JP6965165B2 - Positioning device and positioning method - Google Patents

Description

The present invention relates to a technique for intermittently executing absolute positioning while observing a pedestrian's movement locus by autonomous navigation to correct the position obtained by the autonomous navigation.

A technique is known in which a pedestrian is allowed to carry a portable terminal device, and the movement trajectory of the pedestrian is observed and recorded by autonomous navigation. However, in autonomous navigation using an acceleration sensor, a gyro sensor, or the like, there is a problem that errors are accumulated with the passage of time and the position accuracy is lowered. Therefore, a technique has been proposed in which absolute positioning is intermittently executed to correct the position obtained by autonomous navigation. Such techniques are described, for example, in Patent Documents 1 to 3.

Japanese Unexamined Patent Publication No. 2012-117975 Japanese Unexamined Patent Publication No. 2011-058896 Japanese Unexamined Patent Publication No. 2011-007736

However, in the technique described in Patent Document 1, the timing at which the pedestrian changes the traveling direction is defined as the timing of absolute positioning. Then, at the timing, it is considered that the pedestrian exists at the position of the corner on the route, and the position of the corner is determined as the absolute position. Therefore, the technique described in Patent Document 3 is a technique on the premise that a pedestrian walks on a predetermined route, and has a problem of lacking versatility.

Further, in the techniques described in Patent Document 1 and Patent Document 2, when the position obtained by autonomous navigation is corrected by the position by absolute positioning, the stride length of a pedestrian is also corrected. Therefore, for example, when the actual stride length of the pedestrian changes after the position is corrected, there is a problem that the accuracy of the position obtained by the subsequent autonomous navigation is lowered.

Further, in the techniques described in Patent Document 2 and Patent Document 3, there is a problem that the timing of absolute positioning is fixed at a fixed time interval, and the timing of correction is also fixed accordingly. Therefore, when the positioning accuracy by autonomous navigation is lowered, there is a problem that the position accuracy is lowered after all. However, if the time interval for absolute positioning is set short in advance in order to guarantee the positioning accuracy, there is a problem that the number of absolute positioning is increased and the power consumption is increased. Since portable devices are usually battery-powered, it is particularly necessary to reduce power consumption.

In order to solve the above problems, the invention of claim 1 is a positioning device carried by a pedestrian, which comprises a storage means for storing reference position information and parameter information, an observation means for acquiring observation information, and an observation means. The first positioning means for acquiring the relative position information indicating the relative position of the positioning device based on the observation information and the parameter information, and the second positioning for acquiring the absolute position information indicating the absolute position of the positioning device. It is predicted that the accuracy of the relative position information will be reduced based on the means, the position calculation means for calculating the position information indicating the existence position of the positioning device based on the reference position information and the relative position information, and the observation information. The position information and the absolute position when it is estimated that the accuracy of the relative position information is not expected to decrease according to the situation determination means for estimating the situation to be performed and the estimation result by the situation determination means. The observation means includes data updating means for updating the parameter information stored in the storage means based on the information, and the observation means acquires motion information related to the movement of the positioning device and includes the motion detection in the observation information. The parameter information includes means and is information used for obtaining the relative position of the positioning device .

The invention of claim 2 is the positioning device according to claim 1, wherein the storage means stores distance information, calculates a moving distance based on the relative position information, and said the moving distance. Determines whether or not the vehicle has reached the distance indicated in the distance information, and when it is determined that the travel distance has reached the distance indicated in the distance information, the second positioning means is made to acquire the absolute position information. Further provided with timing control means.

Further, the invention of claim 3 is the positioning device according to claim 2, and the data updating means is expected to reduce the accuracy of the relative position information according to the estimation result by the situation determination means. When it is presumed that the situation is not the case, the distance indicated in the distance information stored in the storage means is extended.

The invention of claim 4 is the positioning device according to any one of claims 1 to 3, wherein the parameter information includes an error angle and an expansion / contraction ratio, and the absolute position information of the second positioning means. A correction means for correcting the position information based on the acquired absolute position information is further provided, and the error angle is a line connecting the past absolute position of the positioning device and the position information. It is an angle formed by a line connecting the past absolute position and the latest absolute position of the positioning device, and the expansion / contraction ratio is the length of the line connecting the past absolute position and the position information and the said. It is the ratio of the length of the line connecting the past absolute position and the latest absolute position, and the correction means uses the error angle and the expansion / contraction of the walking locus of the pedestrian estimated based on the position information. Correct by ratio.

The invention of claim 5 is a positioning device carried by a pedestrian, which comprises a storage means for storing reference position information, parameter information, and distance information, an observation means for acquiring observation information, and the observation information. The first positioning means for acquiring the relative position information indicating the relative position of the positioning device based on the parameter information, and the second positioning means for acquiring the absolute position information indicating the absolute position of the positioning device. Acquired in response to the acquisition of the position calculation means for calculating the position information indicating the existence position of the positioning device based on the reference position information and the relative position information and the absolute position information of the second positioning means. The correction means for correcting the position information based on the absolute position information, the situation determination means for estimating the situation in which the accuracy of the relative position information is predicted to decrease based on the observation information, and the estimation result by the situation determination means. Correspondingly, when it is estimated that the situation is not such that the accuracy of the relative position information is expected to decrease, the data updating means for extending the distance indicated in the distance information stored in the storage means and the relative position information. When it is determined whether or not the travel distance has reached the distance indicated in the distance information by calculating the travel distance based on the above, and when it is determined that the travel distance has reached the distance indicated in the distance information, the said The second positioning means includes a timing control means for acquiring the absolute position information, and the observation means includes a motion detection means for acquiring motion information related to the movement of the positioning device and including the motion detection means in the observation information, and the parameters. The information is information used to obtain the relative position of the positioning device .

The invention of claim 6 is the positioning device according to any one of claims 1 to 5 , wherein the storage means stores map information around the positioning device, and the situation determination means , The situation is estimated based on the map information.

The invention of claim 7 is the positioning device according to any one of claims 1 to 6 , wherein the observation means includes a barometric pressure sensor that observes atmospheric pressure and acquires it as observation information, and the situation determination means. Estimates the situation based on the fluctuation of atmospheric pressure shown in the observation information.

Further, the invention of claim 8 is the positioning device according to claim 6 or 7 , and the situation determination means estimates whether or not the stairs are moving based on the observation information.

The invention of claim 9 is the positioning device according to any one of claims 6 to 8, and the situation determination means estimates whether or not the device is moving by an escalator based on the observation information. ..

The invention of claim 10 is the positioning device according to any one of claims 6 to 9, and the situation determination means estimates whether or not the device is moving by an elevator based on the observation information. ..

The invention according to claim 11 is the positioning device according to any one of claims 1 to 10 , wherein the positioning device possesses the situation determination means based on the motion information included in the observation information. Estimate the state being done.

The invention of claim 12 is the positioning device according to claim 11, wherein the observation means includes an illuminance sensor that observes illuminance and acquires it as observation information, and the situation determination means is the observation information. Based on the illuminance shown in, the state in which the positioning device is possessed is estimated.

The invention according to claim 13 is the positioning device according to any one of claims 1 to 12 , wherein the situation determination means has a large fluctuation in the walking cycle based on the motion information included in the observation information. By asking for the value, it is estimated whether or not the vehicle is moving on a rough road.

The invention of claim 14 is the positioning device according to any one of claims 1 to 13 , wherein the situation determination means moves a crowd based on the motion information included in the observation information. whether or not to estimate the are.

The invention of claim 15 is the positioning device according to claim 14, wherein the situation determination means obtains the frequency of change of the traveling direction based on the motion information included in the observation information, so that the crowd is crowded. Estimate whether or not it is moving.

The invention of claim 16 is the positioning device according to claim 14 or 15 , wherein the observation means includes a microphone that observes voice and acquires it as observation information, and the situation determination means is the observation. By analyzing the voice shown in the information, it is estimated whether or not the crowd is moving.

The invention of claim 17 is the positioning device according to any one of claims 1 to 16 , wherein the observation means includes a magnetic sensor that observes magnetism and acquires it as observation information, and the situation determination means. Estimates whether or not it is a geomagnetic anomaly based on the magnetism shown in the observation information.

The invention of claim 18 is the positioning device according to claim 2 or 5, wherein the data updating means shortens the distance shown in the distance information according to the power supply status to the positioning device. To do .

The invention of claim 19 is the positioning device according to claim 2 or 5, wherein the data updating means is described according to whether or not the position indicated in the position information has been visited in the past. Shorten the distance shown in the distance information.

The invention of claim 20 is the positioning device according to claim 2 or 5, and the data updating means shortens the distance shown in the distance information according to the distinction between day and night.

The invention of claim 21 is the positioning device according to claim 2 or 5, and the data updating means shortens the distance shown in the distance information according to the distinction between indoors and outdoors.

The invention according to claim 22 is the positioning device according to claim 2 or 5 , wherein the data updating means updates the distance information in response to an instruction from the pedestrian.

The invention of claim 23 is the positioning device according to claim 5, wherein the parameter information includes an error angle and an expansion / contraction ratio, and the error angle is the past absolute position of the positioning device and the said. It is an angle formed by a line connecting the position information and a line connecting the past absolute position and the latest absolute position of the positioning device, and the expansion / contraction ratio is the past absolute position and the position information. It is the ratio of the length of the line connecting the above to the length of the line connecting the past absolute position and the latest absolute position, and the correction means is the pedestrian's estimated based on the position information. The walking locus is corrected by the error angle and the expansion / contraction ratio.

The invention of claim 24 is the positioning device according to any one of claims 1 to 23, and the position information includes a past position of the positioning device.

