JP6877927B2 - Positioning device, positioning method and computer program - Google Patents

Description

Embodiments of the present invention relate to positioning devices, positioning methods and computer programs.

In recent years, with the increase in positioning services, attention has been focused on indoor positioning technology. Currently, as an indoor positioning method in which GPS (Global Positioning System) cannot be used, there is a method of estimating a position from walking data acquired by a terminal device carried by a pedestrian.
However, in the conventional method, an error in position estimation may occur due to a difference in the way of walking for each individual.

Japanese Patent Application No. 2013-235707

An object to be solved by the present invention is to provide a positioning device, a positioning method, and a computer program capable of reducing an error in position estimation due to a difference in walking method for each individual.

The positioning device of the embodiment includes a walking motion extraction unit, a terminal angle estimation unit, a stride estimation unit, a position calculation unit, and a correction data generation unit. The walking motion extraction unit extracts data for each walking motion from the acceleration data for a predetermined time acquired by the terminal device. The terminal angle estimation unit is based on the angular velocity data acquired by the terminal device and the walking timing representing the timing when the user of the terminal device is walking, which is obtained from the extracted data. The angle of the terminal device in the above is estimated. The stride estimation unit estimates the stride based on the maximum and minimum values of the combined values of the data and the parameters related to the user of the terminal device. The position calculation unit is data for correcting the user's stride of the terminal device estimated by the stride estimation unit, the angle of the terminal device, and the angle and stride of the terminal device due to the difference in walking method for each individual. The current position and the moving direction of the terminal device are calculated by using the correction data. The correction data generation unit generates the correction data when the terminal device is located on a reference path whose movement direction is known.

The figure which shows the system configuration of the positioning system 100 in 1st Embodiment. The flowchart which shows the flow of the position estimation processing by a positioning apparatus 20. The figure which shows the pattern of the magnitude of acceleration. The flowchart which shows the flow of the correction data generation processing by a positioning apparatus 20. The figure for demonstrating the contents about a reference route. The figure which shows the system configuration of the positioning system 100a in 2nd Embodiment. The flowchart which shows the flow of the correction data generation processing by a positioning apparatus 20a. The figure which shows the system structure of the positioning system 100b in 3rd Embodiment. The flowchart which shows the flow of the correction data generation processing by a positioning apparatus 20b. The figure which shows the specific example of a table.

Hereinafter, the positioning device, the positioning method, and the computer program of the embodiment will be described with reference to the drawings.
(First Embodiment)
FIG. 1 is a diagram showing a system configuration of the positioning system 100 according to the first embodiment. The positioning system 100 includes a terminal device 10 and a positioning device 20. The terminal device 10 and the positioning device 20 are communicably connected via a network. The network may be any configured network. For example, the network is configured using wireless LAN (Local Area Network), wired LAN, Wi-Fi (Wireless Fidelity) (registered trademark), Bluetooth (registered trademark), 3G (3rd Generation) and WiMAX (registered trademark). To.

The terminal device 10 is a device carried by a pedestrian. The terminal device 10 is, for example, a smartphone, a tablet terminal, a mobile phone, a wearable terminal, or the like. The terminal device 10 is attached to, for example, the waist of a pedestrian. The terminal device 10 acquires time-series data of a three-axis acceleration vector (hereinafter, referred to as “acceleration data”) and time-series data of a three-axis angular velocity vector (hereinafter, referred to as “angle velocity data”).
The positioning device 20 is configured by using an information processing device such as a personal computer. The positioning device 20 positions the terminal device 10 based on the acceleration data and the angular velocity data acquired from the terminal device 10. In addition, the positioning device 20 generates correction data for correcting an error in position estimation due to a difference in walking style for each individual. The positioning device 20 may be mounted on a server, or may be mounted on a small computer and mounted on a pedestrian.

