JP7201054B2 - Information processing device, information processing method and program - Google Patents

Description

The present invention relates to an information processing apparatus, an information processing method, and a program suitable for a mobile information terminal or the like in which an application program for, for example, navigation operation is installed.

Techniques have been proposed for the purpose of correcting the bearing in autonomous navigation in real time while reducing the memory capacity used. (For example, Patent Document 1)

JP 2016-180626 A

In the above-mentioned patented technology, at the timing when either one of the preset fixed time and distance thresholds is exceeded, the reception operation from the GPS satellite is performed intermittently, thereby correcting the error generated by the autonomous navigation. I assumed.

For this reason, the operation of receiving signals from GPS satellites, which consumes more power than the operation of autonomous navigation, is performed at regular timings if, for example, the moving speed of a mobile person wearing the device is constant. Therefore, the power consumption is constant regardless of the reception environment.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and aims to provide an information processing apparatus and an information processing method capable of efficiently correcting errors that occur in autonomous navigation processing. and to provide programs.

One aspect of the present invention is a first information acquisition unit that is turned on when acquiring GPS positioning information and turned off after the acquisition, and a second information acquisition unit that acquires position information from movement amount information and movement direction information by autonomous navigation. The information acquisition means, the GPS positioning information of the one point acquired by the first information acquisition means and the position information of the position of the one point acquired by the second information acquisition means, and the first information GPS positioning information of two points determined to have moved by a predetermined amount of movement from the one point obtained by the obtaining means and the positions of the two points obtained by the second information obtaining means position information of a point, correction information acquisition means for acquiring correction information for at least one of the movement amount information and the movement direction information acquired by the second information acquisition means, and the correction acquired by the correction information acquisition means correction means for correcting at least one of the movement amount information and the movement direction information obtained by the second information obtaining means based on the information; and GPS positioning information obtained by the first information obtaining means at the two points. and a control means for controlling to lengthen the period during which the operation of the first information acquisition means is turned off as the difference between the first information acquisition means and the position information acquired by the second information acquisition means decreases.

According to the present invention, it is possible to efficiently correct errors that occur in autonomous navigation processing.

1 is a block diagram showing the functional circuit configuration of a smart phone according to one embodiment of the present invention; FIG. 10 is a flowchart showing a current position acquired during a navigation operation according to the same embodiment, and extracting and showing processing contents; FIG. 5 is a diagram for explaining a process for calculating a correction amount error β according to the embodiment; The figure which shows the timing control which performs GPS positioning which concerns on the same embodiment.

An embodiment in which the present invention is applied to a smartphone installed with an application program for performing navigation operations will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a functional circuit of a smart phone according to this embodiment. In this smart phone 10 , 11 is a speaker serving as a receiver, and 12 is a microphone serving as a transmitter, both of which are connected to an audio processing unit 13 .

This voice processing unit 13 digitizes voice input from the microphone 12 during a telephone call using the smartphone 10, converts it into code data, performs predetermined data compression, and outputs the voice to the bus B. Digital audio data is received via the bus B, decompressed, converted into an analog audio signal, and output to the speaker 11 for sound emission.

The CPU 14 controls the operation of the smartphone 10 as a whole using the main memory 15 and SSD (Solid State Drive) 16 connected via the bus B described above.

The main memory 15 is composed of, for example, an SDRAM, and serves as a work memory when the CPU 14 executes programs. The SSD 16 consists of a non-volatile memory, and stores and stores an OS (operating system), various application programs including application programs required for navigation operations, and various other fixed data. is read out to the main memory 14 by the CPU 13 as appropriate.

The bus B further includes a display unit 17, a touch input unit 18, an imaging unit 19, a GPS (Global Positioning System) receiver 20, a 3-axis acceleration sensor 21, a 3-axis geomagnetic sensor 22, and a 3-axis gyro. A sensor 23 , a key operation unit 24 , a vibrator 25 , a communication interface (I/F) 26 , an NFC (Near Field Communication) unit 27 and an external device interface (I/F) 28 are connected.

