JP6867175B2 - Position measurement display device for moving objects - Google Patents

Description

The present invention relates to a position measurement display device for a moving body such as a vehicle such as an automobile, a ship, or a runner in a circuit, a construction site, a parking lot, a boat race track, an athletics stadium, or the like.

As a conventional position measurement display device for a moving body, as described in Patent Document 1, a navigation device that measures the position of the vehicle mounted on the vehicle and traveling on a circuit circuit course over time, and eventually measures the lap time. There is. This navigation device has a magnetic sensor attached to the vehicle, measures the time when the magnetic sensor of the vehicle passes through the magnetic bar embedded in the circuit course, and measures the lap time during the circuit course. , It is assumed that it has a display monitor that displays the measured lap time.

Japanese Unexamined Patent Publication No. 2010-38622

The position measuring device for a moving body described in Patent Document 1 has the following problems.
(1) The time when the magnetic sensor of the vehicle passes through the magnetic bar embedded in the circuit course is measured, and the passage of the vehicle cannot be detected in the range where the magnetic bar is not embedded in the circuit course. Therefore, it is not possible to accurately measure and display the position of the vehicle moving on the lap course in the entire area of the lap course.

(2) When multiple vehicles run on the circuit course, it is not possible to accurately measure and display what position each vehicle is moving on the circuit course over the entire area of the circuit course. It is not possible to accurately compare and observe the running conditions of the vehicle over the entire circuit course.

(3) The number of magnetic bars embedded in the circuit is different for each circuit, and it is necessary to change the set number of magnetic bars to be input to the navigation device each time the vehicle arrives at the circuit on which the vehicle is traveling. That is, as soon as the vehicle arrives at the circuit, it is not possible to automatically start measuring and display the position of the vehicle on the circuit course.

An object of the present invention is to accurately measure and display the position of a moving body in the entire measurement area.

Another object of the present invention is to accurately measure and display the positions of a plurality of moving bodies in the entire measurement area, and to accurately compare and observe the movement status of each moving body in the entire measurement area.

Another object of the present invention is to automatically start measuring the position of the moving body as soon as the moving body arrives at the measurement area.

The invention according to claim 1 is a position measurement display device for a moving body that measures and displays the position of the moving body, and is used for a mobile terminal provided on the moving body, an external terminal away from the moving body, and a mobile terminal. A dedicated mobile identifier is assigned, and a dedicated external identifier is assigned to the external terminal, and the mobile terminal has a mobile terminal and a server capable of communicating with the external terminal. The mobile terminal is equipped with a GPS receiver and GPS. The positioning position of the mobile body in which the mobile body is provided is measured by the signal from the satellite received by the receiver, and the external terminal communicates with the mobile terminal to provide an external identifier dedicated to the external terminal and the mobile terminal. The server establishes an association with a dedicated mobile identifier, and the server determines the positioning position of the mobile body on which the mobile terminal is provided, which is calculated by the mobile terminal, in a state where the mobile terminal is associated with the dedicated mobile identifier. A mobile body provided with the mobile terminal that has been received from the mobile terminal with a mobile identifier that is received from the mobile terminal and is supposed to be associated with the external identifier of the external terminal in response to a request from the external terminal. The positioning position is transmitted to the external terminal of the external identifier, and the external terminal displays the positioning position of the mobile body provided with the mobile terminal, which is transmitted from the server, on the display unit of the external terminal. It is a position measurement display device , and the mobile terminal is equipped with a GPS receiver and a positioning sensor for detecting a change in the position of a moving body, and the positioning sensor is a 3-axis accelerometer, a 3-axis gyro, and a 3-axis compass. It shall consist of a 9-axis sensor configured with the above, from the previous GPS positioning timing by the GPS receiver of the mobile terminal provided on the moving body to the next GPS positioning timing by the GPS receiver. , The movement distance Li of the moving body after the lapse of the previous GPS positioning timing is calculated based on the acceleration detected by the 3-axis accelerometer of the mobile terminal for each arbitrary calculation timing ti set to go through a fixed cycle. At the same time, the movement angle θi and the movement direction Mi of the moving body after the lapse of the previous GPS positioning timing based on the angular velocity and the magnetic force detected by the 3-axis gyro and the 3-axis compass of the mobile terminal for each calculation timing ti, respectively. Is calculated, the final positioning position of the moving body after the previous GPS positioning timing is set to position GPS-0 for the previous GPS positioning timing, and the initial position (for each calculated timing ti after the lapse of the previous GPS positioning timing). Only the movement distance Li from GPS-0) toward the movement direction Mi It moves and its posture is calculated as a position as a movement angle θi .

The invention according to claim 2 further has a plurality of mobile terminals provided on a plurality of mobile bodies and a plurality of external terminals in the invention according to claim 1, and the server has each movement calculated by each mobile terminal. The positioning position of each mobile body provided with the terminal is received from each mobile terminal in a state in which a dedicated movement identifier is associated with each mobile terminal, and at the same time, in response to a request from each of the plurality of external terminals. Correspondingly, the positioning position of the mobile body provided with the mobile terminal that has been received from the mobile terminal of the mobile identifier that is supposed to have a one-to-one association with the external identifier dedicated to the external terminal is set to the external terminal. Each other movement that has been received from each other mobile terminal of the movement identifier that is supposed to be transmitted and has a one-to-one association with each external identifier dedicated to each other external terminal other than the external terminal. The positioning position of the mobile body provided with the terminal is also transmitted to the external terminal, and each external terminal is transmitted from the server and described above for the plurality of mobile bodies provided with the plurality of mobile terminals. Each positioning position is displayed together with the display unit of each external terminal.

The invention according to claim 3 further has a plurality of mobile terminals provided on a plurality of mobile bodies and one external terminal in the invention according to claim 1, and the server is a server calculated by each mobile terminal. The positioning position of each mobile body provided with a mobile terminal is received from each mobile terminal in a state in which a dedicated mobile identifier is associated with each mobile terminal, and in response to a request from the above-mentioned one external terminal. The positioning position of the mobile body provided with each mobile terminal that has been received from each mobile terminal of the mobile identifier that is supposed to be associated with the external identifier dedicated to the external terminal is transmitted to the external terminal. The external terminal is designed to display each of the above-mentioned positioning positions of a plurality of mobile bodies provided with the above-mentioned plurality of mobile terminals, which are transmitted from the server, together with the display unit of the external terminal. ..