Next, a specific configuration of the terminal device 10 and the positioning device 20 will be described. First, the functional configuration of the terminal device 10 will be described. The terminal device 10 includes a CPU (Central Processing Unit), a memory, an auxiliary storage device, and the like connected by a bus, and executes a measurement program. By executing the measurement program, the terminal device 10 functions as a device including the acceleration sensor 101, the angular velocity sensor 102, and the communication unit 103. All or part of each function of the terminal device 10 may be realized by using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). Further, the measurement program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM (Read Only Memory) or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, the measurement program may be transmitted and received via a telecommunication line.

The acceleration sensor 101 measures acceleration data.
The angular velocity sensor 102 measures the angular velocity data.
The communication unit 103 transmits the acceleration data measured by the acceleration sensor 101 and the angular velocity data measured by the angular velocity sensor 102 to the positioning device 20.

Next, the functional configuration of the positioning device 20 will be described. The positioning device 20 includes a CPU, a memory, an auxiliary storage device, and the like connected by a bus, and executes a positioning program. By executing the positioning program, the positioning device 20 uses the communication unit 201, the walking motion extraction unit 202, the terminal angle estimation unit 203, the user parameter storage unit 204, the stride estimation unit 205, the position calculation unit 206, the reference route information storage unit 207, and the like. It functions as a device including the correction data generation unit 208. In addition, all or a part of each function of the positioning apparatus 20 may be realized by using hardware such as ASIC, PLD and FPGA. Further, the positioning program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, the positioning program may be transmitted and received via a telecommunication line.

The communication unit 201 communicates with the terminal device 10. For example, the communication unit 201 receives acceleration data and angular velocity data from the terminal device 10.
The walking motion extraction unit 202 calculates a walking motion section based on the received acceleration data, and extracts walking timing and acceleration data for each calculated walking motion section. The walking motion represents the smallest unit of motion that constitutes the motion performed by a person. For example, the walking motion is an motion such as one step or a jump. The walking motion section represents a section in which the walking motion is performed. The walking timing represents the timing at which the user of the terminal device 10 is walking.
The terminal angle estimation unit 203 estimates the angle of the terminal device 10 based on the received angular velocity data.

The user parameter storage unit 204 is configured by using a storage device such as a magnetic hard disk device or a semiconductor storage device. The user parameter storage unit 204 stores parameters related to the user of the terminal device 10 (hereinafter, referred to as “user parameters”). Examples of user parameters include coefficients, height, and the like.
The stride estimation unit 205 estimates the stride length of a pedestrian based on the acceleration data for each walking motion section extracted by the walking motion extraction unit 202 and the user parameters stored in the user parameter storage unit 204.

The position calculation unit 206 is a terminal device based on the pedestrian stride estimated by the stride estimation unit 205, the angle estimated by the terminal angle estimation unit 203, and the correction data generated by the correction data generation unit 208. The movement direction, movement distance, number of steps and position of 10 are calculated.
The reference path information storage unit 207 is configured by using a storage device such as a magnetic hard disk device or a semiconductor storage device. The reference route information storage unit 207 stores information on a reference route whose movement direction is known (hereinafter, referred to as “reference route information”). The reference route information includes the distance of the reference route, the shape of the reference route, and the like. The shape of the reference path includes a rectangle, a figure eight shape, and the like.
The correction data generation unit 208 generates correction data based on the movement direction, the movement distance, and the number of steps calculated by the position calculation unit 206 and the reference route information stored in the reference route information storage unit 207. The correction data is data for correcting the angle and stride due to the difference in walking style for each individual.

FIG. 2 is a flowchart showing the flow of position estimation processing by the positioning device 20.
The communication unit 201 acquires acceleration data and angular velocity data from the terminal device 10 (step S101). The communication unit 201 outputs the acquired acceleration data to the walking motion extraction unit 202. Further, the communication unit 201 outputs the acquired angular velocity data to the terminal angle estimation unit 203. The terminal angle estimation unit 203 calculates the angle of the terminal device 10 by integrating the angular velocity data output from the communication unit 201 (step S102). The walking motion extraction unit 202 creates a composite vector of acceleration data for a predetermined time output from the communication unit 201, and calculates the magnitude of the acceleration (step S103). Here, assuming that the data at time t is AccA (t), AccBB (t), and AccCC (t) in the acceleration data, the magnitude of acceleration is expressed by the following equation 1.

