pedestrian, for example. Specifically, by estimating the moving distance from the value of the acceleration sensor and the traveling direction from the value of the magnetic sensor, the moving destination from the starting point is relatively estimated. As described above, the PDR has an advantage that the position can be estimated by the smartphone alone without the need to install a transmission device (beacon) indoors in a mesh pattern unlike the position estimation technology using a beacon.

On the other hand, since the error of the sensor data cannot be self-corrected by PDR alone, there is a demerit that the error accumulates as the estimation is repeated and the correct positioning cannot be performed.

As a countermeasure, there is a method of resetting the current position at the correct position when the correct position can be determined by another method. For example, when a beacon using BLE (Bluetooth (registered trademark) Low Energy) is installed at the entrance / exit of an office and the smartphone can communicate with the beacon, the current position is assumed to be the entrance / exit and reset with the beacon installation position information. Then, a technique for newly starting positioning using PDR has been proposed.

Japanese Unexamined Patent Publication No. 2005-513975 JP-A-2007-101492

However, in order to use the conventional method, if the number of beacons installed is insufficient, the error of the current position cannot be easily eliminated. In other words, if the error is accumulated without being reset, it cannot be said that the current position is correctly positioned. On the other hand, if an attempt is made to increase the number of beacons installed in order to solve this problem, the installation cost will increase.

An object of the present invention is to use the current position of a short-range communication device in close proximity to correct the error of the current position of the own terminal so as to be smaller.

The mobile terminal according to the present invention is a mobile terminal carried by a user, which is stored in a storage means for storing current position information indicating a current position in a facility and error information of the current position, and the storage means. Current position estimation means that estimates the current position based on the current position information and the measured value by the mounted sensor, and updates the current position information stored in the storage means with the current position information indicating the estimated current position. The error estimation means that estimates the error of the current position information stored in the storage means and updates the error information stored in the storage means with the error information indicating the estimated error, and the mobile terminal. When the area information that specifies the position of the area where the user is currently located in the facility can be acquired, the position-determining machine in which the current position of the mobile terminal is determined, and when the area information cannot be acquired, the above. An acquisition means for acquiring the current position information and error information of the short-range communication device when the mobile terminal is in close proximity to the short-range communication device and the determination means for determining the position-undetermined machine whose current position is not fixed. As a result of comparing the error information stored in the storage means with the error information acquired by the acquisition means, the error of the current position information of the mobile terminal is calculated from the error of the current position information of the short-range communication device. If it is determined to be large, the correction means for correcting by updating the current position information and the error information stored in the storage means with the current position information and the error information acquired from the short-range communication device, and the short-range communication device. If the mobile terminal is determined to be a position-determining machine when it is close to, the area information storage that stores the area information in which the position information of each area in the facility and the error information in each area are associated with each other. The location information of the area obtained by referring to the means is used as the current location information of the mobile terminal, and the error information set in the area where the user is located is transmitted to the short-range communication device. It has means and.

Further, when the area information corresponding to the location position of the user set in the current schedule information of the user is set in the area information storage means, the determination means uses the mobile terminal as a position determining machine. It is a judgment.

It also has a means for storing the schedule information and the area information storage means.

Further, the determination means refers to the schedule information managed by the schedule management system in the facility.

Further, the determination means identifies the area where the user is currently located by referring to the entry / exit information managed by the entry / exit management system.

The current position correction system according to the present invention provides a mobile terminal carried by a user, a short-range communication device that performs short-range wireless communication with the mobile terminal, and location information indicating the location of the user in the facility. The mobile terminal has a location information acquisition means to be acquired and an area information storage means for storing area information in which the position information of each area in the facility and the error information in each area are associated with each other. Is based on a storage means that stores the current position information indicating the current position in the facility and the error information of the current position, the current position information stored in the storage means, and the measured value by the mounted sensor. The error between the current position estimation means that estimates the current position and updates the current position information stored in the storage means with the current position information indicating the estimated current position and the current position information stored in the storage means. An error estimation means that estimates and updates the error information stored in the storage means with error information indicating the estimated error, and the mobile terminal can be used by a user in the facility by referring to the location information. A position-determining machine in which the current position of the mobile terminal is determined when the area information corresponding to the current location can be acquired, and a position-determining machine in which the current position of the mobile terminal is determined when the area information cannot be acquired. A determination means for determining an undetermined position, an acquisition means for acquiring current position information and error information in the short-range communication device when the short-range communication device is in close proximity, and storage in the storage means. As a result of comparing the error information obtained and the error information acquired by the acquisition means, when it is determined that the error of the current position information of the mobile terminal is larger than the error of the current position information of the short-range communication device, the above When the correction means that corrects by updating the current position information and error information stored in the storage means with the current position information and error information acquired from the short-range communication device and the correction means that corrects by updating the current position information and error information, and when the short-range communication device is in close proximity When the mobile terminal is determined to be a position determining machine, the position information of the area obtained by referring to the area information storage means is used as the current position information of the mobile terminal, and the user is located. It has a transmission means for transmitting error information set in the area to the short-range communication device.

According to the present invention, it is possible to correct the error of the current position of the own terminal by using the current position of the short-range communication device in close proximity.

Further, by effectively using the schedule information managed by the schedule management system and the entry / exit information managed by the entry / exit management system, it is possible to determine whether or not the current position of the own terminal is fixed.

It is an overall block diagram which shows one Embodiment of the present position correction system which concerns on this invention. It is a hardware block diagram of the mobile device in Embodiment 1. FIG. It is a figure which shows the block structure of the portable device in Embodiment 1. FIG. It is a figure which shows an example of the data structure of the current state information set in the current state information storage part in Embodiment 1. FIG. It is a figure which shows the data structure example of the schedule information stored in the schedule information storage part in Embodiment 1. FIG. It is a figure which shows the data structure example of the area information stored in the area information storage part in Embodiment 1. FIG. It is a flowchart which shows the update process of the present position information in Embodiment 1. It is a flowchart which shows the position setting process in Embodiment 1. It is a flowchart which shows the correction process of the present position information in Embodiment 1. It is a block block diagram of the present position correction system in Embodiment 2. It is a flowchart which shows the correction process of the present position information in Embodiment 2. It is a block block diagram of the present position correction system in Embodiment 3. It is a figure which shows typically the route information stored in the route information storage part in Embodiment 3. FIG. It is a figure which shows the route information in FIG. 13A in a table format. It is a figure which shows the data structure example of the area information stored in the area information storage part in Embodiment 3. FIG.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

Embodiment 1.
FIG. 1 is an overall configuration diagram showing an embodiment of the current position correction system according to the present invention. FIG. 1 shows two mobile devices 10 and 20 as mobile terminals. In the present embodiment, a case where a smartphone is used as the mobile devices 10 and 20 will be described as an example. Of course, other devices such as tablet terminals may be used as long as they have a short-range communication function and are portable communication terminal devices. The mobile devices 10 and 20 are carried by users A and B moving in the facility, respectively. However, FIG. 1 illustrates a state in which user B is located and seated in any area of the facility such as a conference room. In this way, the users A and B move in the facility, but as shown in the user B, they may be located in any of the rooms according to the schedule. Although only the two mobile devices 10 and 20 necessary for the explanation are shown in FIG. 1, the number of the mobile devices 10 and 20 may be three or more.