The invention of claim 25 is a positioning method executed by a positioning device carried by a pedestrian, in which a step of storing reference position information and parameter information in a storage means and an observation information are acquired by the observation means. The step of acquiring the relative position information indicating the relative position of the positioning device based on the observation information and the parameter information by the first positioning means, and the absolute position information indicating the absolute position of the positioning device. Based on the second positioning means, the step of calculating the position information indicating the existence position of the positioning device based on the reference position information and the relative position information by the position calculation means, and the observation information. According to the step of estimating the situation in which the accuracy of the relative position information is predicted to decrease by the situation determination means and the estimation result by the situation determination means, it is estimated that the situation is not the situation in which the accuracy of the relative position information is expected to decrease. When this is done, it has a step of updating the parameter information stored in the storage means by the data updating means based on the position information and the absolute position information, and the observation information is the movement of the positioning device. see contains motion information concerning, the parameter information is information used for determining the relative position of the positioning device.

The invention of claim 26 is a positioning method executed by a positioning device carried by a pedestrian, which is a step of storing reference position information, parameter information, and distance information in a storage means, and observing observation information. The step of acquiring by the means, the step of acquiring the relative position information indicating the relative position of the positioning device based on the observation information and the parameter information by the first positioning means, and the absolute position of the positioning device are shown. The step of acquiring the absolute position information by the second positioning means, the step of calculating the position information indicating the existence position of the positioning device based on the reference position information and the relative position information by the position calculation means, and the second step. In response to the acquisition of the absolute position information of the positioning means, it is predicted that the step of correcting the position information by the correction means based on the acquired absolute position information and the accuracy of the relative position information will decrease based on the observation information. When it is estimated that the situation is not a situation in which the accuracy of the relative position information is not expected to decrease according to the step of estimating the situation by the situation determination means and the estimation result by the situation determination means, the situation is stored in the storage means. The step of extending the distance shown in the distance information by the data updating means, the movement distance is calculated based on the relative position information, and whether or not the movement distance has reached the distance shown in the distance information is determined. The observation includes a step of determining by the timing control means and a step of causing the second positioning means to acquire the absolute position information when it is determined that the travel distance has reached the distance indicated in the distance information. information, see contains motion information concerning a motion of the positioning device, wherein the parameter information is information used for determining the relative position of the positioning device.

In the inventions of claims 1 to 4 and 25, the relative position information indicating the relative position of the positioning device is acquired based on the observation information and the parameter information, and the situation is determined based on the observation information. The parameter information can be optimized by updating the parameter information while estimating.

In the inventions of claims 5 to 24 and 26, the second positioning means is made to acquire the absolute position information according to the relative position information and the distance information, and the distance information is estimated while estimating the situation based on the observation information. By updating, the timing of absolute positioning by the second positioning means can be optimized.

It is an external view of a positioning device. It is a block diagram of a positioning device. It is a figure which shows the functional block which a positioning apparatus has with the flow of data. It is a figure which shows an example of the estimated walking locus and the actual walking locus. It is a flow chart which shows the positioning method by a positioning apparatus. It is a flow chart which shows the positioning method by a positioning apparatus. It is a flow chart which shows the update process. It is a flow chart which shows the update process.

1 Positioning device 10 CPU
100 1st positioning unit 101 Position calculation unit 102 Situation judgment unit 103 Timing control unit 104 Data update unit 105 Correction unit 11 Storage device 110 Program 111 Reference position information 112 Distance information 113 Parameter information 114 Map information 115 Observation information 116 Motion information 117 Relative Position information 118 Position information 12 Operation unit 13 Display unit 14 Observation device 140 Pressure sensor 141 Illumination sensor 142 Microphone 143 Motion detection sensor 144 Gyro sensor 145 Acceleration sensor 146 Magnetic sensor 15 Second positioning unit 150 Absolute position information

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, unless otherwise specified in the following description, the description regarding the direction and orientation corresponds to the drawings for the convenience of the description, and does not limit, for example, the product, product, or scope of rights.

In addition, this application claims the interests of Patent Application No. 2016-007529 filed in Japan on January 19, 2016, and the content of the application is incorporated herein by reference.

FIG. 1 is a diagram showing a positioning device 1. As shown in FIG. 1, the positioning device 1 is configured as a portable device. As such a positioning device 1, in addition to a dedicated terminal device, a smart phone, a mobile phone, a tablet, or the like is assumed. However, the device is not limited to the devices listed here.

In the following description, a person carrying the positioning device 1 is referred to as a "pedestrian". Also, when the pedestrian is stopped, the position of the pedestrian does not change. On the other hand, for example, when a standing pedestrian swings his arm holding the positioning device 1, strictly speaking, the position of the positioning device 1 changes. Although details are omitted below, the positioning device 1 obtains the position of the positioning device 1 so as to cancel the fine movement of the position of the positioning device 1 (movement of a position that is not regarded as a change in the position of a pedestrian). Therefore, in the following description, unless otherwise specified, the "position of the positioning device 1" is assumed to be the position of a pedestrian carrying the positioning device 1.

Although details will be described later, the positioning device 1 is configured as a device that acquires and displays position information 118 (see FIG. 3) indicating the position of the own device. The existing position of the positioning device 1 is the position of a pedestrian who possesses the positioning device 1 as described above. Therefore, the positioning device 1 can acquire and display the position of the pedestrian carrying the positioning device 1. Further, by continuously recording the position of the pedestrian, it is possible to record the movement locus of the pedestrian.

As shown in FIG. 1, the positioning device 1 includes an operation unit 12 and a display unit 13.

The operation unit 12 is hardware operated by the pedestrian in order to input information for the pedestrian to give various instructions to the positioning device 1. The operation unit 12 corresponds to various buttons, keys, a rotary selector, a touch panel, and the like.

The display unit 13 has a function of outputting various information by displaying it. That is, the display unit 13 is hardware that outputs information in a state that the pedestrian visually perceives. In particular, the display unit 13 of the positioning device 1 displays the above-mentioned position information 118. Therefore, the pedestrian can confirm his / her existence position by visually recognizing the display unit 13. The display unit 13 includes, for example, a liquid crystal panel, a liquid crystal display, an organic EL display, a lamp, or an LED.

FIG. 2 is a block diagram of the positioning device 1. The positioning device 1 includes a CPU 10, a storage device 11, an observation device 14, and a second positioning unit 15 in addition to the operation unit 12 and the display unit 13 already described.

The CPU 10 executes while reading the program 110 stored in the storage device 11, calculates various data, generates control signals, and the like. As a result, the CPU 10 has a function of controlling each configuration included in the positioning device 1 and calculating and creating various data. That is, the positioning device 1 is configured as a general computer.

The storage device 11 provides a function of storing various data in the positioning device 1. In other words, the storage device 11 stores the information electronically fixed in the positioning device 1. In particular, the storage device 11 in the present embodiment is used to store the program 110, the reference position information 111, the distance information 112, the parameter information 113, the map information 114, and the observation information 115. However, the information stored in the storage device 11 is not limited to the information shown here.

The storage device 11 includes a RAM or buffer used as a temporary working area of the CPU 10, a read-only ROM, a non-volatile memory (for example, a NAND memory), a hard disk for storing a relatively large amount of data, and a dedicated storage device 11. A portable storage medium (PC card, SD card, USB memory, etc.) mounted on the reading device corresponds to this. In FIG. 2, the storage device 11 is illustrated as if it were one structure. However, usually, the storage device 11 is composed of a plurality of types of devices (or media) that are adopted as needed among the various devices (or media) illustrated above. That is, the storage device 11 is a general term for a group of devices having a function of storing data.

Further, the actual CPU 10 is an electronic circuit having a RAM that can be accessed at high speed inside. However, the storage device included in the CPU 10 is also included in the storage device 11 for convenience of explanation. That is, in the following description, the data temporarily stored by the CPU 10 itself will also be described as being stored by the storage device 11.

The program 110 is a set of commands that can be read by the CPU 10 (computer). The program 110 is stored in a non-volatile recording medium among the recording media constituting the storage device 11. Therefore, even if the power of the positioning device 1 is turned off, the program 110 is not lost from the positioning device 1 (storage device 11). The program 110 is read and executed by the CPU 10 as needed.

The reference position information 111 shown in FIG. 2 is information indicating the absolute position of the positioning device 1 at the reference point. The reference point may be a point at any time as long as it is a point where the positioning device 1 exists and the absolute position is known. However, as will be described in detail later, in order to create the position information 118, an absolute position at any point is required. Therefore, in the following description, the reference position information 111 is assumed to be information indicating the absolute position of the point where the pedestrian has instructed to display the position information 118 (the point where the creation of the position information 118 has been instructed). .. The positioning device 1 defines the existing position of the positioning device 1 at that time as a reference point in response to an instruction from a pedestrian, acquires the absolute position of the reference point, and stores it in the storage device 11 as reference position information 111. It shall be memorized.

The parameter information 113 is information used by the positioning device 1 to obtain the relative position of the positioning device 1. The parameter information 113 includes, for example, a pedestrian stride value. The positioning device 1 causes the pedestrian to input the height of the pedestrian himself in advance, and sets a value obtained by subtracting 1 [m] from the height as the parameter information 113 as the initial value of the stride length. However, the pedestrian may directly input the stride value. Further, the average value of the stride length of a person may be recorded as an initial value until the input is made by a pedestrian. Further, in the following description, the stride included in the parameter information 113 is referred to as “step length L”. Further, in the positioning device 1, in addition to the stride length L, the error angle θ and the expansion / contraction ratio γ are used as parameter information 113. Although the details will be described later, the initial value of the error angle θ is “0”, and the initial value of the expansion / contraction ratio γ is “1”.

The map information 114 is image information that visually represents the state of the surroundings (arbitrary range) of the positioning device 1. Although details will be described later, the positioning device 1 includes information indicating whether or not a pedestrian has visited in the past in the map information 114. Further, the map information 114 is displayed on the display unit 13 together with the position information 118.