Next, the walking motion extraction unit 202 determines whether or not the walking motion section is detected based on the calculated magnitude of the acceleration (step S104). When the walking operation section is not detected (step S104-NO), the positioning device 20 repeatedly executes the processes from step S101 to step S103.
On the other hand, when the walking motion section is detected (step S104-YES), the walking motion extracting unit 202 extracts the walking timing and acceleration data for each walking motion section (step S105).

FIG. 3 is a diagram showing a pattern of magnitude of acceleration. As shown in FIG. 3, the pattern of the magnitude of acceleration is the shape of one cycle of trigonometric function. This one cycle (time t1 to t2) represents the time required for one step. The walking motion extraction unit 202 extracts one cycle from a certain threshold value (for example, 1G) to the next threshold value as the data of the walking motion section from the acceleration data for a predetermined time. Further, the walking motion extraction unit 202 extracts the time t3 in which the magnitude of acceleration is the threshold value in the walking motion section as the walking timing. The walking motion extraction unit 202 outputs the extracted walking timing to the terminal angle estimation unit 203. Further, the walking motion extraction unit 202 outputs the extracted data of the walking motion section to the stride estimation unit 205.

The terminal angle estimation unit 203 of the terminal device 10 of the i-step (i is an integer of 1 to n) based on the walking timing output from the walking motion extraction unit 202 and the angle calculated in the process of step S102. The angle θi is estimated (step S106). The terminal angle estimation unit 203 outputs the information of the angle θi of the estimated i-step terminal device 10 to the position calculation unit 206. The stride estimation unit 205 estimates the stride Li of the i-step based on the data of the walking motion section extracted in the process of step S105 and the user parameters (step S107). As a method for estimating the stride length Li, for example, a Weinberg stride length model may be used. Weinberg's stride model is expressed by Equation 2 below.

In Equation 2, the coefficient K is a value set in advance for each user. For example, the coefficient K is stored in the user parameter storage unit 204. Further, in Equation 2, a _v max represents the maximum value of the acceleration in the walking motion section, and a _v min represents the minimum value of the acceleration in the walking motion section. The stride estimation unit 205 outputs the information of the estimated stride length Li of the i-step to the position calculation unit 206. The position calculation unit 206 uses the stride Li information output from the stride estimation unit 205, the angle θi information output from the terminal angle estimation unit 203, and the correction data generated by the correction data generation unit 208. The moving direction φn, the moving distance Dn, and the current position (xn, yn) of the nth step are estimated (step S108).

Specifically, assuming that the angle gain A, the angle correction B, the stride correction C, the initial movement direction φ0, and the initial position (x0, y0), the position calculation unit 206 moves the nth step based on the following equation 3. Estimate φn, travel distance Dn, and current position (xn, yn).

FIG. 4 is a flowchart showing the flow of correction data generation processing by the positioning device 20. In the process of FIG. 4, the initial angle gain A = 1, the angle correction B = 0, and the stride correction C = 0. The correction data generation process is performed when a pedestrian walks on a reference route such as a rectangle or a figure eight whose movement direction is known.
The position calculation unit 206 estimates the current position and the moving direction for each step by the process shown in FIG. 2 (step S201). As shown in FIG. 5 (A), when a pedestrian walks on a rectangular reference path, the moving directions φ and the moving distance D of 1 to 5 are obtained as shown in FIG. 5 (B). The position calculation unit 206 outputs the estimation result (information on the movement direction φn, the movement distance Dn, and the number of steps n) to the correction data generation unit 208. The correction data generation unit 208 determines whether or not walking on the reference route has been completed based on the transition in the moving direction (step S202). For example, in the case of a rectangular reference route, the position where the movement direction is 360 degrees (“5” in FIG. 5 (B)) means the end of walking on the reference route.