FIG. 2 is a hardware configuration diagram of the mobile devices 10 and 20 according to the present embodiment. The mobile devices 10 and 20 in the present embodiment are equipped with a computer and can be realized by a general-purpose hardware configuration that has existed in the past. That is, as shown in FIG. 2, the mobile devices 10 and 20 include a CPU 1, a ROM 2, a RAM 3, a storage 4, a short-range wireless communication interface (IF) 5 for performing short-range wireless communication, and a liquid crystal panel 6 as a user interface. And various sensors 7 are connected to the internal bus 8. The various sensors 7 include an acceleration sensor, an angular velocity sensor (gyro sensor), a pressure sensor, a magnetic sensor, and the like.

FIG. 3 is a diagram showing a block configuration of the portable device 10 according to the present embodiment. Although only the block configuration of the mobile device 10 is shown in FIG. 3 for convenience, the mobile device 20 also has the same configuration. Here, the portable device 10 will be described as a representative.

The portable device 10 includes a PDR calculation unit 11, a current position estimation unit 12, an error estimation unit 13, a short-range communication processing unit 14, a correction unit 15, a control unit 16, a PDR data storage unit 21, a device information storage unit 22, and current status information. It has a storage unit 23, a schedule information storage unit 24, and an area information storage unit 25. The components not used in the description of the present embodiment are omitted from FIG.

The PDR calculation unit 11 calculates the movement distance and the traveling direction from the starting point (current position) by performing positioning according to the pedestrian autonomous navigation (PDR) based on the measured values by various sensors 7, and the calculated moving distance and the traveling direction are calculated. The relative movement destination from the starting point (current position) is estimated based on the traveling direction, and stored in the PDR data storage unit 21.

The current position estimation unit 12 estimates the current position based on the current position information stored in the current status information storage unit 23 and the movement distance and the traveling direction estimated by the PDR calculation unit 11, and indicates the estimated current position. The current position information stored in the current status information storage unit 23 is updated with information.

The current position information is information indicating the current position of the mobile device 10. Since the mobile device 10 is carried and moved by the user A, the current positions of the mobile device 10 and the user A are the same. That is, the "current position of the user A" and the "current position of the mobile device 10" are synonymous. As will be described later, it is represented by the floor on which the user A is located and the position (coordinate data) on the floor. The current position information is obtained by estimation in this way, and the error estimation unit 13 estimates the error of the current position information stored in the current status information storage unit 23, and stores the current status information with error information indicating the estimated error. The error information stored in the unit 23 is updated.

When the short-range communication processing unit 14 is in close proximity to the short-range communication device, the short-range communication processing unit 14 performs short-range wireless communication with the short-range communication device. "Near-field communication device" means a device equipped with a function for performing short-range wireless communication. In the present embodiment, as a short-range communication device, a mobile device 20 that moves by being carried by a user, a mobile terminal that moves autonomously, and a mobile terminal that is attached and installed in a known place, that is, fixedly installed. It is assumed that the device uses BLE technology such as a beacon. When the short-range communication processing unit 14 is close to the short-range communication device, specifically, when the short-range communication device is close to a distance capable of performing short-range wireless communication, the short-range communication processing unit 14 is used from the short-range communication device. Receives the current position information and error information of the short-range communication device. Since the position of the beacon is fixed, the installation position information indicating the beacon installation position corresponds to the current position information. When the beacon has a function of transmitting the installation position information by itself, the short-range communication processing unit 14 receives the installation position information transmitted by the beacon. When the beacon does not have the function of transmitting the installation position information by itself, the short-range communication processing unit 14 acquires the installation position information of the beacon from, for example, a known external database. In any case, in the following description, it is assumed that the short-range communication processing unit 14 receives (acquires) the installation position information from the beacon for convenience. Further, the short-range communication processing unit 14 transmits the current position information and the error information stored in the current status information storage unit 23 to the short-range communication device when it is in close proximity to the short-range communication device. The close state can occur when the mobile device 10 moves by itself, when the short-range communication device to be a communication partner moves and approaches the mobile device 10, or when both of them are moving.

As a result of comparing the error information stored in the current status information storage unit 23 with the error information received by the short-range communication processing unit 14, the correction unit 15 has an error in the current position information of the portable device 10 of the short-range communication device. If it is determined that the error is larger than the error of the current position information, it is corrected by updating the current position information and the error information stored in the current status information storage unit 23 with the current position information and the error information acquired from the short-range communication device. The mobile device 10 moves in the facility as the user A moves, but if the user A has a schedule for a meeting or the like, the mobile device 10 stays in a predetermined area such as a meeting room. The position information indicating the position of the area such as the conference room in the facility can be represented by the floor on which the user A is located and the position (coordinate data) on the floor, similarly to the current position information described above. The current position information is obtained by estimation, but the position information indicating the position of the area is fixed information. When the mobile device 10 is determined to be a position-determining device when it is close to the short-range communication device, the correction unit 15 acquires the position information of the area as the current position information of the mobile device 10 and sets it in the area. Acquire the error information that has been set.

The control unit 16 controls the operation of each of the above components 11 to 15. Further, the control unit 16 functions as a determination means, and the mobile device 10 is a position-determining machine in which the current position of the mobile device 10 is determined or not determined based on the area where the user is located in the facility. Determine if the machine is in an undetermined position.

The PDR data storage unit 21 stores the movement distance and the traveling direction obtained by the PDR calculation unit 11. The device information storage unit 22 stores information about various sensors 7 mounted on the portable device 10. The information related to the various sensors 7 includes information on the type and number of sensors mounted on the mobile device 10, the performance of the various sensors 7, and the like. The device information storage unit 22 may store information about the mobile device 10, specifically, information that can identify the model such as the model number of the mobile device 10. Then, information on various sensors 7 may be acquired from the outside from this information.

FIG. 4 is a diagram showing an example of a data structure of the current status information set in the current status information storage unit 23 in the present embodiment. In the current status information, current position information, estimation error, and correction information are set as information regarding the current position of the portable device 10. The current position information is information indicating the current position of the mobile device 10, and is information (X coordinate and Y coordinate) representing the position in the facility in two dimensions (plane) and the number of floors (floor) that can be specified by Z coordinate data. And consists of. In the present embodiment, as illustrated in FIG. 4, the Z coordinate data is represented by the number of floors in which the user A is present. The current position of the user A is obtained by estimation, and the estimation error is an error of the current position estimated to occur by this estimation. The correction information includes the current position information and the information related to the correction when the estimation error is corrected. In the present embodiment, the correction time, the correction method, and the correction partner are included. The correction time is the current position information and the time information when the estimation error is corrected. In the present embodiment, only the time is dealt with, but the format for expressing the time, such as including the date, is not limited to this. The correction method is information indicating an acquisition method of the updated information when the current position information and the estimation error are updated. In the present embodiment, it is assumed that the information to be updated is acquired when it passes by the short-range communication device (portable device 20) and when it is acquired from the beacon. Therefore, the correction method is "passing" or "Beacon" is set. The correction partner is information that identifies the type of short-range communication device from which the information to be updated is acquired. In this embodiment, device identification information (device ID) is set.

