JP7242559B2 - Information processing device and information processing method - Google Patents

Description

TECHNICAL FIELD The present technology relates to an information processing device and an information processing method, and more particularly to an information processing device and an information processing method capable of correcting position information with high accuracy using a simpler method.

Positioning by a GNSS receiver is known to have an error of several meters to several tens of meters, and techniques for correcting the error have been proposed (see Patent Documents 1 and 2, for example).

JP-A-5-66260 JP-A-2005-247042

However, there is a demand for a technique for correcting position information with high accuracy using a simpler method.

The present technology has been made in view of such circumstances, and is to enable position information to be corrected with high accuracy using a simpler method.

An information processing device according to a first aspect of the present technology includes a measurement unit that measures a motion state of a mobile body, an estimation unit that estimates a position, speed, and acceleration of the mobile body from measurement results of the measurement unit, an acquisition unit that acquires position information as initialization information from the initialized spot, and the estimation unit, when the acquisition unit acquires position information and its reliability information as the initialization information, the The position information acquired as the initialization information is set for the position of the moving object, the speed and acceleration of the moving object are set to "0" , and the acquisition unit adds the position information as the initialization information. When the velocity information and the reliability information thereof are acquired by the acquisition unit, the position information and the velocity information acquired by the acquiring unit are set as the position and velocity of the moving object.

In an information processing method according to a first aspect of the present technology, an information processing apparatus estimates the position, velocity, and acceleration of a moving body from measurement results of measuring the motion state of the moving body , When the information and its reliability information are obtained from the initialization spot, the position information obtained as the initialization information is set for the position of the moving body, and "0" is set for the velocity and acceleration of the moving body. If the initialization information includes speed information and its reliability information in addition to the position information, the obtained position information and speed information are set as the position and speed of the moving body.
In the first aspect of the present technology, the position, velocity, and acceleration of the moving body are estimated from the measurement result of measuring the motion state of the moving body, and the initialization information is obtained from the initialization spot, the position information, and the When the reliability information is acquired, the position of the moving object is set to the position information acquired as the initialization information, the speed and acceleration of the moving object are set to "0", and the initialization information is: When velocity information and its reliability information are acquired in addition to the position information, the acquired position information and velocity information are set as the position and velocity of the moving body.

An information processing device according to a second aspect of the present technology includes a receiving unit that receives a positioning signal from a positioning satellite, a position information acquisition unit that acquires position information as initialization information of a mobile object from a position recording device , and A speed information setting unit for setting speed information as initialization information in accordance with the type of the position recording device, and calculating the position and speed of the moving object based on the positioning signal, a control unit that corrects the calculated position and speed of the moving object based on certain position information and speed information , and the speed information setting unit corrects the position information of the initialization information by NFC or a coded image. When provided from the position recording device, the speed information as the initialization information is set to "0" .

In a second aspect of the present technology, a positioning signal is received from a positioning satellite, position information as initialization information of a mobile body is acquired from a position recording device , and based on the positioning signal, the position of the mobile body is obtained. and velocity are calculated . When the speed information as the initialization information is set according to the type of the position recording device , and the position information of the initialization information is provided from the position recording device in the form of NFC or a coded image, the initialization information is set to "0" .

Note that the information processing apparatuses according to the first and second aspects of the present technology can be realized by causing a computer to execute a program.

In addition, in order to realize the information processing apparatus of the first and second aspects of the present technology, the program to be executed by the computer is provided by transmitting via a transmission medium or by recording it on a recording medium. be able to.

The information processing device may be an independent device, or may be an internal block forming one device.

According to the first and second aspects of the present technology, position information can be corrected with high accuracy using a simpler method.

Note that the effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.

1 is a block diagram showing a configuration example of a first embodiment of a position information processing system to which the present technology is applied; FIG. It is a figure explaining the 1st initialization process. 4 is a flowchart for explaining first initialization processing; It is a figure explaining the 1st initialization process. It is a figure explaining a 2nd initialization process. FIG. 11 is a flowchart for explaining second initialization processing; FIG. It is a figure explaining the 3rd initialization process. FIG. 11 is a flowchart for explaining third initialization processing; FIG. It is a figure explaining the 3rd initialization process. It is a figure explaining the 4th initialization process. FIG. 12 is a flowchart for explaining fourth initialization processing; FIG. It is a figure explaining the 4th initialization process. It is a figure explaining the 5th initialization process. FIG. 12 is a flowchart for explaining a fifth initialization process; FIG. FIG. 14 is a diagram for explaining a sixth initialization process; FIG. FIG. 14 is a flowchart for explaining a sixth initialization process; FIG. FIG. 14 is a diagram for explaining a seventh initialization process; FIG. FIG. 14 is a flowchart for explaining a seventh initialization process; FIG. It is a block diagram showing a configuration example of a second embodiment of a position information processing system to which the present technology is applied. FIG. 10 is a diagram illustrating application of initialization information in a position filter unit; FIG. 10 is a diagram illustrating application of initialization information in a position filter unit; FIG. 10 is a diagram illustrating application of initialization information in a position filter unit; FIG. 10 is a diagram illustrating application of initialization information in a position filter unit; FIG. 10 is a diagram for explaining application of initialization information in a position calculation unit; FIG. 10 is a diagram for explaining application of initialization information in a position calculation unit; 10 is a flowchart for explaining initialization processing according to the second embodiment; 1 is a block diagram showing a configuration example of an embodiment of a computer to which the present technology is applied; FIG.