The invention according to claim 4 is the invention according to each of claims 1 to 3 , further, the mobile terminal has a measurement area for which the position of the moving body should be measured is set in advance, and the GPS receiver is measuring. The measurement operation using the positioning sensor is started on the condition that the GPS positioning position enters the measurement area.

The invention according to claim 5 is the invention according to claim 4 , further, on the condition that the mobile terminal has a built-in battery and the GPS positioning position being measured by the GPS receiver enters the measurement area. The power consumption mode is canceled and the measurement operation using the positioning sensor is started.

(Claim 1)
(a) The position of the moving body is measured by using the GPS receiver provided in the mobile terminal provided on the moving body, and the position of the moving body can be accurately measured in the entire measurement area.

Then, the position of the moving body measured by using the GPS receiver of the mobile terminal is transmitted to the external terminal to which the external identifier associated with the mobile identifier given to the mobile terminal is given via the server. Is displayed on the display unit of the external terminal.
That is, the position of the moving body can be accurately measured and displayed in the entire measurement area.

(Claim 2)
(b) The server receives the positioning position of each mobile body provided with each mobile terminal calculated by each mobile terminal from each mobile terminal in a state in which a dedicated mobile identifier is associated with each mobile terminal. In addition, the mobile terminal that has been received from the mobile terminal of the mobile identifier that is supposed to have a one-to-one association with the external identifier dedicated to the external terminal in response to the request from each of the plurality of external terminals. The positioning position of the mobile body provided with is transmitted to the external terminal, and the mobile identifier is associated with an external identifier dedicated to each external terminal other than the external terminal on a one-to-one basis. The positioning position of the mobile body provided with each of the other mobile terminals that has been received from each of the other mobile terminals is also transmitted to the external terminal. Therefore, each of the plurality of external terminals also displays each positioning position of the plurality of mobile bodies provided with the plurality of mobile terminals transmitted from the server on the display unit of the external terminal. As a result, the positions of the plurality of moving objects can be accurately compared and observed on each of the display units of the plurality of external terminals.

That is, on each of the plurality of external terminals, the positions of the plurality of moving bodies can be accurately measured and displayed in the entire measurement area, and the movement status of each moving body can be accurately compared and observed in the entire measurement area. it can.

(Claim 3)
(c) The server receives the positioning position of each mobile body provided with each mobile terminal calculated by each mobile terminal from each mobile terminal in a state in which a dedicated mobile identifier is associated with each mobile terminal. At the same time, each mobile terminal that has been received from each mobile terminal of the mobile identifier that is supposed to be associated with the dedicated external identifier is provided to the external terminal in response to the request from the one external terminal. Each positioning position of the moving body is transmitted to the external terminal. Therefore, one external terminal also displays each positioning position of the plurality of mobile bodies provided with the plurality of mobile terminals transmitted from the server on the display unit of the external terminal. As a result, the positions of a plurality of moving objects can be accurately compared and observed on the display unit of one external terminal.

That is, with one external terminal, the positions of a plurality of moving bodies can be accurately measured and displayed in the entire measurement area, and the movement status of each moving body can be accurately compared and observed in the entire measurement area. ..

(Claim 1 )
(d) The GPS positioning error of a stationary body by the GPS receiver is 10 to 20 m for a normal satellite (2.5 m for a quasi-zenith satellite). Therefore, when the positioning cycle of the mobile body by the GPS receiver is, for example, 100 msec, if the traveling speed of the mobile body provided with the mobile terminal equipped with the GPS receiver is 200 km / h, the previous GPS receiver is used. The movement distance that the mobile body cannot be positioned during the positioning cycle of 100 msec from the positioning timing of the mobile body to the timing immediately before the positioning timing of the mobile body by the next GPS receiver is 5.6 m (200 x 1000 m in terms of positioning time). / 3600 x 1000 msec = 5.6 m / 100 msec). Therefore, the error in the positioning position of the mobile body by the GPS receiver from the previous positioning timing of the mobile body by the GPS receiver to just before the positioning timing of the mobile body by the next GPS receiver is 25.6 m at the maximum for a normal satellite. (Positioning time is 25.6m / (5.6m / 100msec) = 460msec = 0.46sec error), and even the quasi-zenith satellite is 8.1m (8.1m / (5.6m / 100msec) = 144msec = 0.144sec). .. This error is too large for, for example, the circuit course width of 10 to 20 m on which the moving body travels, and makes the positioning result meaningless.

On the other hand, in the present invention, the positioning sensor is used to calculate the position Pi of the moving body after the lapse of the previous GPS positioning timing at each calculation timing ti between the previous and next GPS positioning timings by the GPS receiver. , The position of the moving body at each calculation timing ti after the lapse of the previous GPS positioning timing t0 is calculated by adding the position Pi to the initial position (GPS-0). Then, in the present invention, although the positioning cycle of the mobile body by the GPS receiver is set to, for example, 100 msec, immediately before the positioning timing of the mobile body by the next GPS receiver is reached after the lapse of the positioning timing of the mobile body by the previous GPS receiver. In the meantime, the position measurement operation of the moving body by the positioning sensor is performed at intervals of, for example, 20 msec (the positioning cycle by the positioning sensor is 20 msec). As a result, if the traveling speed of the mobile body provided with the mobile terminal equipped with the GPS receiver and the positioning sensor is 200 km / h, the moving body cannot be positioned during the positioning cycle of 20 msec by the positioning sensor. The distance is 1.12 m (200 x 1000 m / 3600 x 1000 msec = 1.12 m / 20 msec in terms of positioning time). Therefore, the error in the positioning position of the mobile body by the GPS receiver and the positioning sensor from the previous positioning timing of the mobile body by the GPS receiver to the time immediately before the positioning timing of the mobile body by the next GPS receiver is determined by the quasi-zenith satellite. It is reduced to 3.62m (positioning time is 3.62m / 1.12m / 20msec = 64.64msec = 0.065sec error), and the position of the moving body can be measured accurately.

(e) Further, the positioning sensor is composed of a 9-axis sensor having a 3-axis accelerometer, a 3-axis gyro, and a 3-axis compass. As a result, the position of the moving body at each calculation timing ti after the lapse of the GPS positioning timing by the GPS receiver is moved from the initial position (GPS-0) measured at the previous GPS positioning timing toward the moving direction Mi. By calculating the position of the moving body as the position of the moving angle θi, the position of the moving body can be accurately measured together with the moving posture (rolling, pitching, yawing) and the moving direction of the moving body.