The distance information 112 and the observation information 115 shown in FIG. 2 will be described later. Further, although not shown in FIG. 2, the positioning device 1 includes a timer, and can acquire and store information on time.

The observation device 14 is a general term for devices having a function of acquiring observation information 115. In the example shown here, the positioning device 1 includes a barometric pressure sensor 140, an illuminance sensor 141, a microphone 142, and a motion detection sensor 143 as the observation device 14.

The atmospheric pressure sensor 140 is a device that measures the ambient atmospheric pressure and records it as observation information 115. The observation information 115 acquired by the barometric pressure sensor 140 can detect the movement of the positioning device 1 in the vertical direction.

The illuminance sensor 141 is a device that observes the ambient illuminance (brightness) and records it as observation information 115.

The microphone 142 is a device that converts ambient sound waves into electrical signals and records them as voice information (observation information 115).

The motion detection sensor 143 is a general term for devices having a function of acquiring motion information 116 regarding the motion of the positioning device 1. The motion detection sensor 143 shown here includes a gyro sensor 144, an acceleration sensor 145, and a magnetic sensor 146.

The gyro sensor 144 measures the angular velocity in the positioning device 1. The gyro sensor 144 shown here is configured as a so-called three-axis gyro sensor, measures angular velocities around three axial directions perpendicular to each other, and outputs the measured values as motion information 116.

The acceleration sensor 145 detects the acceleration in the positioning device 1. The acceleration sensor 145 creates an output value expressed according to the three axes defined for the positioning device 1 as motion information 116.

The magnetic sensor 146 detects the surrounding geomagnetism. The information about the geomagnetism (motion information 116) acquired by the magnetic sensor 146 is used to determine the orientation.

The second positioning unit 15 has a function of acquiring absolute position information 150 indicating the absolute position of the positioning device 1. In the positioning device 1, the second positioning unit 15 performs absolute positioning (acquisition of absolute position information 150) according to the control signal transmitted from the CPU 10. That is, the absolute position information 150 is information indicating the absolute position of the positioning device 1 at the time when the second positioning unit 15 performs absolute positioning. Therefore, in the absolute position information 150, the time when the absolute position information 150 is acquired is also recorded. In the following description, the control signal transmitted from the CPU 10 in order to cause the second positioning unit 15 to perform absolute positioning is referred to as a “timing signal”.

Although details are not shown, the positioning device 1 shown here includes a GPS receiving unit as the second positioning unit 15. In other words, the positioning device 1 can adopt the GPS receiving unit as the second positioning unit 15.

The GPS receiving unit acquires the reception position (absolute position information 150) by receiving the radio wave transmitted from the satellite and analyzing the received signal. Since the conventional technology can be appropriately adopted for the configuration and function of the GPS receiving unit, detailed description thereof will be omitted here.

In the following description, "acquisition of absolute position" shall be executed by the GPS receiving unit unless otherwise specified. However, the positioning device 1 is configured so that the absolute position can be acquired by the CPU 10 and the operation unit 12.

For example, the CPU 10 collates the feature points on the assumed route of the pedestrian (for example, the departure point and the corner) in the map information 114 with the feature points on the observation route (for example, the start point and the course change point). As a result, the CPU 10 can acquire the absolute position information 150 by regarding the position of the feature point on the assumed route as the absolute position of the feature point on the observation route. That is, if the CPU 10 is configured to acquire the absolute position information 150 according to the situation, the CPU 10 is included in the second positioning unit 15.

Further, if a pedestrian operates the operation unit 12 and inputs his / her own existing position (absolute position), the operation unit 12 acquires the absolute position information 150. That is, if the operation unit 12 is configured to acquire the absolute position information 150 according to the situation, the operation unit 12 is included in the second positioning unit 15. As described above, the reference position information 111 may be acquired in this way.

However, the device constituting the second positioning unit 15 is not limited to these. For example, a beacon signal receiver may be provided to receive a signal transmitted from an externally installed beacon to acquire absolute position information 150. Further, the absolute position information 150 may be acquired by receiving the signal transmitted from the access point for WiFi communication. Alternatively, a digital camera (imaging unit) may be provided to image a subject (marker, code image, etc.) whose absolute position is known, and the absolute position information 150 may be acquired.

As described above, the positioning device 1 is configured so that the absolute position information 150 can be acquired by a configuration other than the GPS receiving unit. Therefore, for example, the positioning device 1 can acquire the absolute position information 150 even when the GPS positioning accuracy is lowered. In the following description, the point indicated by the absolute position information 150 is referred to as an “observation point”.

FIG. 3 is a diagram showing a functional block included in the positioning device 1 together with a data flow. The first positioning unit 100, the position calculation unit 101, the situation determination unit 102, the timing control unit 103, the data update unit 104, and the correction unit 105 shown in FIG. 3 are functions realized by the CPU 10 operating according to the program 110. It is a block.

The first positioning unit 100 acquires the relative position information 117 by creating the relative position information 117 indicating the relative position of the positioning device 1 based on the observation information 115 and the parameter information 113. In other words, when the first positioning unit 100 creates the relative position information 117, the positioning device 1 acquires the relative position information 117. More specifically, the first positioning unit 100 refers to the motion information 116 included in the observation information 115 when creating the relative position information 117. Conversely, among the information included in the observation information 115, the information used by the first positioning unit 100 to create the relative position information 117 is the motion information 116.

When the positioning device 1 in the present embodiment creates the position information 118 based on the relative position information 117, the positioning device 1 initializes the relative position information 117. That is, the relative position information 117 is information temporarily created to create the position information 118. Since the conventional technique can be appropriately adopted for the creation of the relative position information 117 by the first positioning unit 100 as autonomous navigation (relative positioning), detailed description thereof will be omitted here.

The position calculation unit 101 calculates the position information 118 based on the reference position information 111 and the relative position information 117. More specifically, the position calculation unit 101 uses the reference position information 111 to convert the relative position information 117 into an absolute position to create the position information 118. After that, the position information 118 is continuously updated by calculating the new position information 118 based on the new relative position information 117 as the relative position with respect to the position information 118.

In the positioning device 1 in the present embodiment, not only the current existing position of the positioning device 1 but also the past existing position is included in the position information 118 and recorded. As a result, the position information 118 becomes information indicating the absolute position of the positioning device 1 from the reference point to the present. Moreover, when these positions are connected in chronological order, the walking locus of the pedestrian from the reference point to the current position is obtained. Therefore, by displaying the position information 118 on the display unit 13, the pedestrian can confirm not only his / her current position but also, for example, the walking locus.

Further, in the position information 118, the section from the latest observation point to the end point of the current position information 118 is a section in which the position is not corrected by the correction unit 105 described later. In the following description, the section may be referred to as an "uncorrected section". Each position constituting the uncorrected section is converted into an absolute position by the position calculation unit 101. However, the absolute position in the uncorrected section is only the relative position from the latest observation point.

In addition, the length of the walking locus in the uncorrected section indicates the distance that the pedestrian has traveled from the latest observation point (the position where the absolute positioning was executed immediately before) to the present. In the following description, the distance is referred to as "moving distance δ".

The situation determination unit 102 estimates the situation based on the observation information 115 (including the motion information 116). Further, the situation determination unit 102 has a function of transmitting the estimation result to the data update unit 104.

Specific situations (situations in which the accuracy of relative positioning is predicted to decrease) detected by the situation determination unit 102 in the present embodiment include a situation of walking on stairs, a vehicle (elevator, escalator, moving walk, etc.). ), Walking on a rough road, abnormal geomagnetism, walking in a crowd, and "hand gesture" as a possession state. When these situations are not detected, the situation determination unit 102 estimates that the reliability of the relative positioning by the first positioning unit 100 is high.

When a pedestrian is walking on the stairs, the situation is different from the normal walking state. More specifically, it is predicted that the stride length of the pedestrian will change and the reliability of the set stride length value will decrease. Therefore, the situation determination unit 102 detects the situation where the pedestrian is walking on the stairs as the situation where the accuracy of the relative positioning is lowered.

Specifically, the situation determination unit 102 determines whether or not the movement in the vertical direction (vertical direction) is equal to or greater than the threshold value in the walking motion based on the observation information 115 observed by the barometric pressure sensor 140. Then, when the movement in the vertical direction is equal to or greater than the threshold value, it is determined that the person is walking on the stairs. In addition, when walking on a slope or a slope, the judgment is made as if walking on stairs. If the movement in the vertical direction is large and the desired stride (described later) is large, it is determined that the situation is different (described later).

In a situation where a pedestrian is in a vehicle, the situation differs from the normal walking state depending on the movement of the vehicle. Therefore, the situation determination unit 102 detects the situation of being in a vehicle as a situation in which the accuracy of relative positioning is lowered. Here, an escalator, a moving walk, and an elevator are assumed as vehicles used in walking motion.

Specifically, the situation determination unit 102 first determines the presence or absence of vertical movement by detecting a change in atmospheric pressure based on the observation information 115 observed by the atmospheric pressure sensor 140. Next, by dividing the distance traveled in a certain period by the number of steps observed during that period, the stride during that period is obtained, and it is determined whether the stride is longer, shorter, or within the expected stride of the expected person. do.

As a result, the situation determination unit 102 determines that the pedestrian is on the escalator when the movement in the vertical direction is detected and the obtained stride value is abnormally large. Further, the situation determination unit 102 determines that the pedestrian is on the elevator when the movement in the vertical direction is detected and the obtained stride is abnormally small (indicating that the movement distance is small). Further, the situation determination unit 102 determines that the pedestrian is on the moving walk when the movement in the vertical direction is not detected and the obtained stride value is abnormally large. Further, when it is determined that the vehicle is on these vehicles and a periodic motion due to a walking motion is observed based on the motion information 116, the situation determination unit 102 indicates that the pedestrian walks on these vehicles. Judge that there is.