Hereinafter, a form (hereinafter referred to as an embodiment) for implementing the present technology will be described. The description will be given in the following order.
1. First Embodiment (Example of Sensor Fusion Algorithm)
2. Second embodiment (example of GNSS receiver)
3. Computer configuration example

<1. First Embodiment>
<1.1 Configuration example of position information processing system>
FIG. 1 shows a configuration example of a first embodiment of a position information processing system to which the present technology is applied.

A position information processing system 1 shown in FIG. 1 includes a moving body 11 and an initialization spot 12, and is a system in which the moving body 11 as an information processing device estimates its own position information.

The mobile object 11 is, for example, a movable object such as an automobile (including an electric automobile) or a drone. Moreover, the mobile body 11 is not limited to a self-propelled type, and may be, for example, a portable terminal such as a smart phone that is carried by a user to move from place to place.

The moving object 11 includes a GNSS receiver 21 , a sensor group 22 , a map data storage 23 , an initialization information acquisition unit 24 , and a motion state estimator 25 .

The GNSS receiver 21 performs positioning by receiving positioning signals broadcast by positioning satellites of the GNSS (Global Navigation Satellite System). The GNSS receiver 21 is composed of a receiver that receives multiple radio waves from positioning satellites such as GPS (USA), GLONASS (Russia), BeiDou (China), Galileo (EU), Quasi-Zenith Satellite Michibiki (Japan). be done.

The GNSS receiving unit 21 (measuring unit) receives positioning signals from positioning satellites and supplies position information, speed information, and time information included in the received positioning signals to the motion state estimating unit 25 .

The sensor group 22 (measuring unit) is composed of one or more sensors for detecting the movement of the moving body 11 . Examples of sensors included in the sensor group 22 include, for example, a gyro sensor that detects the angular velocity of the axial rotational motion of the moving body 11, an acceleration sensor that detects the acceleration of the moving body 11, a rotary encoder, a displacement sensor, an orientation sensor, and an atmospheric pressure sensor. A sensor, a tactile sensor, a force sensor, an accelerator pedal operation amount, a brake pedal operation amount, a steering angle of a steering wheel, an engine speed, a wheel rotation speed, or the like can be used.

Sensors included in the sensor group 22 include ultrasonic sensors, radar equipment, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) equipment, CCD (Charge Coupled Device) and CMOS (Complementary Metal Oxide Semiconductor) image sensors, A ToF (Time Of Flight) sensor, an infrared detection sensor, or the like may be used.

The sensor group 22 supplies detection information (sensor data) detected by one or more sensors to the exercise state estimation unit 25 .

The map data storage unit 23 includes a hard disk, a memory, etc., and stores map data of an area including the range of movement of the mobile body 11 .

The initialization information acquisition unit 24 has a communication function of performing wired communication or wireless communication, and acquires position initialization information from the initialization spot 12 by communicating with the initialization spot 12 . The position initialization information includes at least position information of the initialized spot 12 and its reliability information. Position information is represented by, for example, latitude, longitude, and altitude. The reliability information is represented, for example, by a numerical value ranging from 0 to 1, with 1 being the information with the highest reliability.

When the communication function of the initialization information acquisition unit 24 is wireless communication, the wireless communication includes, for example, proximity-type non-contact communication defined as ISO/IEC 14443 and proximity-type communication defined as ISO/IEC 15693. Near-field wireless communication with a communication distance of several meters to several centimeters, such as non-contact communication, NFC (Near Field Communication) defined as ISO/IEC 18092, and Bluetooth (registered trademark), is adopted. Further, when the communication function of the initialization information acquisition unit 24 is wired communication, the length of the wired cable is about several meters, and the moving object 11 performs communication in the vicinity of the initialization spot 12 .

The initialization spot 12 has a communication section 31 corresponding to the communication method of the initialization information acquisition section 24 , and transmits the initialization information of the position stored therein to the initialization information acquisition section 24 . The initialization information provided by the initialization spot 12 includes at least position information of the initialization spot 12 itself and its reliability information.

For example, if the moving object 11 is an automobile, a communication pole placed near the parking position of a parking lot, a fueling device or a charging device of a gas station, an ETC gate, a traffic light, a sign post, a roadside device, an ORBIS, etc. can be the initialization spot 12, such as a speed measuring instrument. For example, if the moving object 11 is a drone, the initialization spot 12 can be a communication pole or a charging device placed near the apron.

Further, for example, when the mobile object 11 is a smartphone, the initialization spot 12 includes a ticket gate or ticket vending machine (charging machine) of a transportation facility equipped with a communication function such as NFC, a register device, an NFC poster or A digital signage or the like can be the initialization spot 12 .