The display unit 17 is composed of a color liquid crystal panel with a backlight and a diagonal size of, for example, about 5 inches, and a driving circuit for the same. A touch input unit 18 using a transparent electrode film is integrated with the display unit 17 . The touch input unit 18 digitizes a time-series coordinate signal corresponding to a user's touch operation including a multi-touch operation, and sends it to the CPU 14 as a touch operation signal.

The imaging unit 19 includes two imaging units provided on the front and back sides of the housing of the smartphone 10, and an image processing unit that compresses image data obtained by imaging with these imaging units and converts it into a data file. have

The GPS receiver 20 acquires the three-dimensional coordinates of the current position, that is, the latitude, longitude, and altitude, and the current time, based on incoming radio waves from a plurality of, at least four, GPS satellites (not shown) received by the GPS antenna 29. It is calculated and sent to the CPU 14 via the bus B.

The GPS antenna 29 and the GPS receiver 20 are compatible with satellite positioning systems other than the GPS, such as GLONASS (GLOBal Navigation Satellite System) and the Quasi-Zenith Satellite System QZSS (Quasi-Zenith Satellite System), which is a regional navigation satellite system in Japan. It is also possible to receive incoming radio waves from these satellites correspondingly, and to calculate the three-dimensional coordinates of the current position and the current time with higher accuracy.

In that case, when GPS positioning is described in the following description of the operation, it is assumed that the positioning operation by a satellite positioning system other than GPS is also executed.

The triaxial acceleration sensor 21 detects acceleration in each of three mutually orthogonal directions, and can detect the orientation of the smartphone 10 from the direction of gravitational acceleration.

The triaxial geomagnetic sensor 22 detects geomagnetism in each of three mutually orthogonal directions, and can detect the azimuth to which the smartphone 10 is directed at that time based on the direction of magnetic north.

The 3-axis gyro sensor 23 is composed of vibrating gyroscopes arranged in 3-axis directions orthogonal to each other, and in combination with the outputs of the 3-axis acceleration sensor 21 and the 3-axis geomagnetic sensor 22, the smartphone 10 is carried and worn. By analyzing the motion of the user, even if the absolute current position cannot be recognized by the output from the GPS antenna 29 and GPS receiver 20, cooperation with the three-axis acceleration sensor 21 and the three-axis geomagnetic sensor 22 It is possible to execute the update operation of the current position by the autonomous navigation.

The key operation unit 23 is provided on the housing of the smart phone 10 and includes several operation keys including a power key.

The vibrator 25 is composed of a small motor and a weight eccentrically attached to the rotating shaft of the motor, and generates vibration that resonates throughout the smartphone 10 by rotating the motor.

The communication interface 26 uses antennas 30 to 32 to connect to fourth-generation mobile phones, wireless LAN systems conforming to IEEE802.11a/11b/11g/11n, and short-range wireless communication lines such as Bluetooth (registered trademark). Data is transmitted and received to and from an external device by wireless communication corresponding to each.

The NFC unit 27 uses the FeliCa (registered trademark) standard and the MIFARE (registered trademark) standard to perform data transmission/reception and power supply operation with a nearby external device without contact.

The external device interface 28 enables connection or attachment of, for example, headphones, earphones, USB devices, and memory cards via the headphone jack 33, micro USB terminal 34, and memory card slot 35, respectively.

Next, the operation of this embodiment will be described.
FIG. 2 shows (Global Positioning System) positioning by a GPS antenna 29 and a GPS receiver 20, and autonomous navigation by each detection output of a 3-axis acceleration sensor 21, a 3-axis geomagnetic sensor 22, and a 3-axis gyro sensor 23. 4 is a flow chart showing the flow of processing when estimating a current position based on the amount of movement and the direction of movement (hereinafter referred to as dead reckoning processing).

This process extracts and shows a part of the process in which the CPU 14 develops the navigation application program read from the SSD 16 on the main memory 15 and executes it.

At the beginning of the process, the CPU 14 substitutes the initial value "1" for the variable n for counting the locations where GPS positioning is performed (step S101). Subsequently, the CPU 14 temporarily turns on the power supply to the GPS receiver 20, acquires the three-dimensional coordinate information of the first point from the GPS antenna 29 and the GPS receiver 20, and then turns on the power supply to the GPS receiver 20. Disconnect (step S102).