FIG. 5 is a diagram showing a data configuration example of schedule information stored in the schedule information storage unit 24 in the present embodiment. The user's schedule information is set and registered in advance in the schedule information storage unit 24 by the user A. In the schedule information, a place name is set as the start time and the end time of the schedule and the location information indicating the location (area) where the user A is located in the schedule. That is, the user A is scheduled to be located in the area indicated by the place name between the start time and the end time.

FIG. 6 is a diagram showing a data configuration example of area information stored in the area information storage unit 25 in the present embodiment. In the area information storage unit 25, the position information of each area (place) in the facility and the error information in each area are set and registered in advance. The place name included in the area information is information for specifying the area, and is set with the same name as the place name set in the schedule information for the same area. The position information has the same data structure as the current position information described above, and is represented by a floor on which the area is located and a position (coordinate data) on the floor. The error information is information indicating an error in the area. Although the location of the area is fixed in the facility, the user cannot specify which position in the area. The user is in the area but not necessarily in the center of the area. Assuming that the position (coordinate data) indicates the center coordinate of the area, if the user is at a position off the center, an error due to the distance may occur. Therefore, in the present embodiment, error information is set in the area information in order to represent the error. The error information set in the area information is basically a value indicating the size of the area, and specifically, the larger the area, the larger the value of the error information is set. As will be described later, the error information is used for the estimation error of the current state information.

Each component 11 to 16 in the mobile device 10 is realized by a cooperative operation of a computer mounted on the mobile device 10 and a program running on the CPU 1 mounted on the computer. Further, each of the storage units 21 to 23 is realized by the storage 4 mounted on the portable device 10. Alternatively, the RAM 3 or an external storage means may be used via the network.

Further, the program used in the present embodiment can be provided not only by communication means but also by storing it in a computer-readable recording medium such as a memory card. Programs provided from communication means and recording media are installed in a computer, and various processes are realized by sequentially executing the programs by the CPU 1 of the computer.

Next, the operation in the present embodiment will be described. Since the mobile devices 10 and 20 have the same configuration and perform the same operations, the operation of the mobile device alone will be described with the mobile device 10 as a representative.

First, the process of updating the current position information is performed regardless of whether or not the mobile device 10 is close to another short-range communication device. This update process will be described with reference to the flowchart shown in FIG. Once started, this process is repeatedly executed, for example, every time the user A moves one step until the end is instructed. In the present embodiment, it is assumed that the movement of the user A by one step is detected as the movement of the user A (portable device 10). However, as will be described later, when the elevator is used as a means of transportation, the mobile device 10 will move even if the user A does not move. Therefore, assuming such a case, the movement of the user A itself Instead, steps 102 to 105 may be repeated and periodically executed.

The control unit 16 monitors the movement of the user A by constantly monitoring the measured value from the acceleration sensor (N in step 101). Then, when the movement of the user A is detected (Y in step 101), the PDR calculation unit 11 determines the movement distance from the starting point (current position) based on the measured value by the acceleration sensor according to the instruction from the control unit 16 and also magnetically. The traveling directions from the starting point (current position) are calculated based on the values measured by the sensors (step 102). Then, the PDR calculation unit 11 estimates the relative movement destination from the starting point (current position) based on the calculated movement distance and the traveling direction (step 103), and stores the data in the PDR data storage unit 21.

Subsequently, the current position estimation unit 12 reads out the current position information stored in the current status information storage unit 23, and adds the relative movement destination estimated by the PDR calculation unit 11 from the current position information as a starting point to the user. Estimate a new current position due to the movement of A. Then, the current position estimation unit 12 updates the current position information stored in the current status information storage unit 23 with the current position information indicating the estimated current position (step 104).

By the way, the current position information obtained by estimation may contain an error. That is, there is a possibility that the actual location (current position) of the user A is deviated. If the above-mentioned process of estimating the current position is repeatedly executed, errors will be accumulated in the estimated current position information. The error estimation unit 13 estimates the error of the current position information obtained by this estimation. Specifically, the user A estimates the error of the current position information updated in step 103, reads the estimated error stored in the current status information storage unit 23, and adds the estimated error to the read error information. Estimate a new error (cumulative error) due to the movement. Then, the error estimation unit 13 updates the estimation error stored in the current state information storage unit 23 with the estimated error (cumulative error) (step 105). The specific method of estimating the error of the current position information by the error estimation unit 13 will be described later. Here, the description will be continued assuming that a numerical value can be obtained as an estimation error as illustrated in FIG. 4 (a).

As described above, every time the movement of the user A is detected, the current position information of the mobile device 10 (user A) held by the current status information storage unit 23 and the estimation error of the current position information are updated. Become.

Subsequently, the correction of the current position information will be described with reference to the flowcharts shown in FIGS. 8 and 9. Once started, this process is repeatedly executed until the end is instructed. As described above, the short-range communication device includes a mobile device 20 that moves and a beacon that does not move. However, unless otherwise specified, the mobile device 20 will be described as a short-range communication device. Of course, also in the portable device 20 as the short-range communication device, the process described with reference to FIGS. 8 and 9 as the mobile terminal is executed.

In the present embodiment, the position (role) of the mobile device 10 is always determined. For that purpose, the control unit 16 refers to the schedule information illustrated in FIG. 5 and confirms whether or not the schedule is set for the user A at the present time. Specifically, if the current time is between the start time of the schedule set in the schedule information and the end time of the schedule, the user A has the schedule at the present time. In this case (Y in step 111), the control unit 16 sets the position of the mobile device 10 as the position determining machine (step 112). Otherwise (N in step 111), the control unit 16 sets the position of the mobile device 10 as an undetermined position (step 113).

Based on the schedule information setting example illustrated in FIG. 5, if the current time is between 15:00 and 16:00 on January 9, 2018, the location of user A is the first conference room. Presumed. With reference to the area information illustrated in FIG. 6, since the area information corresponding to the location position (first conference room) of the user A is set and registered in the area information storage unit 25, the position of the first conference room in the facility is registered. Is known information. Therefore, since the current position of the user A (portable device 10) in the first conference room is the same as that of the first conference room, it can be indicated by the area information of the first conference room. If the area information of the place set in the schedule information is not registered in the area information storage unit 25, the current position of the mobile device 10 cannot be determined, so that the position is undetermined. Since the position of the first conference room registered in the area information is reliable information, the current position of the portable device 10 is a definite position without considering an error. Since the user A cannot specify which position in the first conference room, strictly speaking, an error indicated by the error information set for the first conference room in the area information may occur, but at least the portable device. The current position of 10 can be determined as the position of the first conference room. Therefore, in the present embodiment, the portable device 10 whose position can be determined by the schedule information and the area information is determined to be the position determining machine. As described above, since the current position of the position determining machine is determined, the position determining machine becomes the portable device 10 that does not require the correction of the current position by the correction process described later.