When walking on the reference route is not completed (step S202-NO), the position calculation unit 206 re-executes the process of step S201. For example, in the case of a rectangular reference route, if the movement direction is not at a position of 360 degrees (“5” in FIG. 5 (B)), the correction data generation unit 208 determines that walking on the reference route has not been completed. To do. On the other hand, when the movement direction is 360 degrees (“5” in FIG. 5 (B)), the correction data generation unit 208 determines that walking on the reference route has been completed.

When walking on the reference route is completed (step S202-YES), the correction data generation unit 208 calculates the angle gain A and the angle correction B from the deviations in the movement direction on each side of the reference route (step S203). For example, when the reference path is a rectangle, each side forms an angle of 90 degrees, so the movement direction history should be an integral multiple of 90 degrees. The correction data generation unit 208 performs the least squares method on the movement direction data from 1 to 5 to calculate the angle gain A and the angle correction B.

Next, the correction data generation unit 208 divides the distance of the reference path by the number of steps to calculate the reference reference stride length as a reference. Then, the correction data generation unit 208 calculates the stride correction C from the difference between the calculated reference stride and the average value of the stride data (step S204). For example, the correction data generation unit 208 calculates the stride correction C by using the stride correction C = the distance of the reference path / the number of steps-the moving distance Dn / the number of steps n. Here, the movement distance Dn / number of steps n is the average value of the stride data. The angle gain A, the angle correction B, and the stride correction C calculated as described above are the correction data.

According to the positioning system 100 configured as described above, the positioning device 20 extracts data for each walking motion from the acceleration data for a predetermined time acquired by the terminal device 10, and the angular velocity acquired by the terminal device 10. Based on the data and the walking timing obtained from the data, the angle of the terminal device 10 at the walking timing is estimated, and the user's stride of the terminal device 10 estimated based on the data, the angle of the terminal device 10, and the correction. By calculating the current position and moving direction of the terminal device 10 using the data and generating correction data when the terminal device 10 is located on a known reference path in the moving direction, each individual It is possible to reduce the error of position estimation due to the difference in walking method.

Hereinafter, a modified example of the positioning system 100 will be described.
The position calculation unit 206 may be configured to estimate the stride Li of the i-step based on the following equation 4.

In Equation 4, the coefficients P1, P2 and P3 are values set in advance for each user. For example, the coefficients P1, P2 and P3 are stored in the user parameter storage unit 204. Further, in Equation 4, a _v max represents the maximum value of the acceleration in the walking motion section, and a _v min represents the minimum value of the acceleration in the walking motion section.

(Second Embodiment)
FIG. 6 is a diagram showing a system configuration of the positioning system 100a according to the second embodiment. The positioning system 100a includes a terminal device 10, a positioning device 20a, and a reference position sensor 30. The terminal device 10, the positioning device 20a, and the reference position sensor 30 are communicably connected via a network. The network may be any configured network. For example, the network is configured using wireless LAN, wired LAN, Wi-Fi®, Bluetooth®, 3G and WiMAX®.

The positioning system 100a includes a positioning device 20a instead of the positioning device 20, and newly includes a reference position sensor 30.
The reference position sensor 30 is, for example, a position detection based on radio wave intensity, a mat switch, or the like, and is installed at a specific position on the reference path to detect a pedestrian. The reference position sensor 30 is installed, for example, at a position indicating the end of walking on the reference path. The reference position sensor 30 includes a detection unit 301 and a communication unit 302. The detection unit 301 detects a pedestrian. The detection unit 301 outputs a notification indicating that a pedestrian has been detected to the communication unit 302. The communication unit 302 transmits the notification output from the detection unit 301 to the positioning device 20a.

Next, the functional configuration of the positioning device 20a will be described. The positioning device 20a includes a CPU, a memory, an auxiliary storage device, and the like connected by a bus, and executes a positioning program. By executing the positioning program, the positioning device 20a has the communication unit 201a, the walking motion extraction unit 202, the terminal angle estimation unit 203, the user parameter storage unit 204, the stride estimation unit 205, the position calculation unit 206, the reference route information storage unit 207, and the like. It functions as a device including the correction data generation unit 208a. In addition, all or a part of each function of the positioning apparatus 20a may be realized by using hardware such as ASIC, PLD and FPGA. Further, the positioning program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, the positioning program may be transmitted and received via a telecommunication line.