After that, the CPU 14 executes dead reckoning (autonomous navigation) processing using the detection outputs of the three-axis acceleration sensor 21, the three-axis geomagnetic sensor 22, and the three-axis gyro sensor 23, and determines the amount of movement (distance) and the amount of movement. Information on the estimated current position is calculated by detecting the direction and adding it to the position information obtained by the previous GPS positioning (step S103).

Calculate the distance between this estimated current position and the position information obtained by the first GPS positioning, and whether the calculated distance is equal to or greater than the initial value of the preset distance threshold value D, for example, 100 [m] It is determined whether or not (step S104).

If it is determined that the distance is less than the distance D (No in step S104), the process returns to step S103 to continue the dead reckoning process.

The processes of steps S103 and S104 are repeatedly executed, and when it is determined that the current position is away from the previous GPS positioning by the dead reckoning process by a distance D or more (Yes in step S104), the value of the variable n is changed to " +1” update setting to “2”.

According to the value of this variable n, the power supply to the GPS receiver 20 is temporarily turned on, the three-dimensional coordinate information of the n-th point is acquired by the GPS antenna 29 and the GPS receiver 20, and then the power to the GPS receiver 20 is turned on. The supply is cut off (step S106).

Next, from the position information of the estimated current position obtained by the dead reckoning process and the position information obtained by GPS positioning, the amount of movement (distance) and the correction amount of the direction of travel are calculated, and the direction of travel is calculated. A correction amount error β is calculated (step S107).

FIG. 3 is a diagram for explaining the process of calculating the correction amount error β. Let T1 be a trajectory connecting a first point P1 at which GPS positioning is performed and a second point P2 at which GPS positioning is performed in a straight line.

Angle correction is not performed when a trajectory connecting a straight line from the first point P1 to the position P2' estimated by the dead reckoning process at the time of GPS positioning at the second point is T2. Let θ be the offset angle in this state. When the GPS positioning is performed at the second point P2, the CPU 14 calculates this offset angle θ together with the error of the amount of movement (distance) between the first point P1 and the second point P2. As indicated by the locus T3 in , angle correction is performed in the subsequent dead reckoning process (step S108).

Further, in preparation for the dead reckoning process after the second point P2, the correction amount error β is calculated. Here, the correction amount error β is expressed by the following equation, where the GPS positioning error at each point n is "σ _{GPS_n} ".
β=arctan((σ _{GPS_n-1} +σ _{GPS_n} )/D) …(1)
is represented by
Note that the GPS positioning error “σ _{GPS_n} ” can be obtained by a known technique using an accuracy index such as a C/N value, DOP (Dilution Of Precision), and the number of satellites.

At this point, n=2, so equation (1) above is
β = arctan((σ _{GPS_1} +σ _{GPS_n2} )/D)
becomes.

The correction amount error β can be regarded as an offset error that continues until the position information is acquired by the next GPS positioning and the correction amount in the traveling direction is updated. Therefore, after the correction amount error β is calculated, whether or not the "possible positional deviation range" accumulated and expanded as the dead reckoning process continues exceeds the preset "permissible positional deviation range". Whether or not is used as a criterion for determining whether or not it is time to perform GPS positioning (step S109).

FIG. 4 illustrates timing control for performing this GPS positioning. From the timing t1 at which the previous GPS positioning is performed, the trajectory T3 after angle correction by the dead reckoning process is used as a reference, and the upper and lower correction amount errors β are set as the positional deviation possibility range PR.

On the other hand, by setting a distance value as the permissible positional deviation AR in advance, it is possible to determine whether the possible positional deviation range PR at the present time exceeds the permissible positional deviation AR with reference to the locus T3. is determined, timing t2 at which GPS positioning should be performed next is determined.

The above-mentioned "allowable position deviation range" is, for example, a basic function of a navigation program. A matching limit distance may be used.

If it is determined that the possible positional deviation range PR at the present point in time does not exceed the permissible positional deviation range AR (No in step S109), the CPU 14 returns to the process from step S108 and continues the dead reckoning process. .

In this way, the processes of steps S108 and S109 are repeatedly executed, and when it is determined that the positional deviation possibility range PR at the present time has exceeded the positional deviation allowable range AR (Yes in step S109), the CPU 14 performs the next GPS positioning. To do so, the process from step S105 is executed.