On the other hand, the fact that user A has no schedule at this time means that the current position of user A (portable device 10) cannot be specified. For example, after 16:00 on January 9, 2018, User A will leave the first conference room, but since the schedule information after that is not set, the location of User A is unknown. It becomes. Even if the schedule information is set, if the area information of the place indicated by the schedule information is not registered in the area information storage unit 25, the location of the user A is unknown. In such a case, the control unit 16 determines that the mobile device 10 is a position undetermined machine. Therefore, in step 111 in FIG. 8, strictly speaking, not only the presence or absence of the schedule information but also whether or not the area information corresponding to the place name set in the schedule information is registered in the area information storage unit 25 is confirmed. It will be. Although the location of the undetermined position machine, that is, the mobile device 10 (user A) is unknown, the current position information is obtained by estimation by the current position estimation unit 12. However, the current position information of the portable device 10 is estimated information and is not definite.

As described above, the control unit 16 constantly refers to the schedule information of the user A, and if there is a schedule and the location of the user A can be acquired, the position of the mobile device 10 cannot be acquired by the position determining machine. If so, switch to an undetermined position machine. The position of the portable device 10 is stored in the RAM 3 or the storage 4.

Subsequently, the correction process of the current position information will be described with reference to the flowchart shown in FIG. Once started, this process is repeatedly executed until the end is instructed.

The control unit 16 constantly monitors whether or not the mobile device 20 is within the communication range of the short-range communication processing unit 14 (N in step 121). The fact that the mobile device 20 is within the communication range of the short-range communication processing unit 14, that is, the control unit 16 can detect the mobile device 20, means that the short-range communication processing unit 14 communicates with the mobile device 20 in a short-range wireless communication. The mobile device 10 and the mobile device 20 are so close to each other that this is possible. In the present embodiment, the fact that the mobile device 10 and the mobile device 20 are close to each other is assumed to be located at the same position, that is, at the same current position. The fact that the current positions are the same means that the current positions indicated by the current position information of the mobile devices 10 and 20 should be logically the same. However, as described above, in the present embodiment, an estimation error occurs in the current position information.

When the mobile device 20 is detected within the communication range of the short-range communication processing unit 14 (Y in step 121), the control unit 16 confirms the position of the mobile device 10. When the position of the mobile device 10 is not the position-determining machine (N in step 122), that is, when the position is undetermined, the control unit 16 is currently stored in the short-range communication processing unit 14 and the current status information storage unit 23. The position information and the estimation error are transmitted to the mobile device 20 (step 123). At this time, the short-range communication processing unit 14 also transmits the device ID “Ta” of the own device as information for identifying the transmission source. Since the mobile device 20 operates in the same manner as the mobile device 10, the mobile device 20 transmits the current position information and the estimation error stored in the current state information storage unit of the mobile device 20 to the mobile device 10. As a result, the short-range communication processing unit 14 receives the current position information and the estimation error transmitted from the mobile device 20 (step 124). The device ID "Tb" of the mobile device 20 is added to the received information as information for identifying the transmission source. FIG. 1 schematically shows information exchange between mobile devices 10 and 20. Either method of sending and receiving information may be performed first.

When the information exchange is completed, the correction unit 15 starts the operation according to the instruction from the control unit 16. First, the correction unit 15 confirms the device ID of the information transmission source. Here, since the communication partner is the mobile device 20, that is, a mobile device (Y in step 125), the correction unit 15 reads out the estimation error stored in the current status information storage unit 23, and the read estimation error and the mobile device Compare with the estimation error obtained from 20. As a result of comparison, when the estimated error read out is larger than the estimated error acquired from the mobile device 20 (Y in step 126), the current position information and the estimated error stored in the current status information storage unit 23 are acquired from the mobile device 20. It is updated with the current position information and the estimation error (step 127).

The fact that the estimation error of the mobile device 10 is larger than the estimation error of the mobile device 20 means that the current position information in the mobile device 20 is considered to indicate the current position relatively correctly. Although there may be an estimation error between the two, it is considered that at least the current position of the mobile device 20 on the communication partner side is correctly positioned. Therefore, in the present embodiment, information that is considered to be relatively correct is adopted, and the current position in the mobile device 10 is corrected by the current position in the mobile device 20 as described above.

Here, since the information is updated with the information acquired from the mobile device 20, the corrected current position information and the estimation error shown in FIG. 4B are the same as those of the mobile device 20. According to this numerical example, the estimation error in the mobile device 10 is 30, which is larger than the estimation error 15 in the mobile device 20. Therefore, the current position information and the estimation error received from the mobile device 20 are used for correction. Further, the correction unit 15 corrects the correction time with the corrected current time by passing communication, thereby performing the correction method with "passing", and the correction partner with the device ID "Tb" of the mobile device 20 from which the information is acquired. Update each. As a result, the current position information and the estimation error in the portable device 10 are updated as shown in FIG. 4 (b). As described above, the current position information and the estimation error have the same values as those of the mobile device 20. In the present embodiment, "passing communication" refers to communication performed mutually by entering the range in which the mobile devices 10 and 20 can communicate when the users A and B carrying the mobile devices 10 and 20 pass each other. To say.

When the correction process in step 127 is completed, the process returns to step 121. Even if the mobile device 20 is still within the communication range, the same update process may not be repeatedly executed because the above-mentioned one correction may be performed for each detection. This can be determined by temporarily storing the device ID "Tb" received in step 124 until the mobile device 20 disappears from the communication range of the short-range communication processing unit 14.

On the other hand, when the estimation error read from the current status information storage unit 23 is less than or equal to the estimation error acquired from the mobile device 20 (N in step 126), the current position information stored in the current status information storage unit 23 is the correct current position. Is determined, and the process returns to step 121 without updating the information. By the way, since the mobile device 20 has the same function as the mobile device 10, the mobile device 20 obtains the current position information and the estimation error stored in the current status information storage unit 23 in the own device in step 123. Will be updated with the current position information received from the mobile device 10 and the estimation error.

Further, although the mobile device 20 is described as a communication partner here, when the user A moves, the mobile device 10 may come close to the beacon and short-range wireless communication may be possible with the beacon. is there. In this case (Y in step 121), unlike the mobile device 20, the beacon does not always have the same functions as the mobile devices 10 and 20. Therefore, although the mobile device 10 transmits the current position information and the estimation error (step 123), the beacon does not always receive the transmitted information. Of course, it doesn't matter if you don't receive it.

On the other hand, the short-range communication processing unit 14 receives the information transmitted from the beacon (step 124). The received information includes the installation position information indicating the installation position of the beacon and the device ID of the beacon as the information for identifying the transmission source.

When the communication partner determines that the communication partner is a beacon based on the device ID of the information transmission source, the correction unit 15 handles the received installation position information as the current position information and stores it in the current status information storage unit 23 without comparing the estimation error described above. The current position information is updated and the estimation error is initialized to 0 (step 130). It is considered that the estimation error is not sent from the beacon, but it is considered that there is no error in the installation position information received from the beacon in the first place (estimation error = 0), so there is no need to compare the estimation errors. Further, the correction unit 15 corrects the correction time with the corrected current time with the information acquired from the beacon, so that the correction method is updated with the "beacon" and the correction partner is updated with the device ID of the beacon from which the information is acquired. ..