In situations where a pedestrian is walking on a rough road, the pedestrian is expected to walk cautiously. In such a situation, for example, the stride length of the pedestrian becomes small, and the situation is different from the normal walking state. Therefore, the situation determination unit 102 detects the situation of walking on a rough road as a situation in which the accuracy of relative positioning is lowered.

Specifically, the situation determination unit 102 determines that the pedestrian is walking on a rough road when the fluctuation of the walking cycle in the walking motion is large (when the walking cycle is not stable).

The situation determination unit 102 obtains the above-mentioned moving distance, walking cycle, and the like by calculation based on the observation information 115. However, for example, the above-mentioned moving distance, walking cycle, and the like may be acquired from information obtained in the process of creating the relative position information 117 by the first positioning unit 100. In this case, such information may be configured to be transmitted from the first positioning unit 100, if necessary.

Further, the existing position of the stairs, the laying position of the vehicle such as the escalator, and the position of the rough road are shown in the map information 114. Therefore, the situation determination unit 102 refers to the position information 118 and collates with the map information 114 to determine whether or not the pedestrian is walking on the stairs, whether or not the vehicle is being used, or whether or not the road is rough. It is also possible to determine whether or not the person is walking. Alternatively, such a determination may be used together.

In a situation where a magnetic material exists around a pedestrian and the geomagnetism observed by the magnetic sensor 146 becomes abnormal, it is predicted that it will be difficult to obtain an absolute bearing and the accuracy of relative positioning will also decrease. Therefore, the situation determination unit 102 detects the situation of the geomagnetic abnormality as a situation in which the accuracy of the relative positioning is lowered.

Specifically, the rotation angle obtained by the gyro sensor 144 and the rotation angle obtained by the magnetic sensor 146 are compared. Then, when the error of these values is large, the situation determination unit 102 determines that the output value of the magnetic sensor 146 is an unreliable situation (a situation of geomagnetic abnormality).

In a situation where pedestrians are walking in a crowd, it is predicted that the stride will be reduced to avoid people around. In addition, since it is predicted that the course will be changed frequently, errors related to the traveling direction (direction) are likely to be accumulated. Therefore, the situation determination unit 102 detects a situation in which a pedestrian is walking in a crowd as a situation in which the accuracy of relative positioning is lowered.

Specifically, the situation determination unit 102 determines whether or not the frequency of change in the traveling direction in the walking motion is equal to or greater than the threshold value based on the observation information 115 (exercise information 116). In the process of obtaining the relative position information 117 using the motion information 116, a method of obtaining the traveling direction of a pedestrian has been conventionally known. Therefore, the situation determination unit 102 can detect a change in the traveling direction from moment to moment by comparing the traveling directions obtained in this way. That is, the frequency of change in the traveling direction can be detected.

Further, the situation determination unit 102 analyzes the observation information 115 (voice information) observed by the microphone 142, recognizes the surrounding speech and the like, and determines whether or not it is crowded. Further, if the map information 114 specifies a place where the crowd is formed on a daily basis, the situation determination unit 102 collates the position information 118 with the map information 114, so that the pedestrian exists at the place where the crowd is formed. It can be determined whether or not it is done.

The possession state is a state when the positioning device 1 is possessed by a pedestrian. For example, it is assumed that the positioning device 1 is carried by a pedestrian so as to be inserted into a pocket or a holder, or is held in a hand. In addition, even if it is held in the hand, it is possible to distinguish whether the person is walking while waving his / her hand back and forth (hand-waving state) or holding it in front of his / her face (viewing state). is assumed.

Whether or not the positioning device 1 is inserted in the pocket or holder can be determined, for example, according to the observation information 115 output from the illuminance sensor 141.

When the positioning device 1 is held in a hand-waving state, the position of the positioning device 1 (the position in this case includes a position that cannot be regarded as a pedestrian's position) fluctuates greatly, and is different from the normal walking state. It will be a different situation. Therefore, the situation determination unit 102 detects the situation in which the possession state is particularly the hand gesture state as the situation in which the accuracy of the relative positioning is lowered.

Specifically, the situation determination unit 102 detects the hand gesture state by analyzing the walking motion with reference to the exercise information 116 among the observation information 115.

The timing control unit 103 generates a timing signal according to the position information 118 and the distance information 112. More specifically, the timing control unit 103 obtains the moving distance δ (the length of the uncorrected section) with reference to the position information 118. Then, while monitoring the moving distance δ, a timing signal is generated _{when the moving distance δ reaches the distance D t} indicated in the distance information 112 (δ = D _t). Further, the timing control unit 103 causes the second positioning unit 15 to acquire the absolute position information 150 by transmitting the generated timing signal to the second positioning unit 15.

Each position constituting the uncorrected section in the position information 118 is a position obtained based on the relative position information 117. Therefore, the timing control unit 103 calculates the movement distance δ based on the relative position information 117, and causes the second positioning unit 15 to acquire the absolute position information 150 according to the movement distance δ and the distance information 112. Have.

As a result, the positioning device 1 executes absolute positioning according to the moving distance δ of the pedestrian, not at a fixed time interval. Therefore, for example, when a pedestrian is stopped without moving, the positioning device 1 does not perform absolute positioning.

The data update unit 104 updates the parameter information 113 based on the position information 118 and the absolute position information 150 according to the estimation result by the situation determination unit 102.

If there is a relatively large positioning error between the pedestrian position obtained by relative positioning and the pedestrian position obtained by absolute positioning, it was used for relative positioning as the cause. The parameter may be abnormal. Therefore, when it is detected that such a positioning error has occurred, it is preferable to change the parameter information 113 in the direction of reducing the positioning error.

Here, an example of the principle of updating the parameter information 113 by the data updating unit 104 will be described.

Although detailed description is omitted, the first positioning unit 100 obtains the number of steps n of the pedestrian during the time t based on the motion information 116, and calculates (n × L) / t to calculate the number of steps n of the pedestrian. Find the speed ν ₀ . Further, the first positioning unit 100 estimates the current position in relative positioning based on the traveling direction φ ₀ and the speed ν _{0 while estimating the traveling direction φ 0} of the pedestrian based on the motion information 116. In this way, the relative positioning is performed by the first positioning unit 100, and the relative position information 117 is created.

The walking locus (moving locus) estimated by relative positioning is similar to the actual walking locus. In other words, the accumulation error in the measurement of the gyro sensor 144 and the acceleration sensor 145 becomes apparent in such a form. Therefore, for example, when the estimated walking locus is subjected to rotation processing and expansion / contraction processing, it is expected to match the actual walking locus.

That is, when the error angle θ and the expansion / contraction ratio γ included in the parameter information 113 are used, Equations 1 and 2 are established for _{the actual traveling direction φ a} and speed ν _a.

φ _a = φ ₀ + θ ・ ・ ・ Equation 1

ν _a = γ × ν ₀・ ・ ・ Equation 2

FIG. 4 is a diagram showing an example of an estimated walking locus and an actual walking locus.

T1 and T2 shown in FIG. 4 are observation points, respectively. The observation point T2 is the latest observation point, and the observation point T1 is a past observation point other than the latest one. In the present embodiment, an example in which the previous (immediately before) observation point is used as the past observation point T1 will be described. However, the past observation point T1 is not limited to the previous observation point.

The broken line L1 shown in FIG. 4 is a walking locus estimated by relative positioning. Further, the solid line L2 is an actual walking locus.

Each position constituting the broken line L1 is converted into an absolute position using the observation point T1 and corresponds to the position information 118. That is, the broken line L1 corresponds to the movement locus in the uncorrected section. Further, the point P1 is the end point in the position information 118 at the time when the observation point T2 is obtained. In other words, the point P1 is the current position estimated as a relative position from the observation point T1 by the relative positioning.

From the above, the data updating unit 104 can refer to the observation point T2, the observation point T1 and the point P1 by referring to the absolute position information 150 and the position information 118.

Further, the straight line L3 shown in FIG. 4 is a straight line connecting the observation point T1 and the observation point T2. The straight line L4 shown in FIG. 4 is a straight line connecting the observation point T1 and the point P1.

If such straight lines L3 and L4 are defined, the _{error angle θ required to obtain the actual traveling direction φ a} can be obtained as the angle formed by the straight line L3 and the straight line L4. Further, the expansion / contraction ratio γ required to obtain the actual speed ν _a can be obtained by the ratio of the lengths of the straight lines L3 and L4 as d ₁ and d _{2, respectively.} That is, γ = d ₁ / d ₂ .

As described above, the data updating unit 104 in the present embodiment updates the parameter information 113 by obtaining the error angle θ and the expansion / contraction ratio γ with reference to the absolute position information 150 and the position information 118.

However, the update of the parameter information 113 by the data update unit 104 is not limited to the above principle. That is, other conventional techniques may be appropriately adopted.

However, such updating of the parameter information 113 corresponds to correcting the relative position estimated in the future by so-called feedback control, and therefore, depending on the situation, the parameters (error angle θ and expansion / contraction ratio γ in the example shown here). The change in may rather maintain (or increase) the positioning error.

For example, when an abnormal situation (for example, going up and down stairs) in which the stride length of a pedestrian becomes small occurs, it is absolute to obtain the relative position information 117 using the normal stride length L recorded in the parameter information 113. A large positioning error occurs between the position due to positioning and the position due to relative positioning. Then, when such a large positioning error is detected and the expansion / contraction ratio γ is immediately changed to a small value, even after the abnormal situation returns to the normal situation, the relative position is determined by _{the slow speed ν a after the change.} Information 117 will be requested. Then, even though the parameter information 113 is adjusted, the positioning error between the position due to absolute positioning and the position due to relative positioning is still not eliminated.