(Claim 4 )
(f) The mobile terminal starts the measurement operation using the positioning sensor on condition that the GPS positioning position being measured by the GPS receiver enters the measurement area. Therefore, as soon as the moving body arrives at the measurement area, the position of the moving body can be automatically and accurately measured.

(Claim 5 )
(g) The mobile terminal releases the low power consumption mode and starts the measurement operation using the positioning sensor on condition that the GPS positioning position measured by the GPS receiver enters the measurement area. That is, the GPS receiver can always be measured and operated in the low power consumption mode by the power of the battery regardless of whether the ignition switch of the vehicle is turned on or off. Then, at the same time as recognizing that the vehicle has arrived at the measurement area such as a circuit based on the measurement result of the GPS receiver in operation, the position of the moving body can be automatically and accurately started to be measured.

FIG. 1 is a block diagram showing a position measuring device for a moving body. FIG. 2 is a schematic diagram showing the management status of the management group by the server. FIG. 3 is a chart showing management identifiers of each management group by the server. FIG. 4 is a schematic view showing the position measurement status of the vehicle on the circuit. FIG. 5 is a schematic view showing the position display status of the vehicle displayed on the external terminal. FIG. 6 is a schematic view showing the position measurement status of the vehicle at the construction site. FIG. 7 is a chart showing a calculation algorithm of the position measurement method. FIG. 8 is a chart showing a calculation algorithm of the position measurement method. FIG. 9 is a chart showing the setting change of the positioning cycle according to the moving speed of the vehicle.

FIG. 1 shows a position measuring device 10 for a vehicle 1 (1A, 1B ...), 2 (2A, 2B ...), etc. as a moving body traveling in a measurement area such as a circuit, as an embodiment of the present invention. It is a block diagram which showed the structure of.

The position measuring device 10 includes a mobile terminal (vehicle-mounted device) 100 provided for each of vehicles 1 (1A, 1B ...), 2 (2A, 2B ...), etc., and vehicle 1 (1A, 1B ...), 2 It has an external terminal 200 that can be used separately from (2A, 2B ...), Etc., and a server 300 that can communicate with the mobile terminal 100 and the external terminal 200. The external terminal 200 is normally used outside the vehicle 1 (1A, 1B ...), 2 (2A, 2B ...), etc., but the vehicle 1 (1A, 1B ...), 2 (2A, 2B ...) ... ) Etc. may be used internally. As the external terminal 200, for example, a smartphone can be adopted. As the server 300, for example, a cloud server can be adopted.

In the position measuring device 10 of the present embodiment, as shown in FIG. 2, the server 300 is among a plurality of vehicles 1 (1A, 1B ...), 2 (2A, 2B ...), And the like, the vehicle 1 (1A). Management group G1 to which vehicle 1 (1A, 1B ...) belongs as one or more management groups that try to share each position information such as 1, 1B ...), 2 (2A, 2B ...), etc. A management group G2 or the like to which vehicle 2 (2A, 2B ...) belongs can be organized. The server 300 has each of the management groups G1, G2, etc. organized under its control, for example, for the management group G1, a plurality of vehicles 1A, 1B, etc. belonging to the management group G1. It manages each of the mobile terminals 100 (100A, 100B ...) and manages a plurality of external terminals 200 (200A, 200B ...) corresponding to each of the plurality of mobile terminals 100 (100A, 100B ...). It is supposed to be. However, the position measuring device 10 may be configured to have only one vehicle 1 (1A), a mobile terminal 100 (100A), and an external terminal 200 (200A).

At this time, as shown in FIG. 3, the server 300 assigns each of the management groups G1, G2 ... To the group identifiers G1, G2 ... Dedicated to the group. Further, the server 300 has a mobile identifier IM (IM1A, IM1B ...) Dedicated to the mobile terminal 100 (100A, 100B ...) belonging to each group G1, G2 ... ...), IM (IM2A, IM2B ...), and the mobile identifier IO (IO1A, IO1B ...) dedicated to the external terminal 200 (200A, 200B ...) to the external terminal 200 (200A, 200B ...). ), IO (IO2A, I02B ...) is given.

As a result, the server 300 measures and manages the position information of the vehicles 1 (1A, 1B ...) and 2 (2A, 2B ...) belonging to the management groups G1, G2 .... For each G1, G2 ..., the vehicle belonging to them, the mobile terminal IM, the external terminal, the external identifier IO, and the group identifier are defined and associated as shown in FIG.

In the present embodiment, the MAC address assigned to the mobile terminal 100 in advance is adopted as the mobile identifier IM of the mobile terminal 100, and the LTE MAC address that the smartphone has from the beginning as the external identifier IO of the external terminal 200. Was decided to be adopted.

Further, the server 300 is set with at least one or more measurement areas A such as vehicles 1, 2 and the like to be measured in each of the management groups G1, G2 ... Managed by the server 300.

Further, the server 300 is set with at least one measurement area A of the vehicle 1 to be measured by the position measuring device 10.

In the following description of the position measuring device 10, the vehicle 1 (1A, 1B ...) belonging to the management group G1 (group identifier G1) in which the server 300 forms a set (moving terminal 100 (moving terminal 100A of moving identifier IM1A, moving). For the mobile terminal 100B of the identifier IM1B ...) and the external terminal 200 (external terminal 200A of the external identifier IO1A, external terminal 200B of the external identifier IO1B ...), the position information of the vehicle 1 (1A, 1B ...) is measured. And explain what to manage. However, in the present embodiment, the server 300 may also measure and manage the position information of the vehicle 2 (2A, 2B ...) Belonging to another management group G2 or the like.

In the present embodiment, the roll axis along the front-rear direction of the vehicle 1 is referred to as the x-axis, the pitch axis along the left-right direction of the vehicle 1 is referred to as the y-axis, and the yaw axis along the vertical direction of the vehicle 1 is referred to as the z-axis. ..

The mobile terminal 100 includes a position measuring unit 110, a GPS4G module 120, a GPS-QZSS antenna 130, a 4G antenna 140, a positioning sensor module 150, a BLE (Bluetooth (registered trademark)) module 160, a BLE antenna 170, and a display unit 180 (for example, a liquid crystal display). It is configured to have a display panel) and a battery 190.

The position measurement unit 110 measures the position of the vehicle 1 in which the mobile terminal 100 is provided by a unique measurement algorithm using a CPU, ROM, RAM, or the like. The measurement algorithm by the position measurement unit 110 will be described later.