As described above, by continuously executing the processes of steps S105 to S109, intermittent GPS positioning is performed at the necessary timing in consideration of the correction amount error β based on the error that occurs in GPS positioning. The navigation operation can be continued by efficiently correcting errors that occur in reckoning processing.

(Modification)
In the above-described embodiment, the correction amount error β derived from the GPS positioning error “σ _{GPS_n} ” is obtained, and thereafter accumulated and expanded as the dead reckoning process continues. The determination criterion of whether or not it is time to perform the next GPS positioning is whether or not the "positional deviation tolerance range" exceeds the preset "positional deviation tolerance range". Depending on the difference between the obtained positional information and the current positional information obtained by the dead reckoning process, the length of the period during which the power supply to the GPS receiver 20 is cut off until the next GPS positioning may be varied.
For example, the smaller the difference between the position P2 obtained by GPS positioning and the current position P2' by the dead reckoning process in FIG. The length of the power supply cutoff period for the receiver 20 is set short. By controlling in this way, when the accuracy of the current position estimation by the dead reckoning process is high, the period during which the power supply to the GPS receiver 20 is cut off can be lengthened, and the error occurring in the dead reckoning process can be efficiently corrected. can be executed to continue the navigation operation.
Furthermore, control may be performed using both the present embodiment and the present modification.

As described in detail above, according to the present embodiment, it is possible to efficiently correct errors that occur in autonomous navigation processing.

Further, in the above embodiment, the correction amount error β is calculated according to the positioning error of each of the position information of the two points by GPS positioning and the distance between the two points, as shown in Equation (1). Therefore, by reflecting the positioning error obtained at that time when actually performing GPS positioning, the navigation operation can always be executed within a certain error, and the user can use the system with peace of mind.

Further, in the above-described embodiment, the GPS positioning operation is performed intermittently by the GPS receiver 20, and electric power is temporarily supplied to the GPS receiver 20 only at the necessary timing to drive it. , power consumption can be suppressed by minimizing the operation of GPS positioning, which consumes more power.

In this case, when the absolute position information obtained by GPS positioning is obtained, the relative position information obtained by autonomous navigation is replaced by the position information obtained so far. can be reset to avoid error accumulation.

In particular, in the above embodiment, the range of errors assumed to be possessed by the position information acquired by autonomous navigation is used in advance in processing such as map matching, and the position information is obtained by GPS positioning within a range that does not exceed the allowable error range. Therefore, it is possible to reliably prevent erroneous processing in navigation operation.

In addition, at a point acquired by autonomous navigation, the smaller the error between the position information obtained by GPS positioning and the position information obtained by autonomous navigation, the longer the period during which GPS positioning is turned off. Power consumption can be suppressed.

In the above embodiment, the case where the present invention is applied to a smartphone installed with an application program that performs navigation operations has been described. It can also be applied in the same way when a wearable device or the like capable of navigation operation is used alone.

In addition, the present invention is not limited to the above embodiments, and can be variously modified in the implementation stage without departing from the scope of the invention. Further, each embodiment may be implemented in combination as appropriate, in which case the combined effect can be obtained. Furthermore, various inventions are included in the above embodiments, and various inventions can be extracted by combinations selected from a plurality of disclosed constituent elements. For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiments, if the problem can be solved and effects can be obtained, the configuration with the constituent elements deleted can be extracted as an invention.