Note that the initialization information acquisition unit 24 does not necessarily need to communicate with the initialization spot 12 as long as it can acquire the initialization information of the position. For example, an encoded image obtained by encoding position information is set at a predetermined position as the initialization spot 12, and an image sensor as the initialization information acquisition unit 24 captures the encoded image to obtain the position information. may be obtained. The encoded image is, for example, a two-dimensional code called QR code (registered trademark). In that case, the reliability information is determined according to the situation when the encoded image is read. For example, the reliability information is determined based on the distance and angle to the encoded image, the degree of focus, etc. calculated from the encoded image obtained by imaging. When a coded image is adopted as the initialization information providing means of the initialization spot 12, the initialization spot 12 does not need to have a communication function, so the initialization spot 12 can be installed at low cost. If the initialized spot 12 is a poster or digital signage, it is sufficient that an encoded image is displayed. The encoded image may also be an image displaying numerical values corresponding to latitude, longitude, and altitude. can be obtained.

The motion state estimation unit 25 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and executes various programs to estimate the motion state of the moving object 11, such as Estimate position, velocity, attitude, etc. The motion state estimation unit 25 integrates position information and time information supplied from the GNSS reception unit 21, sensor data supplied from the sensor group 22, and map data supplied from the map data storage unit 23, and A so-called sensor fusion algorithm is executed to estimate the motion state of the body 11 .

The sensor fusion algorithm realizes highly accurate motion state estimation by compensating for each other's shortcomings, such as position information based on positioning signals and sensor data.

However, the sensor fusion algorithm suffers from low accuracy until the estimation results converge.

Therefore, in the position information processing system 1, by acquiring the initial motion state of the moving body 11 from the initialization spot 12, highly accurate estimation of the motion state is realized even in the initial stage.

The following describes initialization processing in which the mobile body 11 obtains initialization information from the initialization spot 12 to set an initial motion state, which is realized in various situations.

<1.2 First Initialization Processing>
First, the first initialization process will be described.

In the first initialization process, as shown in FIG. 2, for example, the moving object 11 is an automobile and the initialization spot 12 is a communication pole placed near the parking position of the parking lot. will be explained. In this example, the mobile object 11, which is an automobile, and the initialization spot 12, which is a communication pole, perform short-range wireless communication.

For example, as shown in FIG. 2, when the car is parked in a parking lot and the driver starts the engine of the car, the first initialization process shown in the flowchart of FIG. 3 is started.

In the first initialization process, first, in step S<b>1 , the initialization information acquisition unit 24 transmits a request to one or more initialization spots 12 . When a plurality of initialization spots 12 exist within the communication range of short-range wireless communication, all of the initialization spots 12 return responses to the request.

In step S2, the initialization information acquisition unit 24 selects the initialization spot 12 with the maximum received power as the initialization spot 12 of the communication partner from among the initialization spots 12 that have sent back the response corresponding to the request. The initialized spot 12 with the maximum received power is the initialized spot 12 located closest to the moving object 11 . Therefore, in other words, the initialization information acquiring unit 24 selects the nearest initialization spot 12 from among the initialization spots 12 that have returned the response to the request as the initialization spot 12 of the communication partner.

In step S3, the initialization information acquisition unit 24 performs short-range wireless communication with the selected initialization spot 12, and from the selected initialization spot 12, based on the position information of the initialization spot 12 itself and its reliability information, get initialization information. The acquired initialization information is supplied to the exercise state estimation unit 25 .

In step S<b>4 , the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (the moving body 11 ) based on the initialization information supplied from the initialization information acquisition unit 24 . Specifically, the motion state estimating unit 25 sets the position information obtained from the initialization spot 12 as the motion state of itself (the moving body 11), and sets the velocity and acceleration to “0”. For the reliability, the reliability information acquired from the initialization spot 12 is set. In addition, when the information of velocity or acceleration can be acquired from the sensors constituting the sensor group 22, the information of velocity or acceleration acquired from the sensors may be set.

The first initialization process is executed as described above.

The above-described first initialization process is started when the engine of the automobile, which is the moving object 11, is started. can also be started.

Further, for example, as shown in FIG. 4, even when the moving object 11 is a drone, the above-described first initialization processing can be executed when the drone is activated or lands on the parking apron. can.

<1.3 Second Initialization Processing>
Next, the second initialization process will be explained.

In the second initialization process, as shown in FIG. 5, for example, the moving object 11 is an electric vehicle and the initialization spot 12 is a charging device installed at a gas station. In this example, the electric vehicle, which is the mobile object 11, and the charging device, which is the initialization spot 12, perform wired communication via a communication cable integrated with the charging cable.

For example, as shown in FIG. 5, when the cable of the charging device is connected to the charging terminal of the automobile parked at a predetermined position of the gas station and the preparation for charging is completed, the charging operation shown in FIG. A second initialization process shown in the flowchart is started.

In the second initialization process, first, in step S21, the initialization information acquisition unit 24 performs wired communication via a connected cable, and based on the position information of the initialization spot 12 itself and its reliability information, get initialization information. The acquired initialization information is supplied to the exercise state estimation unit 25 .

In step S<b>22 , the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (the moving body 11 ) based on the initialization information supplied from the initialization information acquisition unit 24 . Specifically, the motion state estimating unit 25 sets the position information obtained from the initialization spot 12 as the motion state of itself (the moving body 11), and sets the velocity and acceleration to “0”. For the reliability, the reliability information acquired from the initialization spot 12 is set.

The second initialization process is executed as described above.

In the second initialization process described above, the initialization information is acquired via the cable for charging the electric vehicle, which is the mobile object 11. However, the vehicle is a hybrid vehicle or a gasoline vehicle, and gasoline or light oil is supplied. In this case, the initialization information can be acquired via a communication cable that is integrated with the fuel supply cable.