The GPS4G module 120 includes a GPS receiver 121 that receives a signal from the QZSS (quasi-zenith satellite system) 20 by the GPS-QZSS antenna 130, and enables the mobile terminal 100 and the server 300 to communicate with each other by the 4G antenna 140. ing.

The positioning sensor module 150 includes a positioning sensor 151 that detects a change in the position of the vehicle 1 by its own detection function. The positioning sensor 151 of the present embodiment is composed of a 9-axis sensor 152 having a 3-axis accelerometer 152A, a 3-axis gyro 152B, and a 3-axis compass 152C.

The BLE module 160 enables the mobile terminal 100 and the external terminal 200 to communicate with each other by the BLE antenna 170.

The display unit 180 displays the movement status of the vehicle 1 transmitted from the server 300 in response to the request from the mobile terminal 100 on the topographic map of the measurement area such as a circuit.

The battery 190 supplies power to each part of the mobile terminal 100 regardless of whether the ignition key of the vehicle 1 is turned on or off. The battery 190 is charged by the accessory signal of the vehicle 1 that is energized when the ignition key is turned on.

The external terminal 200 has a communication unit, a storage unit, a control unit (CPU, etc.) and the like in addition to the operation unit 201 and the display unit 202 (for example, a liquid crystal display panel), and the position measurement unit 110 and the BLE module of the mobile terminal 100. It is made possible to communicate with each other via the 160 and the BLE antenna 170, and is made able to communicate with the server 300. At this time, the external terminal 200 associates the mobile identifier IM dedicated to the mobile terminal 100 with the external identifier IO dedicated to the external terminal 200 by BLE communication with the corresponding mobile terminal 100 using the operation unit 201. (In this embodiment, a one-to-one association) is established. The display unit 202 of the external terminal 200 shows the movement status of the vehicle 1 transmitted from the server 300 in response to a request to the server 300 using the operation unit 201 of the external terminal 200, and a topographic map of a measurement area such as a circuit. Display above.

The server 300 has a communication unit, a storage unit, a control unit (CPU, etc.), and the like, and the position of the vehicle 1 in which the mobile terminal 100 is provided is determined by communication from the mobile terminal 100 (100A, 100B ...). In the measurement area A that has been set to be measured, the position data of the vehicle 1 (1A, 1B ...) calculated by the position measurement unit 110 of the mobile terminal 100 is used as the movement identifier IM (IM1A, IM1B ...) of the mobile terminal 100. ...) Is received in association with the received position data, and recognition data of the movement status of the vehicle 1 is created using the received position data. The server 300 may use, for example, position data (longitude / latitude / boundary line with the outside), speed, traveling direction, traveling posture (rolling, pitching, yawing), and lap time (plurality) of the vehicle 1 on the circuit course. Create and accumulate real-time data such as the time required to move between the planned positioning points, for example, the lap time for one lap of the lap course or the section lap time for a specific section of the lap course), historical data over time, etc. ..

Further, the server 300 responds to the above-mentioned request from the external terminal 200 (200A, 200B ...) with the mobile identifier IM (IM1A, IM1A, ...) associated with the external identifier IO (IO1A, IO1B ...) of the external terminal 200. The recognition data of the movement status of the vehicle 1 (1A, 1B ...) corresponding to the mobile terminals 100 (100A, 100B ...) having the IM1B ...) is transmitted to those external terminals 200. The external terminal 200 uses the operation unit 201 to create and store recognition data of the movement status of the vehicle 1 (position, speed, traveling direction, traveling posture, lap time of the vehicle 1 on the circuit course). One or more recognition data is selected from real-time data such as, historical data over time, etc., and the server 300 is requested to transmit the selected data.

As a result, the external terminal 200 (for example, 200A) displays the movement status of the vehicle 1 (1A) on the display unit 202 based on the recognition data of the movement status of the vehicle 1 (for example, 1A) transmitted from the server 300. To do. At this time, in the present embodiment, the mobile identifier IM (IM1B ...) associated with the external identifier IO (IO2B ...) of the external terminal 200 (200B ...) other than the external terminal 200 (200A) is used. The recognition data of the movement status of the vehicle 1 (1B ...) corresponding to the other mobile terminal 100 (100B ...) is also transmitted to the external terminal 200 (200A) and displayed together with the display unit 202. It is supposed to be. At this time, as shown in FIGS. 4 and 5, the display unit 202 draws the recognition data of the movement status of each vehicle 1 (1A, 1B ...) on the topographic map showing the measurement area of the circuit or the like on the circuit course. Display on.

In the mobile terminal 100, the measurement area A for measuring the position of the vehicle 1 set in the server 300 is transmitted in advance from the server 300, and the GPS positioning position being measured by the GPS receiver 121 is the measurement area A. It is assumed that the measurement operation using the positioning sensor 151 is started on the condition that the position is entered.

Further, the mobile terminal 100 releases the low power consumption mode and starts the measurement operation using the positioning sensor 151 on the condition that the GPS positioning position being measured by the GPS receiver 121 enters the measurement area A. It is said that. That is, the battery 190 operates each part of the mobile terminal 100 in the low power consumption mode (sleep mode or deep sleep mode) when the vehicle 1 is not in the measurement area A, and the low power consumption when the vehicle 1 is in the measurement area A. It is controlled to cancel the mode.

However, the position measurement unit 110 of the mobile terminal 100 measures the position of the vehicle 1 by the following measurement algorithm. During the position measurement of the vehicle 1 by the position measurement unit 110 of the mobile terminal 100, the vehicle 1 is assumed to move from the initial point 0 in order from the initial point 0, for example, at intervals of 20 msec, via the points 1, the points 2, and so on (Fig.). 7, Fig. 8).

(A) Measurement operation based on the received data of the GPS receiver 121 The mobile terminal 100 uses the signal from the satellite received at the GPS positioning timing of the GPS receiver 121 to perform the GPS positioning of the vehicle 1 on which the mobile terminal 100 is provided. Measure the position.

In the present embodiment, when the vehicle 1 enters the measurement area such as a circuit, the measurement operation by the position measurement unit 110 is started, and the positioning cycle (fg) of the vehicle 1 by the GPS receiver 121 is set to, for example, 100 msec). .. Then, the GPS positioning position at the previous GPS positioning timing (point 0, elapsed time 0 msec) is set as (GPS-0), and the next GPS positioning timing (point 5, elapsed time 100 msec) 100 msec after that is set as the GPS positioning position (GPS). -1) (Fig. 8). The GPS positioning position (GPS-0) is at the position of "0 longitude, 0 latitude", and the GPS positioning position (GPS-1) is at the position of "1 longitude, 1 latitude". There is (Fig. 8).