The invention described in the original claims of the present application is appended below.
[Claim 1]
a first information acquisition means that is turned on when acquiring GPS positioning information and turned off after acquisition;
a second information acquisition means for acquiring position information from movement amount information and movement direction information by autonomous navigation;
Movement amount information obtained by the second information obtaining means, based on the GPS positioning information of the plurality of points obtained by the first information obtaining means and the position information of the plurality of points obtained by the second information obtaining means, and correction information acquisition means for acquiring correction information for at least one of the moving direction information;
correction means for correcting at least one of the movement amount information and the movement direction information acquired by the second information acquisition means based on the correction information acquired by the correction information acquisition means;
Correction error information acquisition means for acquiring correction error information in the traveling direction based on the error amount information for each GPS positioning information of the two points acquired by the first information acquisition means;
a position error information obtaining means for obtaining position error information with respect to the position information obtained by the second information obtaining means;
ON/OFF of the operation of the first information acquisition means is controlled based on at least one of the correction error information acquired by the correction error information acquisition means and the position error information acquired by the position error information acquisition means. a control means;
Information processing device.
[Claim 2]
The correction information acquisition means includes the GPS positioning information acquired by the first information acquisition means at one point, the position information acquired by the second information acquisition means, and the autonomous navigation from the one point. Acquire the correction information based on the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points determined to have moved by the amount of movement of death,
The correction error information acquisition means includes error amount information with respect to the GPS positioning information acquired at the one point, error amount information with respect to the GPS positioning information acquired at the two points, and the difference between the one point and the two points. Acquiring the correction error information based on the amount of movement between the two points,
The position error information acquisition means acquires, as the position error information, a difference between the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points.
The information processing apparatus according to claim 1.
[Claim 3]
A possible deviation range between position information calculated from movement amount information and movement direction information obtained by the second information obtaining means at a point different from the point after moving from a certain point, and position information at the different point. based on the correction error information obtained by the correction error information obtaining means,
The control means turns on the operation of the first information acquisition means to acquire GPS positioning information when the possible positional deviation range exceeds a preset positional deviation allowable range.
3. The information processing apparatus according to claim 2.
[Claim 4]
The control means determines that the difference between the GPS positioning information acquired by the first information acquisition means at the two points acquired by the position error information acquisition means and the position information acquired by the second information acquisition means is smaller. 3. The information processing apparatus according to claim 2, wherein the period during which the operation of said first information obtaining means is turned off is lengthened.
[Claim 5]
Further comprising position matching means for matching the position information acquired by the second information acquisition means with the GPS positioning information acquired by the first information acquisition means,
The position matching means matches the position information acquired by the second information acquisition means at the one point with the GPS positioning information acquired by the first information acquisition means at the one point.
5. The information processing apparatus according to claim 2.
[Claim 6]
An information processing method in a device comprising a GPS receiving unit that is turned on when acquiring GPS positioning information and turned off after acquisition, and an autonomous navigation unit that acquires position information from movement amount information and movement direction information by autonomous navigation. and
Correction information for at least one of the movement amount information and the movement direction information obtained by the autonomous navigation unit based on the GPS positioning information of the plurality of points obtained by the GPS receiving unit and the position information of the plurality of points obtained by the autonomous navigation unit. a correction information acquisition step of acquiring
a correction step of correcting at least one of the movement amount information and the movement direction information obtained by the autonomous navigation unit based on the correction information obtained in the correction information obtaining step;
A correction error information acquisition step of acquiring correction error information in the traveling direction based on the error amount information for each GPS positioning information of the two points acquired by the GPS receiving unit;
a position error information obtaining step of obtaining position error information with respect to the position information obtained by the autonomous navigation unit;
a control step of controlling on/off of the operation of the GPS receiver based on at least one of the correction error information obtained in the correction error information obtaining step and the position error information obtained in the position error information obtaining step; ,
An information processing method comprising:
[Claim 7]
A computer containing a device having a GPS receiving section that is turned on when acquiring GPS positioning information and turned off after acquisition, and an autonomous navigation section that acquires position information from movement amount information and movement direction information by autonomous navigation. A program to be executed, which causes the computer to move the distance obtained by the autonomous navigation unit based on the GPS positioning information of the plurality of points obtained by the GPS receiving unit and the positional information of the plurality of points obtained by the autonomous navigation unit. correction information acquisition means for acquiring correction information for at least one of information and movement direction information;
correction means for correcting at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the correction information acquired by the correction information acquisition means;
Correction error information acquisition means for acquiring correction error information in the traveling direction based on the error amount information for each GPS positioning information of the two points acquired by the GPS receiving unit;
position error information acquisition means for acquiring position error information with respect to the position information acquired by the autonomous navigation unit; and correction error information acquired by the correction error information acquisition means and position error information acquired by the position error information acquisition means. control means for controlling on/off of the operation of the GPS receiver based on at least one;
A program that acts as a