Further, the start of the second initialization process is triggered by detection of connection of a cable for charging or refueling, but the initialization information may be obtained by short-range wireless communication.

<1.4 Third Initialization Processing>
Next, the third initialization process will be explained.

In the third initialization process, as shown in FIG. 7, for example, the mobile object 11 is an electric vehicle or a hybrid vehicle, and the initialization spot 12 is a wireless charging device. do. In this example, the electric vehicle, which is the mobile object 11, and the charging device, which is the initialization spot 12, perform short-range wireless communication.

In the case of wireless charging, it is necessary to stop with high accuracy at the place where the coil is laid. As shown in FIG. , the third initialization process shown in the flowchart of FIG. 8 is started.

In the third initialization process, first, in step S41, the initialization information acquisition unit 24 acquires initialization information including the position information of the initialization spot 12 itself and its reliability information through short-range wireless communication. get. The acquired initialization information is supplied to the exercise state estimation unit 25 .

In step S<b>42 , the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (the moving body 11 ) based on the initialization information supplied from the initialization information acquisition unit 24 . Specifically, the motion state estimating unit 25 sets the position information obtained from the initialization spot 12 as the motion state of itself (the moving body 11), and sets the velocity and acceleration to “0”. For the reliability, the reliability information acquired from the initialization spot 12 is set.

The third initialization process is executed as described above.

According to the third initialization process, it is possible to acquire highly accurate known position information by utilizing the fact that positioning is difficult in contactless power supply.

In the above-described third initialization processing, (initialization information acquisition unit 24 of) mobile unit 11 acquires initialization information through short-range wireless communication with initialization spot 12. In wireless communication, only the spot ID that identifies the initialization spot 12 is acquired, the acquired spot ID is transmitted to the server using cellular communication such as 3G/LTE/5G, and initialization information corresponding to the spot ID is transmitted. May be obtained from the server. The initialization information acquisition unit 24 or the exercise state estimation unit 25 may communicate with a server or the like that holds initialization information corresponding to the spot ID.

As shown in FIG. 9, even when the mobile object 11 is a drone and the drone performs contactless power supply, the above-described third initialization process can be executed.

<1.5 Fourth Initialization Processing>
Next, the fourth initialization process will be explained.

In the fourth initialization process, as shown in FIG. 10, for example, the moving object 11 is a drone, the initialization spot 12 is a parking lot, and the encoded image 12A is installed there. will be explained. The initialization information acquisition unit 24 of the moving body 11 is configured by, for example, an image sensor, and when the drone takes off from the parking apron, the fourth initialization process shown in the flowchart of FIG. 11 is started.

In the fourth initialization process, first, in step S61, the initialization information acquisition unit 24 picks up the encoded image 12A pasted on the ground at the timing when it rises from the ground of the parking apron by a predetermined distance. , to obtain the position information of the initialized spot 12 and its reliability information. The position information of the initialized spot 12 is obtained by decoding the encoded image 12A, and the reliability information is determined from the recognition level such as the distance and angle when the encoded image 12A is captured. The position information of the initialized spot 12 and its reliability information are supplied to the motion state estimator 25 as initialization information.

In step S<b>62 , the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (the moving body 11 ) based on the initialization information supplied from the initialization information acquisition unit 24 . Specifically, the motion state estimating unit 25 sets the position information obtained from the initialization spot 12 as the motion state of itself (the moving body 11), and sets the velocity and acceleration to “0”. For the reliability, the reliability information obtained from the initialization information obtaining unit 24 is set.

The fourth initialization process is executed as described above. In the above example, the encoded image 12A is captured at the timing when the aircraft has risen by a predetermined distance from the ground, but the encoded image 12A may be captured before takeoff.

In the fourth initialization process described above, for example, as shown in FIG. 12, the moving object 11 is a smartphone, the initialization spot 12 is a poster or digital signage, and the encoded image 12A is displayed on the display surface. It can also be executed in the same way.

<1.6 Fifth Initialization Processing>
Next, the fifth initialization process will be explained.

In the fifth initialization process, as shown in FIG. 13, for example, the moving object 11 is an automobile and the initialization spot 12 is a speed measuring device installed on the road. Road-to-vehicle communication such as DSRC (Dedicated Short Range Communication) is used for communication between the initialization information acquisition unit 24 of the moving object 11 and the speed measuring device that is the initialization spot 12 .

For example, as shown in FIG. 13, the fifth initialization process shown in the flowchart of FIG. 14 is started when the speed measuring device passes the measurement point for measuring the speed of the automobile.

In the fifth initialization process, first, in step S81, the speed measuring device as the initialization spot 12 measures the speed of the automobile passing through the measurement point.

In step S82, the initialization information acquisition unit 24 transmits a request for measurement results to the speed measuring device.

In step S83, the speed measuring device transmits position information, speed information, and reliability information based on the measurement results, and the initialization information acquisition unit 24 receives the transmitted position information, speed information, and reliability information. Get the degree information. The acquired position information, speed information, and reliability information are supplied to the motion state estimation unit 25 as initialization information.

In step S<b>84 , the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (the moving body 11 ) based on the initialization information supplied from the initialization information acquisition unit 24 . Specifically, the motion state estimation unit 25 sets the position information, the speed information, and the reliability information acquired from the initialization spot 12 as the motion state of itself (the moving body 11).