(B) Measurement operation based on the detection data of the positioning sensor 151 From the previous GPS positioning timing by the GPS receiver 121 to the next GPS positioning timing by the GPS receiver 121, a constant cycle (fk), For example, after the lapse of the previous GPS positioning timing based on the change of the vehicle 1 provided with the mobile terminal 100 detected by the positioning sensor 151 of the mobile terminal 100 at an arbitrary calculation timing ti set to go through 20 msec. The position Pi of the vehicle 1 is calculated.

In the present embodiment, the positioning sensor 151 is composed of a 9-axis sensor 152 including a 3-axis accelerometer 152A, a 3-axis gyro 152B, and a 3-axis compass 152C, and measurement based on the detection data thereof. The operation is as follows.

That is, from the previous GPS positioning timing by the GPS receiver 121 to the next GPS positioning timing by the GPS receiver 121, an arbitrary calculation determined to go through a fixed period (fk), for example, 20 msec. For each timing ti, the following 1 to 3 are performed based on the detected values of the 3-axis accelerometer 152A, 3-axis gyro 152B, and 3-axis compass 152C of the 9-axis sensor 152 included in the mobile terminal 100.

1. 1. Based on the accelerations ax, ay, and az in the X-axis, Y-axis, and Z-axis directions of the vehicle 1 detected by the 3-axis accelerometer 152A of the mobile terminal 100, the combined acceleration a of the vehicle 1 is calculated as follows (1). The movement distance L and the movement speed V of the vehicle 1 after the lapse of the previous GPS positioning timing are calculated by the following equations (2) and (3).

a: Combined acceleration
ax: x-axis acceleration
ay: y-axis acceleration
az: z-axis acceleration

L = V0t + 1 / 2at ² … (2)
L: Distance V0: Velocity before acceleration a: Acceleration t: Time

V = V0 + at ... (3)
V: Velocity after acceleration V0: Velocity before acceleration a: Acceleration t: Time

2. Based on the angular velocities ωx, ωy, and ωz of the vehicle 1 detected by the 3-axis gyro 152B of the mobile terminal 100, the movement angles θx with respect to the x-axis, y-axis, and z-axis of the vehicle 1 after the lapse of the previous GPS positioning timing. , Θy, θz (rolling, pitching, and yawing running postures) are calculated. Specifically, it depends on i and ii below.

i. Store the values of the angular velocities ωx0, ωy0, and ωz0 at the beginning of measurement.

ii. The angular velocities ωx, ωy, and ωz of the current calculation timing t are time-integrated, and the movement angles θx, θy, and θz are calculated by the following equations (4) to (6).

θx (t) ＝ ωx (t) + ωx0… (4)
θy (t) ＝ ωy (t) + ωy0… (5)
θz (t) ＝ zω (t) + ωz0… (6)

3. 3. Based on the magnetic forces Gx0, Gy0, and Gz0 of the vehicle 1 detected by the 3-axis compass 152C of the mobile terminal 100, the movement direction (traveling direction with respect to the north direction) of the vehicle 1 after the lapse of the previous GPS positioning timing is calculated. Specifically, it depends on i and ii below.

i. Store the values of the magnetic forces Gx0, Gy0, and Gz0 at the beginning of measurement.

ii. The moving direction M of the current calculation timing t is calculated by the following equation (7).
M = arctan {((Gz-Gz0) sinθx− (Gy-Gy0) cosθx) /
((Gx-Gx0) cosθy + (Gy-Gy0) sinθxsinθy + (Gz-Gz0) sinθycosθx))}
… (7)

When the mounting orientation of the mobile terminal 100 when the mobile terminal 100 is mounted on the vehicle 1 includes mounting deviations θxe and θye with respect to the central axis along the front-rear direction of the vehicle 1, the above equation (7) The roll angle θx and the pitch angle θy used for calculating M are corrected by adding their θxe and θye.

Therefore, the position measuring device 10 is used as follows.
(1) A plurality of vehicles (1A, 1B ...) to which the position measuring device 10 is applied, a plurality of mobile terminals 100 (100A, 100B ...), and their movement identifiers IM (IM1A, IM1B ...). A plurality of external terminals 200 (200A, 200B ...), their external identifiers IO (IO1A, IO1B ...), and a measurement area such as a specific circuit to which the position measuring device 10 is applied are set in the server 300. ..

(2) Each mobile terminal 100 is attached to each vehicle 1, and each user is made to possess each external terminal 200. Each of the external terminals 200 associates the mobile identifier IM dedicated to the mobile terminal 100 with the external identifier IO dedicated to the external terminal 200 by BLE communication with the corresponding mobile terminal 100 using the operation unit 201. Is established, and the mobile terminal 100 is turned on.

(3) The mobile terminal 100 provided in each vehicle 1 is always operated by the battery 190, for example, in a low power consumption mode. Then, the position measurement unit 110 of the mobile terminal 100 determines whether the vehicle 1 is stopped by the GPS receiver 121 or the positioning sensor 151 (or the 3-axis accelerometer 152A of the 9-axis sensor 152) driven by low power consumption. Determine if you are moving. When the vehicle 1 is stopped, the position of the vehicle 1 is measured by setting the positioning cycle of the vehicle 1 by the GPS receiver 121 to, for example, 2 hours. When the vehicle 1 is moving, the position of the vehicle 1 is measured by setting the positioning cycle of the vehicle 1 by the GPS receiver 121 to, for example, 100 msec.

(4) When the position measurement unit 110 of the mobile terminal 100 provided in each vehicle 1 detects that the vehicle 1 has entered a specific circuit as a measurement area by the detection value of the GPS receiver 121, it moves. The terminal 100 is supplied with normal power by canceling the low power consumption mode by the battery 190, and the position measuring unit 110 determines the position of the vehicle 1 on the circuit by the GPS receiver 121 and the positioning sensor 151 (9-axis sensor 152). Start measurement using. That is, with respect to the position of each vehicle 1 to which the mobile terminal 100 is attached, the point 1 is sequentially formed from the initial point 0 (time 0), which is the start line of the circuit, via a constant measurement cycle (fg = 100 msec, fk = 20 msec). The change in position (movement status) leading to (time 1), point 2 (time 2), etc. is measured.