The positioning device 20a is different from the positioning device 20 in that the communication unit 201a and the correction data generation unit 208a are provided in place of the communication unit 201 and the correction data generation unit 208. The positioning device 20a is the same as the positioning device 20 in other configurations. Therefore, the description of the positioning device 20a as a whole will be omitted, and the communication unit 201a and the correction data generation unit 208a will be described.

The communication unit 201a communicates with the terminal device 10 and the reference position sensor 30. For example, the communication unit 201a receives the acceleration data of the three axes and the angular velocity data of the three axes from the terminal device 10. Further, for example, the communication unit 201a receives the notification from the reference position sensor 30.
When the correction data generation unit 208a receives the notification from the reference position sensor 30, the correction data generation unit 208a has the movement direction, the movement distance and the number of steps calculated by the position calculation unit 206, and the reference route information stored in the reference route information storage unit 207. Based on, the correction data is generated.

FIG. 7 is a flowchart showing the flow of correction data generation processing by the positioning device 20a. In the process of FIG. 7, the initial angle gain A = 1, the angle correction B = 0, and the stride correction C = 0. The correction data generation process is performed when a pedestrian walks on a reference route such as a rectangle or a figure eight whose movement direction is known. In FIG. 7, the same processing as in FIG. 4 is designated by the same reference numerals as in FIG. 4, and the description thereof will be omitted.
When the process of step S201 is completed, the correction data generation unit 208a determines whether or not the notification has been received from the reference position sensor 30 (step S301). If the notification has not been received (step S301-NO), the positioning device 20a re-executes the processes after step S201.
On the other hand, when the notification is received (step S301-YES), the correction data generation unit 208a executes the processes after step S203.

According to the positioning system 100a configured as described above, the same effect as that of the first embodiment can be obtained.
Further, the positioning device 20a generates correction data when a pedestrian carrying the terminal device 10 passes a position indicating the end of walking on the reference route (goal point of the reference route). As a result, the correction data is generated after the pedestrian walks to the end on the reference route. Therefore, it is possible to create correction data with higher accuracy.

(Third Embodiment)
FIG. 8 is a diagram showing a system configuration of the positioning system 100b according to the third embodiment. The positioning system 100b includes a terminal device 10, a positioning device 20b, and a biosensor 40. The terminal device 10, the positioning device 20b, and the biosensor 40 are communicably connected via a network. The network may be any configured network. For example, the network is configured using wireless LAN, wired LAN, Wi-Fi®, Bluetooth®, 3G and WiMAX®.

The positioning system 100b includes a positioning device 20b instead of the positioning device 20, and newly includes a biosensor 40.
The biological sensor 40 detects biological information such as the pulse rate and blood pressure of the user of the terminal device 10. The biosensor 40 is attached to, for example, the user's arm of the terminal device 10. The biosensor 40 includes a detection unit 401 and a communication unit 402. The detection unit 401 detects pedestrian biometric information. The detection unit 401 outputs a notification including the detected biological information to the communication unit 402. The communication unit 402 transmits the notification output from the detection unit 401 to the positioning device 20b.

Next, the functional configuration of the positioning device 20b will be described. The positioning device 20b includes a CPU, a memory, an auxiliary storage device, and the like connected by a bus, and executes a positioning program. By executing the positioning program, the positioning device 20b has the communication unit 201, the walking motion extraction unit 202, the terminal angle estimation unit 203, the user parameter storage unit 204, the stride estimation unit 205, the position calculation unit 206, the reference route information storage unit 207, and the like. It functions as a device including the correction data generation unit 208b. In addition, all or a part of each function of the positioning apparatus 20b may be realized by using hardware such as ASIC, PLD and FPGA. Further, the positioning program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, the positioning program may be transmitted and received via a telecommunication line.