The fifth initialization process is executed as described above.

<1.7 Sixth Initialization Processing>
Next, the sixth initialization process will be explained.

For the sixth initialization process, as shown in FIG. 15, for example, the moving object 11 is a drone and the initialization spot 12 is the mother ship of the drone. For example, when the drone departs from the mother ship, the sixth initialization process shown in the flowchart of FIG. 16 is started.

In the sixth initialization process, first, in step S101, the mothership as the initialization spot 12 measures the speed of the drone that left the mothership.

In step S102, the mother ship transmits position information indicating the position of the mother ship, measured speed information, and reliability information, and the initialization information acquisition unit 24 receives the transmitted position information, speed information, and Get confidence information. The acquired position information, speed information, and reliability information are supplied to the motion state estimation unit 25 as initialization information. Positional information indicating the position of the mothership, measured velocity information, and reliability information are collected from RTK-PPP (Real Time Kinematic - Precise Point Positioning), highly reliable and highly detailed information can be obtained.

In step S<b>103 , the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (the moving body 11 ) based on the initialization information supplied from the initialization information acquisition unit 24 . Specifically, the motion state estimation unit 25 sets the position information, the speed information, and the reliability information acquired from the initialization spot 12 as the motion state of itself (the moving body 11).

The sixth initialization process is executed as described above.

<1.8 Seventh Initialization Processing>
Next, the seventh initialization process will be explained.

In the seventh initialization process, as shown in FIG. 17, for example, the moving object 11 is a smart phone carried by the user, and the initialization spot 12 is a station ticket gate. NFC, which is close proximity wireless communication, is used for communication between the initialization information acquisition unit 24 of the mobile object 11 and the ticket gate, which is the initialization spot 12, for example. Proximity wireless communication is communication with a very short communication distance of several centimeters among short-range wireless communications. For example, when the user performs an operation of touching the ticket gate with the smartphone, the seventh initialization process shown in the flowchart of FIG. 18 is started.

In the seventh initialization process, first, in step S121, the initialization information acquisition unit 24 acquires initialization information including the position information of the initialization spot 12 itself and its reliability information through proximity wireless communication. do. The acquired initialization information is supplied to the exercise state estimation unit 25 .

In step S<b>122 , the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (the moving body 11 ) based on the initialization information supplied from the initialization information acquisition unit 24 . Specifically, the motion state estimating unit 25 sets the position information obtained from the initialization spot 12 as the motion state of itself (the moving body 11), and sets the velocity and acceleration to “0”. For the reliability, the reliability information acquired from the initialization spot 12 is set.

The seventh initialization process is executed as described above.

According to the seventh initialization process, since close proximity wireless communication has a very short communication distance, it is possible to obtain highly accurate known position information.

In the seventh initialization process described above, (the initialization information acquisition unit 24 of) the mobile unit 11 acquires the initialization information through close proximity wireless communication with the initialization spot 12. However, for example, close proximity wireless communication Then, only the spot ID that identifies the initialization spot 12 is acquired, the spot ID is transmitted to the server using cellular communication such as 3G/LTE/5G, and the initialization information corresponding to the spot ID is acquired from the server. You may The initialization information acquisition unit 24 or the exercise state estimation unit 25 may communicate with a server or the like that holds initialization information corresponding to the spot ID.

Alternatively, if the map data stored in the map data storage unit 23 also stores initialization information for each initialized spot 12, in close proximity wireless communication, a spot identifying the initialized spot 12 is stored. Only the ID may be acquired, and the initialization information corresponding to the spot ID may be retrieved from the map data in the map data storage unit 23 and acquired.

<2. Second Embodiment>
<2.1 Configuration example of position information processing system>
FIG. 19 shows a configuration example of a second embodiment of a position information processing system to which the present technology is applied.

In the first embodiment described above, positional information from the GNSS receiver 21 and a plurality of pieces of information such as sensor data obtained by the sensor group 22 are used to estimate the motion state using the sensor fusion algorithm. This is an example of performing initialization using the obtained initialization information.

On the other hand, the second embodiment of FIG. 19 is a form specialized for acquiring the motion state for GNSS reception processing, and for the motion state obtained only by the GNSS receiver, the acquired initialization information This is an example of performing initialization using .

A position information processing system 1 according to the second embodiment includes a mobile object 11 and a position/time recording device 13 .

The mobile object 11 is composed of a GNSS receiver 51 , a communication section 52 and an offset removal section 53 . The GNSS receiver 51 includes a satellite acquisition section 61 , a position calculation section 62 and a position filter section 63 .

The satellite capturing unit 61 captures and tracks positioning satellites.

Positioning satellite acquisition is performed by calculating correlation values while moving the Doppler frequency and code phase in predetermined steps. After all steps are completed, the positioning satellite is acquired from the Doppler frequency and code phase with the highest correlation value (power MAX). deemed not to be supplemented.

Tracking of the positioning satellite is performed by maintaining synchronization with the positioning satellite by using the captured Doppler frequency and code phase as initial values and using a carrier synchronization loop and a code synchronization loop. By maintaining synchronization, the receiver can always know the transmission time (pseudorange) and Doppler frequency of the positioning satellite signal. This tracking process is performed simultaneously for the number of positioning satellites being tracked.