Specifically, the position measurement unit 110 of the mobile terminal 100 measures the position of each vehicle 1 on the circuit as described in (a) and (b) below by the measurement operations (A) and (B) described above. ..

(a) The previous GPS positioning timing (point 0 / time 100 msec or point 5 / time 200 msec is the positioning position (GPS-0 or GPS-1) using the GPS receiver 121).

(b) For each calculation timing ti (point 1, time 20 msec, point 2, time 40 msec ...) after the previous GPS positioning timing has elapsed, the GPS positioning position (GPS-0 or GPS-) measured in (1) above. From 1), the position is set so that the movement distance L is moved along the movement direction M and the posture is changed to the movement angles θx, θy, and θz.

The position of the vehicle 1 measured by the position measuring unit 110 of the mobile terminal 100 in the above (3) and (4) is displayed on the display unit 180 of the mobile terminal 100.

(5) The position data on the circuit measured by the mobile terminal 100 of each vehicle 1 by the position measuring unit 110 according to the above (3) and (4) is associated with the moving identifier IM of the mobile terminal 100, and the GPS4G module. It is transmitted to the server 300 via the 120 and 4G antenna 140. The server 300 uses this received data to recognize the movement status of the vehicle 1 as described above (real-time data such as the position, speed, traveling direction, traveling posture, lap time, etc. of the vehicle 1, historical data over time, etc. ) Is created.

(6) A mobile terminal 100 having a mobile identifier IM associated with the external identifier IO of the external terminal 200 (for example, 200A) with respect to the server 300 by using the operation unit 201 of the external terminal 200 possessed by the user. The transmission of the recognition data of the movement status of the vehicle 1 (for example, 1A) corresponding to (for example, 100A) is requested.

As described above, the server 300 transmits the movement status recognition data of the vehicle 1A to the external terminal 200A in response to the request from the external terminal 200A, and recognizes the movement status of the other vehicle 1B .... Is also transmitted to the external terminal 200A.

As a result, the external terminal 200A displays the movement status recognition data of all the vehicles 1 (1A, 1B ...) within the applicable range of the position measuring device 10 on the display unit 202, and displays the traveling status in real time. Or, it can be compared and observed with historical data.

Therefore, according to this embodiment, the following effects are exhibited.
(a) The position of the vehicle 1 is measured by using the GPS receiver 121 provided in the mobile terminal 100 provided in the vehicle 1, and the position of the vehicle 1 can be accurately measured in the entire measurement area A.

Then, the position of the vehicle 1 measured by using the GPS receiver 121 of the mobile terminal 100 is given an external identifier associated with the mobile identifier given to the mobile terminal 100 via the server 300. It is transmitted to the external terminal 200 and displayed on the display unit 202 of the external terminal 200.

That is, the position of the vehicle 1 can be accurately measured and displayed in the entire measurement area A.

(b) The server 300 sets the positioning position of each vehicle 1 provided with each mobile terminal 100 calculated by each mobile terminal 100 in a state in which a dedicated movement identifier is associated with each mobile terminal 100. A mobile terminal having a mobile identifier that is received from the mobile terminal 100 and has a one-to-one association with an external identifier dedicated to the external terminal 200 in response to a request from each of the plurality of external terminals 200. The positioning position of the vehicle 1 on which the mobile terminal 100 has been received from 100 is transmitted to the external terminal 200, and a pair with an external identifier dedicated to each external terminal 200 other than the external terminal 200. The positioning position of the vehicle 1 provided with each of the other mobile terminals 100 that has been received from each of the other mobile terminals 100 of the mobile identifier that is associated with 1 is also transmitted to the external terminal 200. Therefore, each of the plurality of external terminals 200 displays each positioning position of the plurality of vehicles 1 provided with the plurality of mobile terminals 100, which are transmitted from the server 300, on the display unit 202 of the external terminal 200. .. As a result, the positions of the plurality of vehicles 1 can be accurately compared and observed on each of the display units 202 of the plurality of external terminals 200.

That is, on each of the plurality of external terminals 200, the positions of the plurality of vehicles 1 are accurately measured and displayed in the entire area of the measurement area A, and the movement status of each vehicle 1 is accurately compared and observed in the entire area of the measurement area A. can do.

(c) The GPS positioning error of a stationary body by the GPS receiver 121 is 10 to 20 m for a normal satellite (2.5 m for a quasi-zenith satellite). Therefore, when the positioning cycle of the vehicle 1 by the GPS receiver 121 is, for example, 100 msec, if the traveling speed of the vehicle 1 provided with the mobile terminal 100 provided with the GPS receiver 121 is 200 km / h, the previous GPS The unpositionable movement distance of the vehicle 1 during the positioning cycle of 100 msec from the positioning timing of the vehicle 1 by the receiver 121 to the timing of the positioning of the vehicle 1 by the next GPS receiver 121 is 5.6 m (positioning time). 200 x 1000 m / 3600 x 1000 msec = 5.6 m / 100 msec). Therefore, the error in the positioning position of the vehicle 1 by the GPS receiver 121 from the previous positioning timing of the vehicle 1 by the GPS receiver 121 to immediately before reaching the positioning timing of the vehicle 1 by the next GPS receiver 121 is a normal satellite. The maximum is 25.6m (positioning time is 25.6m / (5.6m / 100msec) = 460msec = 0.46sec error), and even the quasi-zenith satellite is 8.1m (8.1m / (5.6m / 100msec) = 144msec = 0.144sec). )become. This error is too large for, for example, the circuit course width of 10 to 20 m on which the vehicle 1 travels, and makes the positioning result meaningless.