On the other hand, when the position of the portable device 10 is the position determining machine (Y in step 122), the control unit 16 causes the correction unit 15 to acquire the location information of the user A from the schedule information, and the position information and error of the location position. Get information from area information. Then, the current position information stored in the current status information storage unit 23 with the acquired position information is updated, and the estimation error stored in the current status information storage unit 23 with the acquired error information is updated (step 128). Subsequently, the control unit 16 causes the short-range communication processing unit 14 to transmit the current position information and the estimation error stored in the current status information storage unit 23 to the mobile device 20 (step 129). At this time, the short-range communication processing unit 14 also transmits the device ID “Ta” of the own device as information for identifying the transmission source.

According to the setting examples of FIGS. 5 and 6, the location position (first conference room) of user A is specified from the schedule information, the position information and error information of the first conference room are acquired from the area information, and the acquisition thereof is performed. The current position information and the estimation error in the portable device 10 are updated with the obtained information. As a result, the current position information and the estimation error in the portable device 10 are updated as shown in FIG. 4 (c). Further, the acquired information will be transmitted to the mobile device 20. When the position of the portable device 10 is a position determining machine, the current position of the user A is determined to be the first conference room, although there may be an error in the position indicated by the error information. That is, the current position information and the estimation error in the mobile device 10 are regarded as reliable information, and the mobile device 10 uses the information (current position information and estimation error) provided by the mobile device 20 to store the current status information storage unit 23. Do not update. Therefore, the mobile device 10 does not need to receive the information provided by the mobile device 20 when the position is the position determining machine. However, the mobile device 10 may receive the information provided by the mobile device 20 and shift to the process of step 126.

According to the present embodiment, one of the current position information is more accurately positioned, instead of performing a calculation such as calculating the average of the current position information of the mobile device 10 and the mobile device 20 as the communication partner. Judging that, I decided to adopt one of the current location information. In the present embodiment, it is assumed that the communication between the mobile devices 10 and 20 is performed by Wi-Fi (registered trademark) ad hoc communication, Bluetooth, or the like. Then, when the users A and B carrying the mobile devices 10 and 20 pass each other, the mobile devices 10 and 20 enter the communicable range, so that the passing communication is performed and the above-mentioned correction process is performed. By repeatedly executing the passing communication, the current position information stored in the current status information storage unit 23 is corrected with the current position information corresponding to a relatively small estimation error, so that the current position information is gradually increased. Will show the correct current position. If the communication partner is a beacon, the estimation error will be reset to the correct current position of 0.

Further, when the position of the mobile device 20 as the communication partner is the position-determining machine, the mobile device 10 handles the mobile device 20 in the same manner as the beacon. This is because the mobile device 20 (user B) does not move from the place set in the schedule information, so that the mobile device 20 can be handled in the same manner as a beacon that is fixedly installed. However, in the flowchart shown in FIG. 8, the estimation error of the own terminal and the estimation error of the communication partner are compared in step 126 without considering the position of the mobile device 20. Basically, the estimation error received from the mobile device 20 is likely to be smaller than the estimation error of the mobile device 10. Therefore, even if the mobile device 10 does not consider the position of the mobile device 20, the current status information storage unit 23 of the mobile device 10 is updated with the information (current position information and estimation error) received from the mobile device 20. Conceivable. However, it is conceivable that the mobile device 10 may pass the mobile device 20 which is the position determining machine immediately after the passing communication with the beacon is performed, that is, immediately after the estimation error becomes 0. In this case, the mobile device 10 is portable. The estimation error of the device 10 may be smaller than the estimation error of the portable device 20. Therefore, in the present embodiment, step 126 is carried out without considering the position of the mobile device 20. However, for example, when the information is acquired from the communication partner in step 124, the position of the communication partner is also acquired, and if the communication partner is a position determining machine, the current status information of the communication partner is determined to be reliable information. Then, the current status information may be updated with the information of the communication partner in step 127 without processing step 126.

According to the present embodiment, even if the usage environment of the mobile device 10 is an environment such as in a facility where GPS radio waves are difficult or unreachable, the current position can be correctly positioned as described above. ..

Here, a method of estimating the estimation error by the error estimation unit 13 will be described. In this embodiment, an index such as a moving distance, an elapsed time, or the number of course changes is used.

The moving distance is the moving distance of the user (portable device), and can be measured by the acceleration sensor based on the measured value. It is considered that the error of the current position information becomes relatively large as the moving distance becomes long. Basically, the moving distance indicates the moving distance after the estimation error stored in the current state information storage unit 23 is initialized to 0. However, when corrected by the estimation error of the mobile device 20, the estimation error obtained based on the movement distance is the movement of the user B after the estimation error stored in the current state information storage unit of the mobile device 20 is initialized. The estimation error due to the movement of the user A after the correction is accumulated in the estimation error due to the above. It should be noted that an index of the number of steps of the user may be used instead of the travel distance. The number of steps can be measured by an acceleration sensor.

The elapsed time is the elapsed time since the estimation error was initialized to 0, and can be measured by a time measuring means. Unless the user A does not move at all, it is considered that the error of the current position information becomes relatively large as the time from the initialization elapses. Basically, the elapsed time is the elapsed time since the estimation error stored in the current status information storage unit 23 is initialized to 0. However, when corrected by the estimation error of the portable device 20, the estimation error obtained based on the elapsed time accompanies the elapsed time since the estimation error stored in the current state information storage unit of the portable device 20 is initialized. In the estimation error, the estimation error with the elapsed time from the correction of the estimation error stored in the current state information storage unit 23 of the portable device 10 is accumulated.

The number of course changes is the number of times the user A has changed the course by turning right or left in the facility, and can be measured by the acceleration sensor and the angular velocity sensor. It is considered that the error of the current position information becomes relatively large as the course is changed repeatedly as compared with the case where the user A continues to go straight. Basically, the number of course changes is the number of course changes since the estimation error stored in the mobile device 10 is initialized to zero. However, when corrected by the estimation error of the mobile device 20, the estimation error obtained based on the number of course changes is the estimation error stored in the current state information storage unit of the mobile device 20 in the user B after the estimation error is initialized. The estimation error due to the course change of the user A after the correction is accumulated in the estimation error due to the course change. It should be noted that an index called the total sum (cumulative angle) of the angles (angles deviated from the straight direction) when the course is changed may be used instead of the number of course changes. The angle when the course is changed can be measured by the acceleration sensor and the gyro sensor.

The travel distance, elapsed time, or number of course changes described above are numerical data, but in addition to this, for example, an index called a travel means may be used for estimating an estimation error. The means of transportation is a means of transportation for the user, and may be walking, running, an elevator, stairs, a transport aircraft (vehicle, train, etc.). The moving means can be identified by analyzing each measured value of an acceleration sensor, a barometric pressure sensor, an angular velocity sensor, a three-axis magnetic sensor, or the like. For example, walking movement is relatively slower than running movement. In addition, the speed of movement by transport aircraft is relatively faster than that of movement by traveling. It can be determined by setting the threshold value in advance. The movement by the stairs involves the movement in the vertical direction in addition to the movement in the two-dimensional direction, and the movement by the elevator is only the movement in the vertical direction. In this way, the moving means can be estimated based on the measured values by the various sensors 7.