The position calculation unit 62 calculates the position and speed of the GNSS receiver 51 using the pseudoranges and Doppler frequencies corresponding to the number of tracking satellites supplied from the satellite acquisition unit 61 and the time information. do. For the positioning calculation and the speed calculation, for example, a weighted least squares method with a weight according to the reliability of each positioning satellite is used. In addition, signal quality information such as C/No (Carrier to Noise Density Ratio) and elevation angle for each satellite can be used as weights. The position calculation unit 62 outputs the calculated position and velocity to the position filter unit 63 together with the time.

The position filter section 63 performs smoothing (filtering) processing on the position and velocity supplied from the position calculation section 62 . A Kalman filter having three states of position, velocity, and acceleration is generally used for smoothing processing. The position filter section 63 smoothes the position and velocity supplied from the position calculation section 62, and outputs the processed position and velocity together with the time.

The communication unit 52 (position information acquisition unit) acquires position information and time information from the position/time recording device 13 using short-range communication, and supplies the information to the offset removal unit 53 . For example, when the mobile object 11 is a smartphone, NFC defined as ISO/IEC 18092, TransferJet (registered trademark) defined as ISO/IEC 17568, BLE (Bluetooth (registered trademark) Low Energy) etc. can be used. When NFC is used as short-range communication, the communication unit 52 may have either a reader/writer function or a card function. Further, for example, when the moving object 11 is an automobile and the position/time recording device 13 is an ETC gate, DSRC can be used as short-range communication.

When the communication unit 52 acquires the speed information from the position/time recording device 13 in addition to the position information and the time information, the communication unit 52 also supplies the speed information to the offset removal unit 53 .

As in the first embodiment, the position information provided by the position/time recording device 13 may be an encoded image obtained by encoding the position information. It is only necessary to have an imaging function instead of the function.

The position/time recording device 13 with which the communication unit 52 performs short-range communication holds the position information of the device itself and the current time information, and transmits the information to the communication unit 52 . The location information is latitude, longitude, and altitude information obtained by advanced surveying. The time information is highly-accurately synchronized time information obtained via cellular communication such as 3G, 4G, and 5G.

Note that the time information is not essential, and at least the position information should be stored in the position/time recording device 13 . However, if highly accurate time information can be obtained, it is preferable because it can contribute to highly accurate positioning on the GNSS receiver 51 side. On the other hand, if the time information is omitted, the position/time recording device 13 only needs to store static information of the position information. It can be realized by power supply. As a result, the installation cost of the position/time recording device 13 can be greatly reduced, so there is an advantage that the position/time recording device 13 as the initialization spot 12 can be installed in more places. In addition, when the position information is provided by NFC or encoded image, since the moving object 11 is read in a state of being almost stationary, there is an advantage that the speed information can be set as "0". be. Of course, if the mobile object 11 is a smartphone or the like, the communication unit 52 may detect the speed with higher accuracy using an internal acceleration sensor or gyro sensor.

The offset removal unit 53 supplies initialization information to the GNSS receiver 51 based on the information acquired from the position/time recording device 13, in other words, position information for correction, speed information, time information, and reliability information. to generate

Specifically, since the offset removal unit 53 converts the acquired position of the position/time recording device 13 into the position of the moving body 11, the positions of the position/time recording device 13 and the communication unit 52 are calculated from the acquired position information. Remove the offset.

For example, when position information is acquired from the position/time recording device 13 by NFC, the distance between the position/time recording device 13 and the communication unit 52 is several centimeters. From the position of , remove an offset of a few cm in the altitude direction.

Further, for example, when the position and time recording device 13 holds the encoded image and the communication unit 52 acquires the position information by reading the encoded image, the position and time record calculated from the angle of view of the read encoded image is recorded. The distance between device 13 and communication unit 52 is removed as an offset.

Also, for example, when the moving object 11 is a drone, the distance to the position/time recording device 13 detected from other sensor information such as an air pressure sensor or ToF sensor is removed from the acquired position of the position/time recording device 13. be done.

As for the speed information, when the position information of the position/time recording device 13 is provided by NFC or an encoded image, the offset removal unit 53 sets the speed information as initialization information to "0". If the mobile object 11 is a smart phone, an automobile, or the like, the communication unit 52 detects the speed from a built-in acceleration sensor, a gyro sensor, an in-vehicle pulse, or the like, and sets speed information. Note that even if the mobile body 11 is an object that can transmit and receive data while moving, the mobile body 11 may be constrained to acquire position information from the position/time recording device 13 while stationary. By setting the speed to "0", the speed information may be set.

Also, the offset removal unit 53 sets the reliability of the initialization information supplied to the GNSS receiver 51 . For example, the offset removing unit 53 sets reliability using a covariance matrix.

Also, the offset removing unit 53 can set the reliability as follows. For example, when the position information is acquired from the position/time recording device 13 by NFC, and the distance between the moving object 11 and the position/time recording device 13 is extremely short, the error in the position information is extremely small, so the reliability is high. set. On the other hand, when the position/time recording device 13 is an ETC gate and the position information is acquired by DSRC, a low reliability is set. Further, when the position/time recording device 13 is a coded image, the reliability is set based on the distance to the coded image, the angle at which the image was captured, and the like. In addition, the greater the noise inherent in the sensor that acquires the positional information in principle, the lower the reliability is set.