Therefore, the data update unit 104 updates the parameter information 113 with reference to the estimation result by the situation determination unit 102 when an abnormality of the parameter used for the relative positioning is assumed. Here, the situation in which the data updating unit 104 updates the parameter information 113 is a situation in which a positioning error has occurred and the cause of the positioning error is not found other than the parameter abnormality.

In the positioning device 1 according to the present embodiment, the data updating unit 104 determines whether or not a positioning error has occurred by comparing the absolute position information 150 with the position information 118. However, the situation determination unit 102 may execute the determination.

The data updating unit 104 in the present embodiment determines that a situation in which a situation in which the accuracy of relative positioning is lowered is not detected even though a positioning error has occurred is determined to be a parameter abnormality situation, and updates the parameter information 113. do. Specifically, the situation of walking on stairs, the situation of riding a vehicle, the situation of walking on a rough road, the situation of geomagnetic abnormality, the situation of walking in a crowd, the situation of possession is a gesture state. The situation is neither of them. As described above, these situations are estimated by the situation determination unit 102 and transmitted to the data update unit 104.

Further, the data updating unit 104 also has a function of updating the distance information 112 stored in the storage device 11 according to the estimation result by the situation determination unit 102.

As described above, the positioning device 1 generates a timing signal by the timing control unit 103 when the moving distance δ (the length of the uncorrected section) becomes the distance D _{t (distance information 112), and the second} Absolute positioning is executed by the positioning unit 15. Therefore, the data update unit 104 can _{dynamically change the distance information 112 (distance D t} ) to dynamically change the timing of absolute positioning in the positioning device 1.

Data updating unit 104, when the state determination unit 102 a situation where the accuracy of the relative positioning of the first positioning portion 100 is lowered is detected, and updates the distance information 112 in a direction to reduce the distance D _t.

The data updating unit 104 compares the position shown in the absolute position information 150 with the position in the position information 118 corresponding to the absolute position information 150 (current position by relative positioning), and has an error in those positions. When the value is large, the distance information 112 may be updated as a situation in which the accuracy of relative positioning is lowered. As described by the example shown in FIG. 4, it may be determined whether or not the distance between the point P1 and the observation point T2 exceeds the threshold value.

Further, the data updating unit 104 in the present embodiment reduces the distance information (adjustment range) from the distance information 112 regardless of the detected situation (the situation in which the accuracy of relative positioning is lowered). 112 shall be updated. However, the adjustment range by the data update unit 104 may be changed according to the detected situation.

Here, the distance D _t is a value of "0" or more, and "0" is also assumed as the lower limit value. However, in the positioning device 1, when the distance D _t is "0", it means that the absolute positioning is performed even when the pedestrian does not move, and it means that the absolute positioning is constantly executed.

When the accuracy of relative positioning deteriorates and the situation becomes unreliable anymore, the distance D _{t is set} to "0", the absolute positioning is abandoned intermittently, and the absolute positioning is performed. Switching to is also worthy of consideration as an embodiment. However, the positioning device 1 of this embodiment, the lower limit is provided at a distance D _t, the distance D _t is assumed to prohibit be shorter than the lower limit value.

On the other hand, the data updating unit 104, when the reliability of the relative positioning of the first positioning portion 100 is higher situation is detected, to extend the distance D _t. Specifically, when the status determination unit 102 a situation where the accuracy of the relative positioning of the first positioning portion 100 is lowered is not detected, and updates the distance information 112 in a direction to extend the distance D _t.

The data updating unit 104 in the present embodiment updates the distance information 112 by adding a certain value (adjustment width) to the distance information 112. However, the adjustment range by the data update unit 104 may be changed according to the detected situation.

Here, as the value of the distance D _t increases, the interval at which absolute positioning is executed increases accordingly. As a result, power consumption can be suppressed. However, even when a situation in which the accuracy of relative positioning is lowered is not particularly detected, the error in the motion detection sensor 143 is accumulated. Therefore, the relative positioning by the first positioning unit 100 requires calibration by absolute positioning at intervals of a certain time or less.

There is also a situation in which a GPS receiving unit is adopted as the second positioning unit 15. In GPS, when the positioning interval becomes long, the retained information (for example, information on the orbit of a satellite) becomes invalid, and the amount of calculation required for positioning increases. That is, if the absolute positioning by the GPS receiving unit is not executed at a certain time interval or less, there is a characteristic that the power consumption increases due to the increase in the calculation amount.

Therefore, the data updating unit 104 does not make the distance information 112 larger than the predetermined upper limit value even when the situation in which the accuracy of the relative positioning is lowered is not detected. That is, the situation determination unit 102 _{prohibits the distance D t} from being extended from the upper limit value.

Moreover, the data updating unit 104, a distance not only whether updating by upper or lower limit of the D _t, also determines whether the updated by other circumstances.

The data updating unit 104 updates the distance information 112 according to the power supply status to the positioning device 1 by referring to the remaining battery level, whether or not the power adapter is attached, and the like. For example, even if the accuracy of relative positioning is lowered, when the battery level is low, the value of the _{distance Dt is not reduced by giving priority to the suppression of power consumption over the accuracy.} As a result, the timing of positioning by the second positioning unit 15 can be optimized according to the actual power supply state.

Further, the data updating unit 104 determines whether or not the position indicated by the position information 118 is a position visited by a pedestrian in the past with reference to the map information 114 and the position information 118, and depending on the determination result, determines whether or not the position is a position visited by a pedestrian in the past. Update the distance information 112. For example, for places visited by pedestrians in the past, even if the accuracy of relative positioning is reduced, it may not be a serious problem. Therefore, when the position shown in the position information 118 is a position visited by a pedestrian in the past, the distance information 112 is set to a larger value than in other cases.

Further, the data updating unit 104 updates the distance information 112 according to the distinction between day and night while referring to the time information obtained by the timer (not shown). For example, in the daytime, even if the accuracy of relative positioning is lowered, pedestrians can easily observe the surroundings, so that it may not be a serious problem. Therefore, the data updating unit 104 sets the distance information 112 to a larger value in the daytime than in the nighttime.

Further, the data updating unit 104 determines whether the current position is indoors or outdoors with reference to the map information 114 and the position information 118, and updates the distance information 112 according to the distinction between indoors and outdoors. For example, if it is indoors, even if the accuracy of relative positioning is lowered, it is expected that there is a relatively large amount of other information for identifying the position in the surroundings, and it may not be a serious problem. Therefore, when the current position is indoors, the data update unit 104 sets the distance information 112 to a larger value than in other cases.

However, updating the distance information 112 according to the power supply status, whether or not the location has been visited in the past, the distinction between day and night, or the distinction between indoors and outdoors is inconvenient if the positioning device 1 automatically determines. It can happen. Therefore, when the data updating unit 104 detects these situations, the data updating unit 104 finally updates the distance information 112 according to the instruction of the pedestrian. Specifically, regarding the update of the distance information 112, the detected situation and the message asking the pedestrian to confirm the update are displayed on the display unit 13, and whether or not the update is possible is determined according to the instruction input by the pedestrian. ..

The correction unit 105 corrects the position information 118 by the acquired absolute position information 150 in response to the acquisition of the absolute position information 150 of the second positioning unit 15. More specifically, the end point of the uncorrected section in the position information 118 (current position by relative positioning) is corrected by replacing it with the absolute position information 150.

The correction unit 105 in the present embodiment is configured to always perform correction to the position information 118 when the highly reliable absolute position information 150 is acquired. However, for example, the correction unit 105 compares the absolute position information 150 with the position information 118, and shows the position shown in the absolute position information 150 and the position information 118 at the time when the absolute position information 150 is acquired. The position information 118 may be configured to correct the position information 118 only when the error from the position is obtained and the error is equal to or larger than the threshold value. As described by the example shown in FIG. 4, the correction may be performed only when the distance between the point P1 and the observation point T2 exceeds the threshold value.

Further, the correction unit 105 also retroactively corrects the uncorrected section of the positions recorded in the position information 118, and sets it as the past existing position of the positioning device 1. In this case, the correction unit 105 corrects each position in the uncorrected section by using the error angle θ and the expansion / contraction ratio γ while referring to the parameter information 113 (not shown in FIG. 3). As a result, the uncorrected section is eliminated, and the section becomes a corrected section.

The above is the description of the configuration and function of the positioning device 1 in the present embodiment. Next, the positioning method realized by the positioning device 1 will be described.

5 and 6 are flow charts showing a positioning method by the positioning device 1.

It is assumed that each process shown in FIGS. 5 and 6 is started by a pedestrian start instruction to the positioning device 1. That is, each step shown in FIGS. 5 and 6 is started by the pedestrian wishing to record the walking locus and inputting an instruction to start recording the walking locus by operating the operation unit 12. Unless otherwise specified, each step shown in FIGS. 5 and 6 is executed by the CPU 10 executing the program 110. Further, it is assumed that the step of storing the distance information 112 and the parameter information 113 in the storage device 11 has been executed by the time each step shown in FIGS. 5 and 6 is started.

First, the positioning device 1 acquires the reference position information 111 (step S1) and stores it in the storage device 11. In the present embodiment, when a pedestrian inputs a start instruction, a signal indicating that the input has been received is transmitted from the operation unit 12 to the timing control unit 103, and the timing control unit 103 generates a timing signal. It is transmitted to the second positioning unit 15.

As a result, the second positioning unit 15 (GPS receiving unit) positions the absolute position of the reference point, and the positioning device 1 acquires the reference position information 111. However, if there are circumstances such as the GPS signal cannot be received or reliability cannot be expected, the pedestrian may operate the operation unit 12 to input the reference position information 111.