The positioning device 20b is different from the positioning device 20 in that the communication unit 201b and the correction data generation unit 208b are provided in place of the communication unit 201 and the correction data generation unit 208. The positioning device 20b is the same as the positioning device 20 in other configurations. Therefore, the description of the positioning device 20b as a whole will be omitted, and the communication unit 201b and the correction data generation unit 208b will be described.

The communication unit 201b communicates with the terminal device 10 and the biosensor 40. For example, the communication unit 201b receives the acceleration data of the three axes and the angular velocity data of the three axes from the terminal device 10. Further, for example, the communication unit 201b receives the notification from the biosensor 40.

FIG. 9 is a flowchart showing the flow of correction data generation processing by the positioning device 20b. In the process of FIG. 9, the initial angle gain A = 1, the angle correction B = 0, and the stride correction C = 0. The correction data generation process is performed when a pedestrian walks on a reference route such as a rectangle or a figure eight whose movement direction is known. In FIG. 9, the same processing as in FIG. 4 is designated by the same reference numerals as in FIG. 4, and the description thereof will be omitted.
When the processes from steps S201 to 204 are completed, the correction data generation unit 208b associates the calculated angle gain A, angle correction B, and stride correction C with the biological information (for example, pulse) notified from the terminal device 10. And save it in the table (step S401).

FIG. 10 is a diagram showing a specific example of the table. As shown in FIG. 10, the table has a plurality of records. The record has values for pulse rate, angle gain A, angle correction B, and stride correction C. Data for the number of times (predetermined number of times) that the positioning device 20 repeats the processes from step S201 to step S205 is accumulated in the table. The correction data generation unit 208b determines whether or not the processes from step S201 to step S205 have been executed a predetermined number of times (step S402).

If the predetermined number of times has not been executed (step S402-NO), the positioning device 20b re-executes the processes after step S201.
On the other hand, when the execution is performed a predetermined number of times (step S402-YES), the correction data generation unit 208b refers to the pulse item in the table and determines whether or not the pulse value has changed by a predetermined threshold value or more (step S403). .. When there is no change of the predetermined threshold value or more (step S403-NO), the positioning device 20b ends the correction data generation process.

On the other hand, when there is a change of a predetermined threshold value or more (step S403-YES), the correction data generation unit 208b newly sets the angle gain A, the angle correction B, and the stride length based on the table in which the data for the predetermined number of times is accumulated. The correction C is calculated (step S404). For example, the correction data generation unit 208b uses the data for a predetermined number of times to change the average value of the angle gain A, the average value of the angle correction B, and the average value of the stride correction C into the new angle gain A, the angle correction B, and the angle correction B. The stride correction C may be used, or new angle gain A, angle correction B, and stride correction C may be calculated based on other statistical values.

According to the positioning system 100b configured as described above, the same effect as that of the first embodiment can be obtained.
Further, the positioning device 20b generates correction data when there is a change in the biological information of the pedestrian carrying the terminal device 10. If there is a change in the biological information, there is a high possibility that some change has occurred in the pedestrian's condition. Therefore, by using a plurality of data and creating correction data from the statistical values, it is possible to create correction data with higher accuracy.

Hereinafter, a modified example of the positioning system 100b will be described.
In the present embodiment, the pulse is described as an example of the biological information used in the table, but the biological information other than the pulse may be registered in the table.

According to at least one embodiment described above, the walking motion extraction unit 202 that extracts data for each walking motion from the acceleration data for a predetermined time acquired by the terminal device 10 and the angular velocity data acquired by the terminal device 10 Based on the data, the terminal angle estimation unit 203 that estimates the angle of the terminal device 10 at the walking timing based on the walking timing that represents the timing at which the user of the terminal device 10 is walking obtained from the data, and the data. The position calculation unit 206 for calculating the current position and movement direction of the terminal device 10 using the estimated user stride of the terminal device 10, the angle of the terminal device 10, and the correction data, and the terminal device 10 move. By having the correction data generation unit 208 that generates correction data when the direction is located on a known reference path, it is possible to reduce an error due to a difference in walking method for each individual.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, as well as in the scope of the invention described in the claims and the equivalent scope thereof.