DESCRIPTION OF SYMBOLS 10... Smartphone 11... Speaker 12... Microphone 13... Audio processing part 14... CPU
15 Main memory 16 SSD
17 Display unit 18 Touch input unit 19 Shooting unit 20 GPS receiver 21 3-axis acceleration sensor 22 3-axis geomagnetic sensor 23 3-axis gyro sensor 24 Key operation unit 25 Vibrator 26 Communication interface (I /F)
27 NFC unit 28 External device interface (I/F)
29 GPS antennas 30 to 32 Antenna 33 Headphone jack 34 Micro USB terminal 35 Memory card slot B Bus

Claims (4)

a first information acquisition means that is turned on when acquiring GPS positioning information and turned off after acquisition;
a second information acquisition means for acquiring position information from movement amount information and movement direction information by autonomous navigation;
GPS positioning information of the one point acquired by the first information acquisition means and location information of the position of the one point acquired by the second information acquisition means, and the above acquired by the first information acquisition means GPS positioning information of two points determined to have moved by a predetermined amount of movement from one point by the above-mentioned autonomous navigation, and location information of the positions of the above-mentioned two points acquired by the above-mentioned second information acquisition means; a correction information acquisition means for acquiring correction information for at least one of the movement amount information and the movement direction information acquired by the second information acquisition means;
correction means for correcting at least one of the movement amount information and the movement direction information acquired by the second information acquisition means based on the correction information acquired by the correction information acquisition means;
The operation of the first information acquisition means is turned off as the difference between the GPS positioning information acquired by the first information acquisition means and the position information acquired by the second information acquisition means at the two points is smaller. a control means for controlling to lengthen the period of
An information processing device comprising: Further comprising position matching means for matching the position information acquired by the second information acquisition means with the GPS positioning information acquired by the first information acquisition means,
The position matching means matches the position information acquired by the second information acquisition means at the one point with the GPS positioning information acquired by the first information acquisition means at the one point.
2. The information processing apparatus according to claim 1, wherein: An information processing method in a device comprising a GPS receiving unit that is turned on when acquiring GPS positioning information and turned off after acquisition, and an autonomous navigation unit that acquires position information from movement amount information and movement direction information by autonomous navigation. and
GPS positioning information of the one point obtained by the GPS receiving unit and positional information of the position of the one point obtained by the autonomous navigation unit, and predetermined by the autonomous navigation from the one point obtained by the GPS receiving unit The amount of movement obtained by the above-mentioned autonomous navigation unit based on the GPS positioning information of the two points determined to have moved by the amount of movement and the location information of the positions of the above-mentioned two points obtained by the above-mentioned autonomous navigation unit a correction information acquisition step of acquiring correction information for at least one of information and movement direction information;
a correction step of correcting at least one of the movement amount information and the movement direction information obtained by the autonomous navigation unit based on the correction information obtained in the correction information obtaining step;
The smaller the difference between the GPS positioning information obtained by the GPS receiving unit and the positional information obtained by the autonomous navigation unit at the two points, the longer the period during which the operation of the GPS receiving unit is turned off. a control step;
An information processing method comprising: A computer containing a device equipped with a GPS receiver that is turned on when acquiring GPS positioning information and turned off after acquisition, and an autonomous navigation unit that acquires position information from movement amount information and movement direction information by autonomous navigation. ,
GPS positioning information of the one point obtained by the GPS receiving unit and positional information of the position of the one point obtained by the autonomous navigation unit, and predetermined by the autonomous navigation from the one point obtained by the GPS receiving unit The amount of movement obtained by the above-mentioned autonomous navigation unit based on the GPS positioning information of the two points determined to have moved by the amount of movement and the location information of the positions of the above-mentioned two points obtained by the above-mentioned autonomous navigation unit correction information acquisition means for acquiring correction information for at least one of information and movement direction information;
correction means for correcting at least one of the movement amount information and the movement direction information acquired by the autonomous navigation unit based on the correction information acquired by the correction information acquisition means;
The smaller the difference between the GPS positioning information obtained by the GPS receiving unit and the positional information obtained by the autonomous navigation unit at the two points, the longer the period during which the operation of the GPS receiving unit is turned off. control means,
A program to function as

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