Although not shown in FIG. 5, the observation device 14 also starts acquiring the observation information 115 in parallel with the acquisition of the reference position information 111. As a result, the motion detection sensor 143 (gyro sensor 144, acceleration sensor 145, and magnetic sensor 146) is activated, and acquisition of motion information 116 necessary for relative positioning is also started. After that, the observation device 14 continues to acquire the observation information 115.

Next, the first positioning unit 100 executes relative positioning based on the motion information 116 (step S2), and acquires relative position information 117. Then, the position calculation unit 101 creates the position information 118 based on the relative position information 117 and the reference position information 111 (step S3).

After that, when step S3 is executed, the reference position information 111 is not referred to, and the position calculation unit 101 uses the position information based on the end point position in the position information 118 at that time and the relative position information 117. Created by updating 118.

When step S3 is executed, the situation determination unit 102 determines whether or not a situation occurs in which the accuracy of relative positioning is lowered based on the observation information 115 (step S4).

As already explained, the situation detected by the situation determination unit 102 as a situation in which the accuracy of relative positioning is lowered is a situation of walking on stairs, a situation of riding a vehicle, and a situation of walking on a rough road. , The situation of geomagnetic abnormality, the situation of walking in a crowd, and the state of possession are the states of hand gestures.

Whether or not the person is walking on the stairs and whether or not the person is on the escalator or the elevator can be determined in step S4 by referring to the observation information 115 which is the output information from the barometric pressure sensor 140 (however, these). It is difficult to distinguish which of these situations.) Whether or not the person is walking on a rough road, whether or not the state of the geomagnetic abnormality, or whether or not the state of the hand gesture is all can be determined in step S4 by referring to the motion information 116. Further, whether or not the person is walking in a crowd can be determined based on the motion information 116 and the observation information 115 which is the output information from the microphone 142.

However, at the time when step S4 is executed, the uncorrected section is gradually extended, and the absolute position information 150 for calibrating the uncorrected section has not yet been acquired. In this situation, the positioning error between the position in the absolute position information 150 and the position in the position information 118 cannot be detected. Therefore, the determination of whether or not the person is on the moving walk (whether or not the average stride is abnormally long) using the positioning error as the detection index cannot be detected at the time when step S4 is executed.

When another situation that cannot be detected occurs at the stage where step S4 is executed, if the distance D _t is extended, the correction by the absolute position information 150 is delayed, and the accuracy of the position information 118 is lowered. Therefore, even if No is determined in step S4, the data updating unit 104 does not immediately extend the _{distance D t.} Then, the positioning device 1 shifts to the process of step S11.

On the other hand, when it is determined Yes in step S4, the status determination unit 102 sets the detection flag to ON (step S5) and transmits the data to the data update unit 104. The detection flag is a flag indicating whether or not it has been detected that a situation in which the accuracy of relative positioning is lowered has occurred. When it is "OFF", it indicates that it has not been detected, and when it is "ON", it has been detected. Is shown. The initial value of the detection flag is "OFF".

When step S5 is executed, the data update unit 104 _{determines whether or not the distance D t} should be shortened (step S6).

First, in step S6, the data update unit 104 _{determines whether or not the distance D t} has already reached the lower limit value. As described above, if the distance D _t has reached the lower limit value, the distance D _t should not be further shortened, and the data update unit 104 determines No in step S6.

Next, in step S6, the data update unit 104 determines whether the power supply is in jeopardy, the current position has been visited in the past, the daytime, or the current position is indoors. Then, when any one of these situations is detected, the data update unit 104 inquires about the detected situation and whether or not the absolute positioning interval should be narrowed (whether or not the distance _Dt is shortened). The message is displayed on the display unit 13. Further, when the pedestrian's instruction for the message is No, the data updating unit 104 determines No in step S6.

When the data update unit 104 described above does not correspond to any of the situations of determining "No", the data update unit 104 determines Yes in step S6.

If Yes at step S6, the data updating unit 104, to shorten the distance _{D t} (step S7) by, it updates the distance information 112.

On the other hand, when the data updating unit 104 described above is applicable to any of the determined status "No", the data updating unit 104 is not possible to shorten the distance D _t (skips step S7. ).

Accordingly, the positioning device 1, when a situation where the accuracy of the relative positioning is reduced occurs, the distance is shortened to D _t it is possible to increase the frequency of the absolute positioning. On the other hand, the positioning device 1 _{can also prevent the distance D t from} being shortened and the frequency of absolute positioning from being inadvertently increased.

Next, the timing control unit 103 acquires the moving distance δ with reference to the position information 118, and determines whether or not _{the acquired moving distance δ has reached the distance D t shown in the distance information 112 (step).} S11).

When the moving distance δ has _{not reached the distance D t} (No. in step S11), the positioning device 1 returns to step S2 and repeats the process. That is, the relative positioning (step S2) is repeated without performing absolute positioning.

If the movement distance δ has reached the distance _{D t} (Yes. In step S11), and the timing controller 103 generates a timing signal, and transmits to the second positioning portion 15. As a result, positioning (absolute positioning) by the second positioning unit 15 is executed (step S12). As described above, in the positioning device 1, absolute positioning is performed by the GPS receiving unit. Therefore, the process of step S12 is a positioning process using GPS.

Next, the second positioning unit 15 determines whether or not the position (position obtained by absolute positioning) acquired in step S12 is reliable (whether or not it is highly accurate) (step S13).

Then, when the position is reliable (Yes in step S13), the second positioning unit 15 creates the absolute position information 150 (step S14) and stores it in the storage device 11.

On the other hand, when the position is unreliable (No. in step S13), the absolute position information 150 is not created, and the positioning device 1 returns to step S2 and repeats the process.

In the update process described later, the correction unit 105 corrects the position information 118 by using the absolute position information 150. At this time, the correction unit 105 corrects the position information 118 on the premise that the absolute position information 150 has high accuracy without evaluating the absolute position information 150. Therefore, even if the accuracy of the acquired absolute position information 150 is low, if the update process is performed, the accuracy of the position information 118 may be lowered. In particular, when GPS is used as the method for acquiring the absolute position information 150, the absolute position information 150 with low reliability may be acquired due to the influence of the state of the GPS signal or the like.

However, the positioning device 1 does not execute the update process until the reliable absolute position information 150 is acquired by executing step S13. As a result, even when the absolute position information 150 having low accuracy is acquired, it is possible to prevent the accuracy of the position information 118 from being lowered due to the execution of improper update processing.

In the present embodiment, in step S13, the second positioning unit 15 (GPS receiving unit) analyzes the additional information (included in the GPS signal format) included in the GPS signal to obtain the GPS signal. The reliability of

When step S14 is executed and the absolute position information 150 is recorded, the positioning device 1 executes the update process (step S15).

7 and 8 are flow charts showing the update process.

When the update process is started, the situation determination unit 102 starts the process related to the situation estimation for updating the distance information 112.

First, the status determination unit 102 determines whether or not the detection flag is “ON” (step S21). When the detection flag is already "ON" when step S21 is executed, it means that step S5 has been executed. Then, after step S5 is executed, since step S7 is executed, the _{adjustment for the distance D t} has already been executed (or the _{situation where the distance D t} should not be shortened). In this case, state determination unit 102, by skipping the processing of S27 to not step S22, a further adjustment of the distance D _t is not performed.

On the other hand, when the detection flag is "OFF" (No. in step S21), the situation determination unit 102 determines whether or not a situation occurs in which the accuracy of relative positioning is lowered based on the observation information 115. (Step S22).

In the process of step S22 in the present embodiment, the situation determination unit 102 determines only whether or not the pedestrian is on the moving walk as a situation that could not be detected in step S4. However, for example, when a situation in which the positioning error is large is regarded as a situation in which the accuracy of relative positioning is lowered, such a determination may be made in step S22.

If No is determined in step S22, the status determination unit 102 transmits that fact to the data update unit 104. Thus, the data updating unit 104, a distance D _t already determined whether the upper limit value (step S23), the distance D _t is still only if not the upper limit value, to extend the distance D _t (step S24).

The case where No is determined in step S22 is the case where the situation determination unit 102 cannot finally detect the situation in which the accuracy of the relative positioning is lowered. Therefore, in such a case, the data updating unit 104, by extending the distance D _t indicated in the distance information 112, by extending an interval to perform absolute positioning, suppressing the power consumption of the positioning apparatus 1 ..

On the other hand, if it is determined to be Yes in step S22, the situation determination unit 102 transmits that fact to the data update unit 104. As a result, the data update unit 104 executes steps S25 to S27. Since the processes of steps S25 to S27 can be executed in the same manner as the processes of steps S5 to S7, the description thereof will be omitted.

In the update process, when the processes of steps S21 to S27 are completed and the process of updating the distance information 112 is completed, the positioning device 1 starts the process of updating the parameter information 113.

First, the data updating unit 104 compares the current positions in both of them based on the absolute position information 150 and the position information 118, and obtains the positioning error between the absolute positioning and the relative positioning. Next, the data update unit 104 determines whether or not the positioning error is equal to or greater than the threshold value (step S31).

When the positioning error is smaller than the threshold value (No. in step S31), the data update unit 104 considers that it is not necessary to change the parameter information 113, and skips the processes of steps S32 and S33. As a result, the parameter information 113 is not changed when the position by relative positioning is obtained with relatively high accuracy. Therefore, it is possible to prevent the accuracy of relative positioning from being deteriorated due to unnecessary parameter changes.

On the other hand, when the positioning error is equal to or greater than the threshold value (Yes in step S31), the data update unit 104 determines whether or not the detection flag is “ON” (step S32).

When the step S32 is executed, the case where the detection flag is “ON” indicates the case where the situation determination unit 102 has detected a situation in which the accuracy of the relative positioning is lowered. Therefore, in such a case, it is preferable that the data update unit 104 does not change the parameters, considering that the positioning error is due to the decrease in the accuracy of the relative positioning.