10 ... Terminal device, 20 ... Positioning device, 30 ... Reference position sensor, 40 ... Biological sensor, 101 ... Accelerometer, 102 ... Angular velocity sensor, 103 ... Communication unit, 201 ... Communication unit, 202 ... Walking motion extraction unit, 203 ... Terminal angle estimation unit, 204 ... User parameter storage unit, 205 ... Stride estimation unit, 206 ... Position calculation unit, 207 ... Reference route information storage unit, 208, 208a, 208b ... Correction data generation unit, 301 ... Detection unit, 302 ... Communication department

Claims (7)

A walking motion extraction unit that extracts data for each walking motion from acceleration data for a predetermined time acquired by the terminal device, and a walking motion extraction unit.
The angle of the terminal device at the walking timing is based on the angular velocity data acquired by the terminal device and the walking timing indicating the timing at which the user of the terminal device is walking, which is obtained from the extracted data. And the terminal angle estimation unit that estimates
A stride estimation unit that estimates the stride based on the maximum and minimum values of the combined values of the data and parameters related to the user of the terminal device.
Correction data that is data for correcting the user's stride of the terminal device estimated by the stride estimation unit, the angle of the terminal device, and the angle and stride of the terminal device due to the difference in walking method for each individual. A position calculation unit that calculates the current position and movement direction of the terminal device using
A correction data generation unit that generates the correction data when the terminal device is located on a reference path whose movement direction is known.
Positioning device equipped with. The positioning device according to claim 1, wherein the walking motion extracting unit extracts the walking motion from a pattern of the magnitude of a composite value of the acceleration data. The positioning device according to claim 1 or 2 , wherein the terminal angle estimation unit integrates the angular velocity data to obtain an angle, and the angle integrated at the walking timing is used as the angle of the terminal device. The positioning device according to any one of claims 1 to 3 , wherein the correction data generation unit generates the correction data when acquired from a sensor installed at a predetermined position on the reference path. The positioning device according to any one of claims 1 to 3 , wherein the correction data generation unit generates the correction data based on the biometric information acquired from the biosensor attached to the user. A walking motion extraction step that extracts data for each walking motion from acceleration data for a predetermined time acquired by the terminal device, and a walking motion extraction step.
The angle of the terminal device at the walking timing is based on the angular velocity data acquired by the terminal device and the walking timing indicating the timing at which the user of the terminal device is walking, which is obtained from the extracted data. And the terminal angle estimation step to estimate
A stride estimation step for estimating the stride based on the maximum and minimum values of the combined values of the data and parameters relating to the user of the terminal device.
Correction data that is data for correcting the user's stride of the terminal device estimated in the stride estimation step, the angle of the terminal device, and the angle and stride of the terminal device due to the difference in walking method for each individual. A position calculation step for calculating the current position and moving direction of the terminal device using
A correction data generation step that generates the correction data when the terminal device is located on a reference path whose movement direction is known.
Positioning method having. A walking motion extraction step that extracts data for each walking motion from acceleration data for a predetermined time acquired by the terminal device, and a walking motion extraction step.
The angle of the terminal device at the walking timing is based on the angular velocity data acquired by the terminal device and the walking timing indicating the timing at which the user of the terminal device is walking, which is obtained from the extracted data. And the terminal angle estimation step to estimate
A stride estimation step for estimating the stride based on the maximum and minimum values of the combined values of the data and parameters relating to the user of the terminal device.
Correction data that is data for correcting the user's stride of the terminal device estimated in the stride estimation step, the angle of the terminal device, and the angle and stride of the terminal device due to the difference in walking method for each individual. A position calculation step for calculating the current position and moving direction of the terminal device using
A correction data generation step that generates the correction data when the terminal device is located on a reference path whose movement direction is known.
A computer program that lets a computer run.

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