In addition, it is considered that walking is less likely to cause an error due to movement with respect to running. Since the transport aircraft can be positioned using GPS instead of PDR, it is considered that errors are relatively unlikely to occur. Based on such a judgment, the estimation error is quantified for each estimated moving means so that it can be handled in the same manner as the above-mentioned moving distance and the like. It should be noted that the moving means in which an error is less likely to occur is set to a smaller value indicating an estimation error.

Further, the information set in the device information storage unit 22 may be used. For example, it is considered that the larger the number of sensors used for positioning the current position, the smaller the error in the current position information. Further, when the model of the mobile device 10 is new, the sensor mounted on the mobile device 10 is also new, and the newer the sensor, the better the accuracy, so that the error of the current position information is considered to be relatively small. In this way, by quantifying the number and accuracy of the sensors, it can be handled in the same manner as the above-mentioned moving distance and the like.

As described above, the index described above can be used as the information used for estimating the estimation error. These indicators do not necessarily have to be used alone, and may be used in combination as appropriate. However, since the range and size of numerical values that can be taken differ depending on the index, and because each index is prioritized, each index is weighted when calculating the estimation error by combining these index values, and the estimation error is estimated. It is preferable to calculate. Further, when the communication partner described above is a beacon, it is also necessary to calculate the estimation error to 0.

Embodiment 2.
FIG. 10 is a block configuration diagram of the current position correction system according to the present embodiment. FIG. 10 shows a schedule management system 30 in addition to the mobile devices 10 and 20. In the first embodiment, the mobile devices 10 and 20 hold the schedule information, and the reliability of the current position information held by the users A and B is determined by referring to the information. The present embodiment is characterized in that the schedule information managed by the schedule management system is effectively used. That is, it is not necessary for the mobile devices 10 and 20 to hold the schedule information. Since the mobile device 10 and the mobile device 20 have the same configuration, the mobile device 10 will be described as a representative in the present embodiment as well.

The portable device 10 has a configuration in which the schedule information storage unit 24 and the area information storage unit 25 are removed from the configuration shown in the first embodiment (FIG. 3), and the wireless communication unit 17 is added. The wireless communication unit 17 performs wireless communication with the schedule management system 30. For example, Wi-Fi communication is performed as a wireless communication method. The wireless communication unit 17 is realized by a cooperative operation of a computer mounted on the mobile device 10 and a program running on the CPU 1 mounted on the computer. Further, in addition to the configuration shown in the first embodiment, the hardware configuration of the mobile device 10 requires a wireless communication interface for wireless communication with the schedule management system 30.

The schedule management system 30 includes a wireless communication unit 31, an information management unit 32, a schedule information storage unit 33, and an area information storage unit 34. Components not used in the description of the present embodiment are omitted from the drawings. The wireless communication unit 31 performs wireless communication with the mobile devices 10 and 20. The information management unit 32 manages the information stored in the schedule information storage unit 33 and the area information storage unit 34. In the present embodiment, the area information of the place where the mobile device 20 as the communication partner is located is provided in response to the inquiry from the mobile device 10.

The schedule information of the facility user is set and registered in the schedule information storage unit 33. The schedule information itself is information inherently held by the schedule management system 30 for managing the schedule of the user of the facility. In addition to the schedule information items shown in FIG. 5, at least the identification information (user ID) of the user having the schedule is associated with the schedule information held and managed by the schedule management system 30.

The same area information as shown in FIG. 6 in the first embodiment is set in the area information storage unit 34. Since the area information has nothing to do with schedule management, it may be retained by the mobile device 10, but since it is information that can be shared by a plurality of users, in the present embodiment, the schedule management system 30 is provided with the area information. I will explain.

The schedule management system 30 builds the above configuration on the management server. The wireless communication unit 31 and the information management unit 32 are realized by a cooperative operation of a computer forming a management server and a program running on a CPU mounted on the computer. Further, the schedule information storage unit 33 and the area information storage unit 34 are realized by the HDD mounted on the management server.

Hereinafter, the operation in the present embodiment will be described. First, the current position information update process described with reference to FIG. 7 and the position setting process described with reference to FIG. 8 may be the same as those in the first embodiment, and thus the description thereof will be omitted. However, in FIG. 8, since the schedule information and the area information are managed by the schedule management system 30, the control unit 16 needs to operate in cooperation with the information management unit 32. Hereinafter, the correction processing of the current position information in the present embodiment will be described with reference to the flowchart shown in FIG. The same process as in the first embodiment (FIG. 9) is assigned the same step number, and the description thereof will be omitted as appropriate.

When the mobile device 20 is detected within the communication range of the short-range communication processing unit 14 (Y in step 121), the control unit 16 determines that the position of the mobile device 10 is an undetermined machine (N in step 122). The current position information and the estimation error stored in the current state information storage unit 23 are transmitted to the mobile device 20 (step 123), and the current position information and the estimation error transmitted from the mobile device 20 are received (step 124). In the present embodiment, the user identification information (user ID) is transmitted together with the device ID as the information for identifying the transmission source.

The correction unit 15 transmits the user ID of the mobile device 20 included in the information received from the mobile device 20 to the schedule management system 30 via the wireless communication unit 17, so that the user B who carries the mobile device 20 is carried. Inquire about the existence of area information related to (step 201).

The information management unit 32 in the schedule management system 30 confirms the schedule of the user B based on the user ID received via the wireless communication unit 17 by referring to the schedule information. Then, if the current schedule of the user B is set and registered in the schedule information storage unit 33, the area information (position information and error information) of the place registered in the schedule is referred to with reference to the area information storage unit 34. Is taken out and returned to the portable device 10. If the schedule of the user B at the present time is not set and registered in the schedule information storage unit 33, a reply to that effect is sent to the mobile device 10.

When the area information is returned from the schedule management system 30 in response to the inquiry (Y in step 202), the correction unit 15 in the mobile device 10 uses the position information included in the area information as the current position information of the user B. Then, the information received in step 124 is updated with the error information as the estimation error (step 203). On the other hand, if the area information cannot be acquired from the schedule management system 30 (N in step 202), the information received in step 124 is used as it is.

Then, the correction unit 15 reads out the estimation error stored in the current state information storage unit 23, and compares the read estimation error with the estimation error of the portable device 20. As a result of comparison, when the read estimation error is larger than the estimation error of the mobile device 20 (Y in step 126), the current position information and the estimation error stored in the current status information storage unit 23 are currently acquired from the mobile device 20. It is updated with the position information and the estimation error (step 127).