On the other hand, in the present invention, the positioning sensor 151 is used to determine the position Pi of the vehicle 1 after the lapse of the previous GPS positioning timing at each calculation timing ti between the previous and next GPS positioning timings by the GPS receiver 121. It was calculated, and the position of the vehicle 1 at each calculation timing ti after the lapse of the previous GPS positioning timing t0 was calculated by adding the position Pi to the initial position (GPS-0). Then, in the present invention, while the positioning cycle of the vehicle 1 by the GPS receiver 121 is set to, for example, 100 msec, the positioning timing of the vehicle 1 by the next GPS receiver 121 after the lapse of the positioning timing of the vehicle 1 by the previous GPS receiver 121 The position measurement operation of the vehicle 1 by the positioning sensor 151 is performed at intervals of, for example, 20 msec (the positioning cycle by the positioning sensor 151 is 20 msec) until immediately before reaching. As a result, if the traveling speed of the vehicle 1 provided with the mobile terminal 100 equipped with the GPS receiver 121 and the positioning sensor 151 is 200 km / h, the positioning of the vehicle 1 during the positioning cycle of 20 msec by the positioning sensor 151 The travel distance that cannot be achieved is 1.12 m (200 x 1000 m / 3600 x 1000 msec = 1.12 m / 20 msec in terms of positioning time). Therefore, the error in the positioning position of the vehicle 1 by the GPS receiver 121 and the positioning sensor 151 from the previous positioning timing of the vehicle 1 by the GPS receiver 121 to immediately before reaching the positioning timing of the vehicle 1 by the next GPS receiver 121 is The quasi-zenith satellite is reduced to 3.62 m (error of 3.62 m / 1.12 m / 20 msec = 64.64 msec = 0.065 sec in terms of positioning time), and the position of vehicle 1 can be measured accurately.

(d) Further, the positioning sensor 151 is composed of a 9-axis sensor 152 including a 3-axis accelerometer 152A, a 3-axis gyro 152B, and a 3-axis compass 152C. As a result, the position of the vehicle 1 at each calculation timing ti after the lapse of the GPS positioning timing by the GPS receiver 121 is moved from the initial position (GPS-0) measured at the previous GPS positioning timing toward the moving direction Mi. By moving only Li and calculating the posture as the position to be the movement angle θi (rolling, pitching, yawing), the position of the vehicle 1 is the moving posture of the vehicle 1 (rolling, pitching, yawing). And it can be measured accurately along with the movement direction.

(e) The mobile terminal 100 starts a measurement operation using the positioning sensor 151 on condition that the GPS positioning position being measured by the GPS receiver 121 enters the measurement area A. Therefore, as soon as the vehicle 1 arrives at the measurement area A, the position of the vehicle 1 can be automatically and accurately measured.

(f) The mobile terminal 100 cancels the low power consumption mode and starts a measurement operation using the positioning sensor 151 on condition that the GPS positioning position measured by the GPS receiver 121 enters the measurement area A. That is, the GPS receiver 121 can always be measured and operated in the low power consumption mode by the power of the battery 190 regardless of whether the ignition switch of the vehicle is turned on or off. Then, at the same time as recognizing that the vehicle has arrived at the measurement area A of the circuit or the like based on the measurement result of the GPS receiver 121 in operation, the position of the vehicle 1 can be automatically and accurately started to be measured.

In FIG. 6, the position measuring device 10 of the present embodiment is applied to measure the position of each vehicle 1) (1A, 1B ...) of a dump truck, an excavator, etc. that moves in a vast construction site as a measurement area A. It is a thing.

In the position measuring device 10 shown in FIG. 6, the same position measuring device 10 (mobile terminal 100 (100A, 100B ...), external terminal 200 (200A, 200B ...), server 300) as shown in FIG. 1 is used. It is used and the position of each vehicle 1 is measured by the same measurement algorithm as shown in FIGS. 7 and 8.

In the position measuring device 10 of FIG. 6, one external terminal 210 is newly adopted as the external terminal 200. The external terminal 200 is composed of, for example, a personal computer (PC) installed in a management office of a construction site or the like. At this time, the external terminal 200 is dedicated to the external identifier IOZ dedicated to the external terminal 210 and the mobile terminals 100A, 100B ... By communicating with a plurality of (for example, N) external terminals 100A, 100B .... A one-to-N association with the movement identifiers IM1A, IM1B ... Is established.

Therefore, the position measuring device 10 of FIG. 6 performs the following measurement operations in addition to the measurement operations of the position measuring devices 10 shown in FIGS. 4 and 5. That is, the server 300 determines the positioning position of each vehicle 1 (1A, 1B ...) in which each mobile terminal 100 is provided, which is calculated by each mobile terminal 100 (100A, 100B ...), from each mobile terminal 100. Each mobile terminal 100A of the mobile terminals IM1A, IM1B ..., Which is supposed to be associated with the external identifier I0Z dedicated to the external terminal 210 in response to a request using the operation unit 211 of the external terminal 210 while receiving the data. Data of each positioning position of each vehicle 1A, 1B provided with the mobile terminals 100A, 100B ... Received from 100B ... (recognition data of the movement status of the vehicle 1) is transmitted to the external terminal 210. .. Then, the external terminal 210 is transmitted from the server 300, and data of each positioning position of a plurality of vehicles 1A, 1B ... Provided with each of the plurality of mobile terminals 100A, 100B ... (Movement status of the vehicle 1). (Recognition data) is also displayed on the display unit 212 (for example, a liquid crystal display panel) of the external terminal 210.

That is, one external terminal 210 can measure and display the positions of a plurality of vehicles 1 in the entire area of the measurement area A, and accurately compare and observe the movement status of each vehicle 1 in the entire area of the measurement area A. it can.

In the position measurement operation of the vehicle 1 by the position measurement unit 110 of the mobile terminal 100, the GPS receiver 121 (or the 3-axis accelerometer 152A) measures the above-mentioned positioning cycle (fk) by the positioning sensor 151. As shown in FIG. 9, the setting can be automatically changed according to the current speed (speed of the vehicle 1 at the time of detection by the positioning sensor 151) V. That is, when V <50 km / h, fk = 50 msec of the positioning sensor 151 is set, and measurement operation is performed using the GPS receiver 121 and the positioning sensor 151 (3-axis gyro 152B and 3-axis compass 152C), and 51 km / h ≤ V. At <100 km / h, fk = 50 msec of the positioning sensor 151 is set, and measurement operation is performed using the GPS receiver 121 and the positioning sensor 151 (3-axis accelerometer 152A, 3-axis gyro 152B and 3-axis compass 152C), and 101 km. When / h≤V <200 km / h, the positioning sensor 151 is set to fk = 20 msec, and the measurement operation is performed using the GPS receiver 121 and the positioning sensor 151 (3-axis accelerometer 152A, 3-axis gyro 152B, and 3-axis compass 152C). Then, when V ≧ 200 km / h, the positioning sensor 151 is set to fk = 10 msec, and the measurement operation is performed using the GPS receiver 121 and the positioning sensor 151 (3-axis accelerometer 152A, 3-axis gyro 152B, and 3-axis compass 152C). be able to.