Therefore, if it is determined to be Yes in step S32, the data update unit 104 skips step S33 and does not change the parameter information 113.

On the other hand, when it is determined as No in step S32, the data update unit 104 does not detect the situation where the accuracy of the relative positioning is lowered, but the positioning error exceeding the threshold value is caused by the parameter abnormality. It is determined that the situation is met, and the parameter information 113 is updated (step S33). Since the method of changing the parameter information 113 (error angle θ and expansion / contraction ratio γ) by the data updating unit 104 has already been described, the description thereof will be omitted here.

When the process relating to the change of the parameter information 113 is completed, the correction unit 105 corrects the position information 118 based on the absolute position information 150 and the position information 118 (step S34). As a result, the uncorrected section in the position information 118 is eliminated, and the end point in the position information 118 becomes the latest observation point and the position shown in the absolute position information 150. Since the correction in step S34 has already been described, detailed description thereof will be omitted here.

When step S34 is executed and the correction for the position information 118 is completed, the positioning device 1 initializes the detection flag to “OFF” (step S35), completes the update process, and returns to the process shown in FIG. Further, when the update process is completed and the process returns to the process shown in FIG. 6, the positioning device 1 returns to step S2 shown in FIG. 5 again and repeats the process.

As described above, the positioning device 1 carried by a pedestrian includes a storage device 11 that stores reference position information 111 and parameter information 113, an observation device 14 that acquires observation information 115, and observation information 115 and parameter information. A first positioning unit 100 that acquires relative position information 117 indicating the relative position of the positioning device 1 based on 113, and a second positioning unit 15 that acquires absolute position information 150 indicating the absolute position of the positioning device 1. The position calculation unit 101 that calculates the position information 118 indicating the existence position of the positioning device 1 based on the reference position information 111 and the relative position information 117, and the situation determination unit 102 that estimates the situation based on the observation information 115. The observation device 14 includes a data update unit 104 that updates the parameter information 113 stored in the storage device 11 based on the position information 118 and the absolute position information 150 according to the estimation result by the situation determination unit 102. A motion detection sensor 143 that acquires motion information 116 regarding the motion of the device 1 and includes it in the observation information 115 is provided. As a result, the parameter information can be optimized.

Further, the storage device 11 stores the distance information 112, calculates the movement distance based on the relative position information 117, and causes the second positioning unit 15 to perform the absolute position information according to the movement distance and the distance information 112. A timing control unit 103 for acquiring 150 is further provided. As a result, the timing of the absolute positioning by the second positioning unit 15 can be determined based on the distance, so that the timing can be optimized as compared with the case where the timing is determined based on the time.

Further, the data updating unit 104 updates the distance information 112 stored in the storage device 11 according to the estimation result by the situation determination unit 102. As a result, the timing of absolute positioning by the second positioning unit 15 can be further optimized.

Further, the storage device 11 stores the map information 114 around the positioning device 1, and the situation determination unit 102 estimates the situation based on the map information 114. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the observation device 14 includes an atmospheric pressure sensor 140 that observes the atmospheric pressure and acquires it as observation information 115, and the situation determination unit 102 estimates the situation based on the fluctuation of the atmospheric pressure shown in the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the situation determination unit 102 identifies whether or not the stairs are moving based on the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the situation determination unit 102 identifies whether or not the vehicle is moving by the escalator based on the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the situation determination unit 102 identifies whether or not the vehicle is being moved by the elevator based on the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the situation determination unit 102 estimates the state in which the positioning device 1 is possessed based on the motion information 116 included in the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

In particular, the observation device 14 includes an illuminance sensor 141 that observes the illuminance and acquires it as observation information 115, and the situation determination unit 102 is in possession of the positioning device 1 based on the illuminance shown in the observation information 115. To estimate. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the situation determination unit 102 estimates the situation of moving on a rough road by obtaining the magnitude of the fluctuation of the walking cycle based on the motion information 116 included in the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the situation determination unit 102 estimates the situation of moving in the crowd based on the motion information 116 included in the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

In particular, the situation determination unit 102 estimates the situation in which the crowd is moving by obtaining the frequency of change in the traveling direction based on the motion information 116 included in the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the observation device 14 includes a microphone 142 that observes the voice and acquires it as the observation information 115, and the situation determination unit 102 analyzes the voice shown in the observation information 115 to detect the situation in which the crowd is moving. presume. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

The observation device 14 includes a magnetic sensor 146 that observes magnetism and acquires it as observation information 115, and the situation determination unit 102 estimates the state of the geomagnetic anomaly based on the magnetism shown in the observation information 115. As a result, the situation affecting the positioning by the first positioning unit 100 can be accurately estimated, and the timing of the positioning by the second positioning unit 15 can be further optimized.

Further, the data updating unit 104 updates the distance information 112 according to the power supply status to the positioning device 1. Thereby, the timing of positioning by the second positioning means can be optimized according to the actual power supply state.

Further, the data updating unit 104 updates the distance information 112 according to whether or not the position indicated in the position information 118 is a position visited in the past. As a result, for example, in a place that has already been visited once, it is possible to realize a highly versatile process such as suppressing the frequency of absolute positioning.

Further, the data updating unit 104 updates the distance information 112 according to the distinction between day and night. As a result, for example, in a situation where the target object (an object effective for identifying the position) is relatively easy to see, such as during the daytime, versatile processing such as suppressing the frequency of absolute positioning can be performed. It can be realized.

Further, the data updating unit 104 updates the distance information 112 according to the distinction between indoors and outdoors. As a result, for example, in a situation where there are a relatively large number of targets (objects that are effective for identifying the position) such as indoors, it is possible to realize versatile processing such as suppressing the frequency of absolute positioning. can.

Further, the data updating unit 104 can prevent the distance information 112 from being inadvertently updated by updating the distance information 112 in response to a pedestrian's instruction.

Further, the data update unit 104 determines whether or not the parameter information 113 needs to be updated according to the estimation result by the situation determination unit 102 regardless of whether or not the position information 118 is corrected by the correction unit 105. As a result, the time when the position information 118 should be corrected and the time when the parameter information 113 should be updated can be handled independently. Therefore, it is possible to take an optimal response according to the situation.

Further, the position information 118 can record, for example, a walking locus by including the past position of the positioning device 1.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and can be modified in various ways.

For example, each step shown in the above-described embodiment is merely an example, and is not limited to the order and contents shown above. That is, if the same effect can be obtained, the order and contents may be changed as appropriate.

Further, it has been explained that the functional blocks (for example, the first positioning unit 100 and the timing control unit 103) shown in the above embodiment are realized by software when the CPU 10 operates according to the program 110. However, a part or all of these functional blocks may be configured by a dedicated logic circuit and realized in terms of hardware.

Further, it has been explained that the positioning device 1 in the above embodiment repeats relative positioning when the absolute position acquired by the GPS receiving unit is unreliable. However, for example, when a plurality of second positioning units 15 that perform absolute positioning are provided, a reliable one may be selected from the plurality of second positioning units 15. As a result, it is possible to suppress a situation in which the absolute position information 150 is not created.

Further, in the above embodiment, it has been described that the correction process for the position information 118 and the update process for the distance information 112 and the parameter information 113 are performed without referring to the past correction result and the update result. However, the correction processing and the update processing executed in the past may be recorded, the suitability of these may be evaluated, and may be used as a reference for the next correction processing and the update processing. Accuracy can also be improved by such feedback control.

Further, the device group included in the observation device 14 in the above embodiment is an example. Therefore, the positioning device 1 may include other devices as the observation device 14. The device adopted as the observation device 14 can be determined according to an event to be observed (an event affecting positioning), required accuracy, allowable power consumption, cost, and the like. Other devices that can be used as the observation device 14 include, for example, a temperature sensor that observes the ambient temperature, a humidity sensor that observes the humidity, a digital camera that images the surrounding subject, and observation information 115 that is received from an external device. Communication equipment etc. are assumed. A temperature sensor or a humidity sensor can determine, for example, the surrounding weather. In addition, by analyzing the image captured by the digital camera (imaging unit), it is possible to distinguish whether the pedestrian route is a bad road (country road), indoors and outdoors, the degree of congestion in the crowd, and the positioning device. It is possible to determine the holding state of 1. Further, if the positioning device 1 is configured to acquire information (for example, big data or weather) that is difficult to observe in real time from an external device by a communication device, it is possible to determine the situation with more versatility. Become.

Further, which of the devices included in the observation device 14 is included in the motion detection sensor 143 is arbitrary. For example, when recording a movement locus in the vertical direction (height direction) as a movement locus of a pedestrian, the information observed by the pressure sensor 140 may be included in the motion information 116 as information on the movement in the height direction. .. Alternatively, if the observation result of the magnetic sensor 146 is not used for autonomous navigation (relative positioning), the magnetic sensor 146 is not included in the motion detection sensor 143, and the observation device 14 (for situation determination) that simply observes the surrounding magnetism is not included. ) May be used only. That is, the motion detection sensor 143 is a device that acquires information used for autonomous navigation (which of the observation information 115 is arbitrary) among the devices adopted as the observation device 14. This is a name for convenience.

Further, the data updating unit 104 suppresses the measurement error in the sensor by updating the error angle θ and the expansion / contraction ratio γ among the parameters included in the parameter information 113, and improves the accuracy of future relative positioning. However, the parameters updated by the data update unit 104 are not limited to these. For example, the data updating unit 104 may update the stride length L included in the parameter information 113. For example, the parameter information 113 may be updated so that γ × L becomes a new stride L.

Further, the data update unit 104 in the above embodiment determines that a situation in which a situation in which the accuracy of relative positioning is lowered is not detected even though a positioning error has occurred is determined as a parameter abnormality situation, and the parameter information 113 Explained that it will be updated. However, even when a situation in which the accuracy of relative positioning is lowered is detected, the parameter information 113 may be updated depending on the situation. For example, it is assumed that a bad road continues.