On the other hand, when the position of the mobile device 10 is the position determining machine (Y in step 122), the schedule of the user A who carries the mobile device 10 is registered in the schedule management system 30, so that the correction unit 15 can use the mobile device 10 The user ID of the user A who carries the mobile phone is transmitted to the schedule management system 30, the area information of the place where the user A is currently located is acquired, and the position information and the error information included in the acquired area information are acquired. Then, the current position information and the estimation error of the current status information storage unit 23 are updated (step 204). Then, the control unit 16 causes the short-range communication processing unit 14 to transmit the current position information and the estimation error stored in the current status information storage unit 23 and the user ID of the user A to the mobile device 20 (step 129). Since the mobile device 20 acquires the current position information and the estimation error of the mobile device 10 from the schedule management system 30, only the user ID of the user A is transmitted instead of the mobile device 20 for the current position information and the estimation error. You may do so.

Even if both the mobile devices 10 and 20 are position-determining machines, the current status information can be individually updated by the information acquired from the schedule management system 30. Further, since the same schedule is set, even if one of users A and B (for example, user A) attending the same conference forgets to set the schedule, the current position of user A is , Will be corrected correctly by user B.

According to the present embodiment, when the schedule management system 30 that manages the user's schedule in the description is constructed, the schedule information managed by the schedule management system 30 can be effectively used.

Embodiment 3.
FIG. 12 is a block configuration diagram of the current position correction system according to the present embodiment. In addition to the mobile devices 10 and 20, FIG. 12 shows an entrance / exit management system 40 and a room 50 as an example of the area. In the second embodiment, the case where the schedule information managed by the schedule management system 30 is effectively used has been described as an example. The present embodiment is characterized in that the information managed by the entry / exit management system 40 is effectively used.

By the way, among the users who move in the facility, there are users who move on a predetermined route due to the work of the observer and the like. To move along a fixed route means to move to a fixed place. Then, the position information of the moving place can be grasped in advance. That is, the current position of the user while traveling on a predetermined route is considered to be known. As described above, in the second embodiment, the mobile device 20 of the user who does not move is handled in the same manner as the beacon, but in the present embodiment, the mobile device carried by the user who moves the places in a known order ( The mobile device 20) in the above example can be treated as a short-range communication device having a known position like a beacon.

As shown in FIG. 12, a card reader (CR) 51 is installed at the entrance (door) of each room 50 of the facility in which the entrance / exit management system 40 is installed, and an electronic key 52 is attached to the door. There is. In addition, the user of the facility carries a non-contact IC card 26 in which a user ID for identifying himself / herself is recorded. The portable device 20 may have a function as a non-contact IC card 26 that transmits a user ID when it is close to the card reader (CR) 51.

The hardware configuration and block configuration of the mobile devices 10 and 20 in the present embodiment may be the same as those in the second embodiment. However, the user carries the non-contact IC card 26 with the portable device when he / she is in the facility. Since the mobile device 10 and the mobile device 20 have the same configuration, the mobile device 10 will be described as a representative in the present embodiment as well.

The entry / exit management system 40 includes a wireless communication unit 41, an information management unit 42, an authentication unit 43, a key control unit 44, an entry / exit information storage unit 45, a route information storage unit 46, and an area information storage unit 47. Components not used in the description of the present embodiment are omitted from the drawings. The wireless communication unit 41 performs wireless communication with the mobile devices 10 and 20. The information management unit 42 manages the information stored in each of the storage units 45 to 47. In the present embodiment, the area information of the place where the mobile device 20 as the communication partner is located is provided in response to the inquiry from the mobile device 10. The authentication unit 43 authenticates the user based on the user ID read from the non-contact IC card 26 by the card reader 51. The key control unit 44 controls the opening / closing of the electronic key 52. In particular, when the user authentication is successful by the authentication unit 43, the electronic key 52 is opened so that the authenticated user can enter and leave the room.

The user causes the card reader 51 to read the non-contact IC card 26 when entering or leaving each area, and the entry / exit information storage unit 45 records the entry / exit of the user. For example, the date and time information when the non-contact IC card 26 is read by the card reader 51, the user ID read from the non-contact IC card 26, the identification information (place name) of the room in which the card reader 51 is installed, and the door. Identification information (door ID), entry / exit distinction, etc. are recorded.

FIG. 13A is a diagram schematically showing route information stored in the route information storage unit 46 in the present embodiment, and FIG. 13B is a diagram showing route information in a table format. FIG. 13 shows only the route information of a specific user, the user B in the case of the present embodiment, extracted. The user B is, for example, a security guard or the like, and moves on a route determined by a broken line in FIG. 13A during work. When entering or leaving the room, the entry / exit information storage unit 45 records the entry / exit information by having the card reader 51 installed on the door read the non-contact IC card 26 to be carried, and the current location can be confirmed. ..

As shown in FIG. 13B, the route information includes the door ID, the CR entry / exit side, and the current location. The door ID is identification information of the door on which the card reader 51 that allows the user B to read the non-contact IC card 26 is installed. On the CR entry side / exit side, the case where the user B enters the room is indicated by "IN", and the case where the user B leaves the room is indicated by "OUT". The current location is the location where the user B is located immediately after the non-contact IC card 26 is read. For example, the location when entering the room A whose door ID is "A" is "room A". When leaving room B with a door ID of "B", the location is "corridor".

FIG. 14 is a diagram showing a data configuration example of area information stored in the area information storage unit 47 in the present embodiment. Since the data structure itself is the same as that of the first embodiment, the description thereof will be omitted, but the area information regarding the location shown in FIG. 13 is registered in the area information storage unit 47. Since the area information is information that is not directly related to the entry / exit management, it may be retained by the mobile device 10, but since it is information that can be shared by a plurality of users, it is retained in the entry / exit management system 40 in the present embodiment. I will explain it so that it will be managed.

The entry / exit management system 40 manages the entry / exit of the user by the management server. The components 41 to 43 are realized by the cooperative operation of the computer forming the management server and the program running on the CPU mounted on the computer. The key control unit 44 is realized by a controller connected to the management server. Each of the storage units 45 to 47 is realized by the HDD mounted on the management server.

Hereinafter, the operation in the present embodiment will be described. First, the current position information update process described with reference to FIG. 7 may be the same as that of the first embodiment, and thus the description thereof will be omitted. Further, when the user moves in the area regardless of whether or not the users pass each other, the entry / exit information is entered by having the card reader 51 installed on the door read the non-contact IC card 26 to be carried. It is recorded in the exit information storage unit 45. The room identification information recorded in the room entry / exit information storage unit 45 is information corresponding to the location information indicating the location of the user A.

The flow of the position setting process in the present embodiment may be basically the same as the position setting process described with reference to FIG. However, in the case of this embodiment, the schedule information is not used, so the route information is referred to instead.

That is, in step 111 shown in FIG. 8, the control unit 16 determines the position of the mobile device 10 by cooperating with the information management unit 42 of the entry / exit management system 40. That is, the control unit 16 confirms the current position of the user A by inquiring to the information management unit 42. Then, if the current position of the user A is on the route set in the route information storage unit 46, the user A determines that he / she is in business and sets the position of the mobile device 10 of the user A as the position determining machine. (Step 112). Otherwise (N in step 111), the control unit 16 sets the position of the mobile device 10 as an undetermined position (step 113).

Here, the position of the mobile device 10 is determined only by the position of the user A, but if the travel time set in the route information is determined, the current time and the time are added to the position. The position of the portable device 10 may be determined by collating.