The offset removal unit 53 supplies the obtained position information, speed information, time information, and reliability information to the position calculation unit 62 and the position filter unit 63 .

Each of the position calculation unit 62 and the position filter unit 63 uses the position information, the speed information, the time information, and the reliability information supplied as the initialization information from the offset removal unit 53 to determine the motion of the moving body 11. Estimate the state with high accuracy.

In the position information processing system 1 according to the second embodiment configured as described above, the position/time recording device 13 provides the moving body 11 with known position information as initialization information. In one embodiment, it corresponds to the initialization spot 12 . As with the initialization spot 12, if the moving object 11 is an automobile, the position and time recording device 13 is composed of a communication pole, a fuel supply device, a charging device, an ETC gate, a traffic light, a sign post, a roadside device, a speed measuring device, and the like. can do. Also, if the mobile object 11 is a smart phone, the position/time recording device 13 can be composed of a ticket gate or ticket vending machine of transportation, a register device, an NFC poster, a digital signage, or the like.

The satellite acquisition unit 61 and the position calculation unit 62 of the GNSS receiver 51 are measurement units that measure the motion state of the mobile object 11 based on the positioning signal. Equivalent to.

The position filter unit 63 of the GNSS receiver 51 is a control unit that estimates and outputs the true motion state of the moving body 11 from the position information and speed information from the position calculation unit 62. In other words, it corresponds to the exercise state estimation unit 25 .

The communication unit 52 and the offset removal unit 53 are acquisition units that acquire known position information as initialization information of the moving body 11 from the position/time recording device 13 and supply it to the position calculation unit 62 and the position filter unit 63 . , corresponds to the initialization information acquisition unit 24 in the first embodiment.

<2.2 Application of Initialization Information in Position Filter Unit 63>
The application of the initialization information supplied from the offset removal section 53 to the position filter section 63 will be described with reference to FIGS. 20 to 23. FIG.

It is known that the current positioning by a single GNSS receiver has an error of several meters to several tens of meters. Especially in an urban environment, multipath effects reduce position accuracy.

For example, as shown in FIG. 20, the estimated position of the mobile object 11 is the position P from the distance 91 from the positioning satellite 81 and the distance 92 from the positioning satellite 82 detected under the influence of multipath. It may be computed as As a result, the solid-line trajectory 102 is detected even though the moving object 11 actually moves along the dashed-line trajectory 101 .

Therefore, in general, using the fact that velocity measurement is not easily affected by multipath, the position filter unit 63 integrates the velocity to calculate the position, and uses a Kalman filter to calculate the velocity integration result and the positioning result. to find the most likely position. As a result, for example, the moving body 11 is corrected as if it had moved along the trajectory 103 shown in FIG.

However, since the velocity integral value is emphasized, as shown in FIG. 22, if there is a deviation in the initial position, the offset cannot be eliminated. FIG. 22 shows the trajectory 104 of the moving body 11 when the position P12 is recognized as the initial position with respect to the actual position P11 of the moving body 11 .

On the other hand, in the position information processing system 1 according to the second embodiment, as shown in FIG. , the position of the moving body 11 can be corrected.

<2.3 Application of Initialization Information in Position Calculator 62>
Application of the initialization information supplied from the offset removal unit 53 to the position calculation unit 62 will be described with reference to FIGS. 24 and 25. FIG.

As shown in FIG. 24, the distance calculated from the positioning satellite 121 is a pseudo-range affected by multipath, ionosphere, and troposphere. The geometric distance, which is the exact distance to , is unknown.

However, if known position information can be obtained from the position/time recording device 13, the accurate position of the moving body 11 can be known as its relative position, so that the geometric distance can be calculated. Then, the pseudorange error for each of the plurality of positioning satellites 121 can be obtained from the difference between the pseudorange and the geometrical range, that is, the pseudorange error=(pseudorange−geometrical range).

As shown in FIG. 25, by comparing the pseudorange errors for each of the plurality of positioning satellites 121, it is possible to determine whether or not each positioning satellite 121 is beyond line of sight. The reliability of the pseudorange of the positioning satellite 121 with large pseudorange error is low, and the reliability of the pseudorange of the positioning satellite 121 with small pseudorange error is high. Note that the pseudorange error here does not include the clock error of the receiver.

The position calculation unit 62 sets weights for positioning satellites with large pseudo-range errors and large weights for positioning satellites with small pseudo-range errors as weights for performing positioning calculations using the weighted least squares method. , the position calculation accuracy can be improved by performing the positioning calculation. Alternatively, positioning satellite data with a large pseudorange error may be excluded from positioning calculation targets.

Similarly, speed calculation accuracy can be improved. Specifically, since the accurate velocity of the moving body 11 is supplied from the offset removing unit 53, the Doppler frequency error for each of the plurality of positioning satellites 121 can be obtained using the accurate velocity.

The position calculation unit 62 sets a weight for a positioning satellite with a large Doppler frequency error to a small weight and a weight for a positioning satellite with a small Doppler frequency error as a weight for speed calculation using the weighted least squares method. , the speed calculation accuracy can be improved.

<2.4 Initialization processing of the second embodiment>
Initialization processing by the position information processing system 1 according to the second embodiment will be described with reference to the flowchart of FIG. 26 . This process is started, for example, at the same time as the mobile body 11 is powered on.