Further, when updating the parameter information 113, only one of the parameter indicating the traveling direction and the parameter indicating the stride length may be updated. For example, it is assumed that it is determined that the stairs have been passed between the correction timing and the correction timing. After passing the stairs, it is judged that the situation is not a situation where the relative positioning is lowered but a situation where the parameter is abnormal, and the parameter information 113 is updated. In this case, only the parameter indicating the traveling direction is selectively selected. It is preferable to update.

Claims (26)

A positioning device carried by pedestrians
A storage means for storing reference position information and parameter information,
Observation means to acquire observation information and
A first positioning means for acquiring relative position information indicating a relative position of the positioning device based on the observation information and the parameter information.
A second positioning means for acquiring absolute position information indicating the absolute position of the positioning device, and
A position calculation means for calculating position information indicating the existence position of the positioning device based on the reference position information and the relative position information.
A situation determination means for estimating a situation in which the accuracy of the relative position information is predicted to decrease based on the observation information, and
When it is estimated that the accuracy of the relative position information is not expected to decrease according to the estimation result by the situation determination means, it is stored in the storage means based on the position information and the absolute position information. Data updating means for updating the parameter information
With
The observation means includes motion detection means for acquiring motion information related to the movement of the positioning device and including the motion information in the observation information .
The parameter information is information used for obtaining the relative position of the positioning device. The positioning device according to claim 1.
The storage means stores distance information and
The movement distance is calculated based on the relative position information, it is determined whether or not the movement distance has reached the distance indicated in the distance information, and it is determined that the movement distance has reached the distance indicated in the distance information. If so , a positioning device further comprising a timing control means for causing the second positioning means to acquire the absolute position information. The positioning device according to claim 2.
The data updating means is shown in the distance information stored in the storage means when it is estimated that the accuracy of the relative position information is not expected to decrease according to the estimation result by the situation determination means. Positioning device that extends the distance. The positioning device according to any one of claims 1 to 3.
The parameter information includes an error angle and an expansion / contraction ratio.
Further provided with a correction means for correcting the position information based on the acquired absolute position information in response to the acquisition of the absolute position information of the second positioning means.
The error angle is an angle formed by a line connecting the past absolute position of the positioning device and the position information and a line connecting the past absolute position and the latest absolute position of the positioning device.
The expansion / contraction ratio is the ratio of the length of the line connecting the past absolute position and the position information to the length of the line connecting the past absolute position and the latest absolute position.
The correction means is a positioning device that corrects the walking locus of the pedestrian estimated based on the position information by the error angle and the expansion / contraction ratio. A positioning device carried by pedestrians
A storage means for storing reference position information, parameter information, and distance information,
Observation means to acquire observation information and
A first positioning means for acquiring relative position information indicating a relative position of the positioning device based on the observation information and the parameter information.
A second positioning means for acquiring absolute position information indicating the absolute position of the positioning device, and
A position calculation means for calculating position information indicating the existence position of the positioning device based on the reference position information and the relative position information.
A correction means that corrects the position information based on the acquired absolute position information in response to the acquisition of the absolute position information of the second positioning means.
A situation determination means for estimating a situation in which the accuracy of the relative position information is predicted to decrease based on the observation information, and
Data for extending the distance shown in the distance information stored in the storage means when it is estimated that the accuracy of the relative position information is not expected to decrease according to the estimation result by the situation determination means. Update method and
The movement distance is calculated based on the relative position information, it is determined whether or not the movement distance has reached the distance indicated in the distance information, and it is determined that the movement distance has reached the distance indicated in the distance information. If so, the timing control means for causing the second positioning means to acquire the absolute position information, and
With
The observation means includes motion detection means for acquiring motion information related to the movement of the positioning device and including the motion information in the observation information .
The parameter information is information used for obtaining the relative position of the positioning device. The positioning device according to any one of claims 1 to 5.
The storage means stores map information around the positioning device, and stores the map information.
The situation determination means is a positioning device that estimates a situation based on the map information. The positioning device according to any one of claims 1 to 6.
The observation means includes a barometric pressure sensor that observes barometric pressure and acquires it as observation information.
The situation determination means is a positioning device that estimates the situation based on the fluctuation of the atmospheric pressure shown in the observation information. The positioning device according to claim 6 or 7.
The situation determination means is a positioning device that estimates whether or not the stairs are moving based on the observation information. The positioning device according to any one of claims 6 to 8.
The situation determination means is a positioning device that estimates whether or not the vehicle is moving by an escalator based on the observation information. The positioning device according to any one of claims 6 to 9.
The situation determination means is a positioning device that estimates whether or not the vehicle is moving by an elevator based on the observation information. The positioning device according to any one of claims 1 to 10.
The situation determination means is a positioning device that estimates the state in which the positioning device is possessed based on the motion information included in the observation information. The positioning device according to claim 11.
The observation means includes an illuminance sensor that observes the illuminance and acquires it as observation information.
The situation determination means is a positioning device that estimates the state in which the positioning device is possessed based on the illuminance shown in the observation information. The positioning apparatus according to any one of claims 1 to 12.
The situation determination means is a positioning device that estimates whether or not a person is moving on a rough road by obtaining the magnitude of fluctuation in the walking cycle based on the motion information included in the observation information. The positioning device according to any one of claims 1 to 13.
The situation determination means is a positioning device that estimates whether or not a crowd is moving based on the motion information included in the observation information. The positioning device according to claim 14, wherein
The situation determination means is a positioning device that estimates whether or not a person is moving in a crowd by obtaining the frequency of change in the traveling direction based on the motion information included in the observation information. The positioning apparatus according to claim 14 or 15.
The observation means includes a microphone that observes voice and acquires it as observation information.
The situation determination means is a positioning device that estimates whether or not a crowd is moving by analyzing the voice displayed in the observation information. The positioning device according to any one of claims 1 to 16.
The observation means includes a magnetic sensor that observes magnetism and acquires it as observation information.
The situation determination means is a positioning device that estimates whether or not there is a geomagnetic abnormality based on the magnetism shown in the observation information. The positioning device according to claim 2 or 5.
The data updating means is a positioning device that shortens the distance indicated in the distance information according to the supply of electric power to the positioning device. The positioning device according to claim 2 or 5.
The data updating means is a positioning device that shortens the distance indicated in the distance information according to whether or not the position indicated in the position information is a position visited in the past. The positioning device according to claim 2 or 5.
The data updating means is a positioning device that shortens the distance indicated in the distance information according to the distinction between day and night. The positioning device according to claim 2 or 5.
The data updating means is a positioning device that shortens the distance indicated in the distance information according to the distinction between indoors and outdoors. The positioning device according to claim 2 or 5.
The data updating means is a positioning device that updates the distance information in response to an instruction from the pedestrian. The positioning device according to claim 5.
The parameter information includes an error angle and an expansion / contraction ratio.
The error angle is an angle formed by a line connecting the past absolute position of the positioning device and the position information and a line connecting the past absolute position and the latest absolute position of the positioning device.
The expansion / contraction ratio is the ratio of the length of the line connecting the past absolute position and the position information to the length of the line connecting the past absolute position and the latest absolute position.
The correction means is a positioning device that corrects the walking locus of the pedestrian estimated based on the position information by the error angle and the expansion / contraction ratio. The positioning device according to any one of claims 1 to 23.
The position information is a positioning device including a past position of the positioning device. A positioning method performed by a positioning device carried by a pedestrian.
The process of storing the reference position information and the parameter information in the storage means,
The process of acquiring observation information by observation means,
A step of acquiring relative position information indicating a relative position of the positioning device by the first positioning means based on the observation information and the parameter information, and a step of acquiring the relative position information indicating the relative position of the positioning device.
A step of acquiring absolute position information indicating an absolute position of the positioning device by a second positioning means, and
A step of calculating the position information indicating the existence position of the positioning device by the position calculation means based on the reference position information and the relative position information, and
A process of estimating a situation in which the accuracy of the relative position information is predicted to decrease based on the observation information by a situation determination means, and a step of estimating.
When it is estimated that the accuracy of the relative position information is not expected to decrease according to the estimation result by the situation determination means, it is stored in the storage means based on the position information and the absolute position information. The process of updating the parameter information by the data updating means and
Have,
The observation information, see contains motion information concerning a motion of the positioning device,
The parameter information is a positioning method that is information used for obtaining the relative position of the positioning device. A positioning method performed by a positioning device carried by a pedestrian.
A process of storing reference position information, parameter information, and distance information in a storage means,
The process of acquiring observation information by observation means,
A step of acquiring relative position information indicating a relative position of the positioning device by the first positioning means based on the observation information and the parameter information, and a step of acquiring the relative position information indicating the relative position of the positioning device.
A step of acquiring absolute position information indicating an absolute position of the positioning device by a second positioning means, and
A step of calculating the position information indicating the existence position of the positioning device by the position calculation means based on the reference position information and the relative position information, and
A step of correcting the position information by the correction means based on the acquired absolute position information in response to the acquisition of the absolute position information of the second positioning means.
A process of estimating a situation in which the accuracy of the relative position information is predicted to decrease based on the observation information by a situation determination means, and a step of estimating.
When it is estimated that the accuracy of the relative position information is not expected to decrease according to the estimation result by the situation determination means, the distance indicated in the distance information stored in the storage means is the data updating means. And the process of extending by
A step of calculating the moving distance based on the relative position information and determining whether or not the moving distance has reached the distance indicated in the distance information by the timing control means.
When it is determined that the moving distance has reached the distance indicated in the distance information, the step of causing the second positioning means to acquire the absolute position information, and
Have,
The observation information, see contains motion information concerning a motion of the positioning device,
The parameter information is a positioning method that is information used for obtaining the relative position of the positioning device.

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