Subsequently, the correction processing of the current position information in the present embodiment will be described. Basically, it may be the same as the flowchart shown in FIG. 11 used for the explanation in the second embodiment, and the access destination for inquiries and the like is not the schedule management system 30 but the entry / exit management system 40.

That is, when the position of the mobile device 10 is an undetermined position (N in step 122), in step 201, the correction unit 15 is included in the information received from the mobile device 20 via the wireless communication unit 17. By transmitting the user ID of the mobile device 20 to the entry / exit management system 40, the presence or absence of area information regarding the user B who carries the mobile device 20 is inquired (step 201).

The information management unit 42 in the entry / exit management system 40 confirms the current position of the user B based on the user ID received via the wireless communication unit 17 by referring to the entry / exit information. Then, with reference to the area information storage unit 34, if the area information corresponding to the current position of the user B is set and registered in the area information storage unit 47, the area information (position information and error information) is taken out and carried. Reply to device 10. If the area information of the user B at the present time cannot be acquired, a reply to that effect is sent to the mobile device 10. Since the subsequent processing is the same as that of the second embodiment, the description thereof will be omitted.

On the other hand, when the position of the mobile device 10 is the position determining machine (Y in step 122), the correction unit 15 transmits the user ID of the user A who carries the mobile device 10 to the entry / exit management system 40.

The information management unit 42 in the entry / exit management system 40 confirms the current position of the user A based on the user ID received via the wireless communication unit 17 by referring to the entry / exit information. Since the route information of the user A who carries the mobile device 10 is registered in the entry / exit management system 40, the information management unit 42 receives the area information (location information) corresponding to the current position of the user A from the area information storage unit 47. And error information) is taken out and returned to the mobile device 10.

Then, the correction unit 15 updates the current position information and the estimation error of the current status information storage unit 23 with the position information and the error information included in the area information acquired from the entry / exit management system 40 (step 204). Since the subsequent processing is the same as that of the second embodiment, the description thereof will be omitted.

According to the present embodiment, the current positions of the mobile devices 10 and 20 can be corrected in cooperation with the entry / exit management system 40 as described above.

As described above, in each of the above embodiments, the correction unit 15 is provided in the portable device 10 so as to correct the current position information and the estimation error stored in the current status information storage unit 23 by itself. However, the set of mobile devices 10 and 20 that have passed each other transmits the current position information and the estimation error to the management center (not shown) of the external mobile device instead of the communication partner, and sends them to the current status information storage unit. It may be configured to delegate the judgment of the stored current position information and the necessity of correction of the estimation error to the management center.

1 CPU, 2 ROM, 3 RAM, 4 storage, 5 Near field communication interface (IF), 6 LCD panel, 7 Various sensors, 8 Internal bus, 10, 20 Portable device, 11 PDR calculation unit, 12 Current position estimation unit , 13 Error estimation unit, 14 Short-range communication processing unit, 15 Correction unit, 16 Control unit, 17, 31, 41 Wireless communication unit, 21 PDR data storage unit, 22 Equipment information storage unit, 23 Current status information storage unit, 24, 33 Schedule information storage unit, 25, 34, 47 Area information storage unit, 26 Non-contact IC card, 30 Schedule management system, 32, 42 Information management unit, 40 Entrance / exit management system, 43 Authentication unit, 44 Key control unit, 45 Entry / exit information storage unit, 46 route information storage unit, 51 card reader (CR), 52 electronic keys.

Claims (6)

In a mobile terminal carried by a user
A storage means for storing the current position information indicating the current position in the facility and the error information of the current position, and
The current position is estimated based on the current position information stored in the storage means and the value measured by the mounted sensor, and the current position information stored in the storage means is the current position information indicating the estimated current position. Current position estimation means to update
An error estimation means that estimates an error in the current position information stored in the storage means and updates the error information stored in the storage means with error information indicating the estimated error.
When the mobile terminal can acquire the area information for specifying the position of the area where the user is currently located in the facility, the position determining machine in which the current position of the mobile terminal is determined and the area information are used. When the mobile terminal cannot be acquired, the mobile terminal has an undetermined position, a determination means for determining the position, and a determination means.
An acquisition means for acquiring the current position information and error information of the short-range communication device when it is in close proximity to the short-range communication device.
As a result of comparing the error information stored in the storage means with the error information acquired by the acquisition means, it is determined that the error of the current position information of the mobile terminal is larger than the error of the current position information of the short-range communication device. When it is determined, the correction means for correcting by updating the current position information and the error information stored in the storage means with the current position information and the error information acquired from the short-range communication device.
If the mobile terminal is determined to be a position-determining device when it is in close proximity to a short-range communication device, it stores area information in which the position information of each area in the facility and the error information in each area are associated with each other. The location information of the area obtained by referring to the area information storage means is used as the current position information of the mobile terminal, and the error information set in the area where the user is located is used as the short-range communication device. Sending means to send to
A mobile terminal characterized by having. When the area information corresponding to the location position of the user set in the current schedule information of the user is set in the area information storage means, the determination means determines the mobile terminal as the position determining machine. The mobile terminal according to claim 1, wherein the mobile terminal is characterized in that. The mobile terminal according to claim 2, further comprising the means for storing the schedule information and the area information storage means. The mobile terminal according to claim 2, wherein the determination means refers to schedule information managed by a schedule management system in the facility. The mobile terminal according to claim 1, wherein the determination means identifies an area where the user is currently located by referring to the entry / exit information managed by the entry / exit management system. Mobile terminals carried by users and
A short-range communication device that performs short-range wireless communication with the mobile terminal,
Location information acquisition means for acquiring location information indicating the location of the user in the facility,
Area information storage means for storing area information in which the position information of each area in the facility and the error information in each area are associated with each other.
Have,
The mobile terminal is
A storage means for storing the current position information indicating the current position in the facility and the error information of the current position, and
The current position is estimated based on the current position information stored in the storage means and the value measured by the mounted sensor, and the current position information stored in the storage means is the current position information indicating the estimated current position. Current position estimation means to update
An error estimation means that estimates an error in the current position information stored in the storage means and updates the error information stored in the storage means with error information indicating the estimated error.
The position where the current position of the mobile terminal is determined when the area information corresponding to the area where the user is currently located in the facility can be acquired by referring to the location information of the mobile terminal. A determination means for determining a fixed machine and a position undetermined machine in which the current position of the mobile terminal is not fixed when the area information cannot be acquired.
An acquisition means for acquiring the current position information and error information in the short-range communication device when the short-range communication device is in close proximity to the short-range communication device.
As a result of comparing the error information stored in the storage means with the error information acquired by the acquisition means, it is determined that the error of the current position information of the mobile terminal is larger than the error of the current position information of the short-range communication device. When it is determined, the correction means for correcting by updating the current position information and the error information stored in the storage means with the current position information and the error information acquired from the short-range communication device.
When the mobile terminal is determined to be a position-determining machine when it is in close proximity to the short-range communication device, the position information of the area obtained by referring to the area information storage means is used in the mobile terminal. A transmission means for transmitting error information set in the area where the user is located as the current position information to the short-range communication device, and
A current position correction system characterized by having.