That is, when the positioning sensor 151 (3-axis accelerometer 152A, 3-axis gyro 152B, 3-axis compass 152C) detects a change in the position of the vehicle 1 at each calculation timing via a fixed period fk, the positioning sensor 151 is described above. The detection cycle fk is set to be shorter according to the increase in the speed V of the vehicle 1 at the time of the detection. As a result, the error of the positioning position of the vehicle 1 by the positioning sensor 151 is suppressed from the tendency to increase as the speed of the vehicle 1 increases, and the power consumption of the battery 190 is also suppressed, while the position of the vehicle 1 is more accurate. Can be measured.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration of the present invention is not limited to this embodiment, and even if there is a design change or the like within a range not deviating from the gist of the present invention. Included in the present invention.

According to the present invention, the position of the moving body can be accurately measured and displayed in the entire measurement area.

Further, according to the present invention, the positions of a plurality of moving bodies can be accurately measured and displayed in the entire measurement area, and the movement status of each moving body can be accurately compared and observed in the entire measurement area.

Further, according to the present invention, the position of the moving body can be automatically started to be measured as soon as the moving body arrives at the measurement area.

1,1A, 1B vehicle (moving body)
10 Position measurement display device 20 QZSS (satellite)
100, 100A, 100B Mobile terminal 110 Position measurement unit 121 GPS receiver 151 Positioning sensor 152 9-axis sensor 152A 3-axis accelerometer 152B 3-axis gyro 152C 3-axis compass 190 Battery 200, 200A, 200B External terminal 201 Operation unit 202 Display unit 210 External terminal 211 Operation unit 212 Display unit 300 Server

Claims (5)

It is a position measurement display device for a moving body that measures and displays the position of the moving body.
A mobile terminal provided on the mobile body, an external terminal away from the mobile body, and a dedicated mobile identifier are assigned to the mobile terminal, and a dedicated external identifier is assigned to the external terminal to communicate with the mobile terminal and the external terminal. Has a possible server and
Mobile terminals
A GPS receiver is provided, and the positioning position of the mobile body on which the mobile body is provided is measured by a signal from a satellite received by the GPS receiver.
External terminals
By communicating with the mobile terminal, an association between the external identifier dedicated to the external terminal and the mobile identifier dedicated to the mobile terminal is established.
The server is
The positioning position of the mobile body on which the mobile terminal is provided calculated by the mobile terminal is received from the mobile terminal with a dedicated mobile identifier associated with the mobile terminal, and in response to a request from the external terminal. The positioning position of the mobile body provided with the mobile terminal that has been received from the mobile terminal of the mobile identifier that is supposed to be associated with the external identifier of the external terminal is transmitted to the external terminal of the external identifier.
The external terminal is a position measurement display device for a mobile body, which is transmitted from a server and displays the positioning position of the mobile body provided with the mobile terminal on the display unit of the external terminal.
The mobile terminal
It is equipped with a GPS receiver and a positioning sensor that detects changes in the position of moving objects.
The positioning sensor shall consist of a 9-axis sensor having a 3-axis accelerometer, a 3-axis gyro and a 3-axis compass.
Arbitrary calculation timing ti that is set to go through a fixed cycle from the previous GPS positioning timing by the GPS receiver of the mobile terminal provided on the moving body to the next GPS positioning timing by the GPS receiver. Based on the acceleration detected by the 3-axis accelerometer of the mobile terminal each time, the movement distance Li of the moving body after the lapse of the previous GPS positioning timing is calculated, and the 3-axis gyro of the mobile terminal is calculated for each calculation timing ti. Based on each of the angular velocity and magnetic force detected by the three-axis compass, the movement angle θi and the movement direction Mi of the moving body after the lapse of the previous GPS positioning timing are calculated.
The final positioning position of the moving body after the previous GPS positioning timing is the position GPS-0 for the previous GPS positioning timing, and the initial position (GPS-0) for each calculated timing ti after the lapse of the previous GPS positioning timing. A position measurement display device for a moving body that moves by a moving distance Li from the moving direction Mi and calculates the posture as a position as a moving angle θi. It has a plurality of mobile terminals provided on a plurality of mobile bodies and a plurality of external terminals.
The server receives the positioning position of each mobile body provided with each mobile terminal calculated by each mobile terminal from each mobile terminal in a state in which a dedicated mobile identifier is associated with each mobile terminal. In response to a request from each of the plurality of external terminals, the external terminal is provided with the mobile terminal that has already been received from the mobile terminal having a mobile identifier that is supposed to have a one-to-one association with a dedicated external identifier. In addition to transmitting the positioning position of the moving object to the external terminal, other mobile identifiers that are supposed to have a one-to-one association with an external identifier dedicated to each external terminal other than the external terminal. The positioning position of the mobile body provided with each of the other mobile terminals that has been received from each mobile terminal is also transmitted to the external terminal.
The first aspect of claim 1, wherein each external terminal also displays each of the above-mentioned positioning positions of a plurality of mobile bodies provided with the above-mentioned plurality of mobile terminals transmitted from a server on the display unit of each of the external terminals. Position measurement display device for moving objects. It has a plurality of mobile terminals provided on a plurality of mobile bodies and one external terminal.
The server receives the positioning position of each mobile body provided with each mobile terminal calculated by each mobile terminal from each mobile terminal in a state in which a dedicated mobile identifier is associated with each mobile terminal. A mobile body provided with each mobile terminal that has been received from each mobile terminal with a mobile identifier that is supposed to be associated with a dedicated external identifier for the external terminal in response to a request from the one external terminal. Each positioning position of is transmitted to the external terminal,
The movement according to claim 1, wherein the external terminal displays each of the above-mentioned positioning positions of a plurality of mobile bodies provided with the above-mentioned plurality of mobile terminals, which are transmitted from the server, together with the display unit of the external terminal. Body position measurement display device. The mobile terminal
The measurement area where the position of the moving body should be measured is set in advance.
The position measurement display device for a moving body according to any one of claims 1 to 3 , wherein a measurement operation using a positioning sensor is started on condition that the GPS positioning position being measured by the GPS receiver enters the measurement area. The mobile terminal
With a built-in battery
The position measurement of the moving body according to claim 4 , wherein the low power consumption mode is canceled and the measurement operation using the positioning sensor is started on the condition that the GPS positioning position being measured by the GPS receiver enters the measurement area. Display device.

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