First, in step S201, the communication unit 52 determines whether or not the position/time recording device 13 has been detected, and repeats the process of step S201 until it determines that the position/time recording device 13 has been detected.

For example, when the communication unit 52 uses NFC to exchange information with the position and time recording device 13, the position and time recording device 13 exists within the RF field (magnetic field) output by the communication unit 52, and the position and time recording device 13 is present. When receiving a response from the device 13, the communication unit 52 determines that the position/time recording device 13 has been detected.

For example, when the position/time recording device 13 holds an encoded image and the communication unit 52 acquires position information by reading the encoded image, the position/time recording device 13 is included in the image captured by the communication unit 52. When the encoded image held by is detected, the communication unit 52 determines that the position/time recording device 13 has been detected.

If it is determined in step S201 that the position/time recording device 13 is detected, the process proceeds to step S202, and the communication unit 52 acquires at least position information from the position/time recording device 13, supply. When the communication unit 52 acquires the time information and the speed information in addition to the position information, the communication unit 52 also supplies them to the offset removal unit 53 .

In step S<b>203 , the offset removing unit 53 removes the offset between the positions of the position/time recording device 13 and the communication unit 52 from the position information acquired from the position/time recording device 13 .

Also, in step S203, the offset removing unit 53 sets speed information and reliability information.

For example, the offset removal section 53 sets the speed information according to the type of the position/time recording device 13 . Specifically, the offset removal unit 53 sets the speed information to "0" when the position information of the position/time recording device 13 is provided by NFC or an encoded image. If the position/time recording device 13 is an ETC gate, the speed information acquired from the position/time recording device 13 by DSRC is set.

As for the reliability information, for example, the offset removing unit 53 sets the reliability using a covariance matrix or according to the distance between the moving body 11 and the position/time recording device 13 .

In step S204, the offset removal unit 53 supplies the obtained position information, speed information, time information, and reliability information to the position calculation unit 62 and the position filter unit 63 as initialization information.

In step S<b>205 , each of the position calculation unit 62 and the position filter unit 63 initializes the position and velocity based on the initialization information supplied from the offset removal unit 53 . The position calculator 62 obtains a pseudorange error and a Doppler frequency error from the position information and the velocity information as initialization information, and reflects them in the weights of the weighted least squares method when performing the positioning calculation and the velocity calculation. The position filter unit 63 corrects the positioning result using the Kalman filter using the position information and velocity information as initialization information. Correction processing by the Kalman filter may be corrected by a particle filter.

After step S205, the process returns to step S201, and steps S201 to S205 described above are repeated. As a result, the position information and velocity information output by the GNSS receiver 51 are corrected with high accuracy each time the position/time recording device 13 is detected.

The initialization process of the second embodiment is executed as described above, and the position information and velocity information output by the GNSS receiver 51 can be corrected with high accuracy.

<3. Computer configuration example>
The series of processes described above can be executed by hardware or by software. When executing a series of processes by software, a program that constitutes the software is installed in the computer. Here, the computer includes, for example, a microcomputer built into dedicated hardware and a general-purpose personal computer capable of executing various functions by installing various programs.

FIG. 27 is a block diagram showing a configuration example of hardware of a computer that executes the series of processes described above by a program.

In the computer, a CPU (Central Processing Unit) 201 , a ROM (Read Only Memory) 202 and a RAM (Random Access Memory) 203 are interconnected by a bus 204 .

An input/output interface 205 is also connected to the bus 204 . An input unit 206 , an output unit 207 , a storage unit 208 , a communication unit 209 and a drive 210 are connected to the input/output interface 205 .

The input unit 206 includes a keyboard, mouse, microphone, touch panel, input terminals, and the like. The output unit 207 includes a display, a speaker, an output terminal, and the like. The storage unit 208 is composed of a hard disk, a RAM disk, a non-volatile memory, or the like. A communication unit 209 includes a network interface and the like. A drive 210 drives a removable recording medium 211 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.

In the computer configured as described above, the CPU 201 loads, for example, a program stored in the storage unit 208 into the RAM 203 via the input/output interface 205 and the bus 204 and executes the above-described series of programs. is processed. The RAM 203 also appropriately stores data necessary for the CPU 201 to execute various processes.

In the computer, the program can be installed in the storage section 208 via the input/output interface 205 by loading the removable recording medium 211 into the drive 210 . Also, the program can be received by the communication unit 209 and installed in the storage unit 208 via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting. In addition, programs can be installed in the ROM 202 and the storage unit 208 in advance.

In this specification, the steps described in the flowcharts are not necessarily processed in chronological order, but may be executed in parallel or when called. It may be executed at necessary timing such as.

In this specification, a system means a set of a plurality of components (devices, modules (parts), etc.), and it does not matter whether all the components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and a single device housing a plurality of modules in one housing, are both systems. .

Embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present technology.

This technology can be applied to all applications that fix the position and inject the initial position.

For example, a form obtained by combining all or part of the multiple embodiments described above can be adopted.

For example, the present technology can take a configuration of cloud computing in which one function is shared by a plurality of devices via a network and processed jointly.

Further, each step described in the flowchart above can be executed by one device, or can be shared by a plurality of devices and executed.

Furthermore, when one step includes a plurality of processes, the plurality of processes included in the one step can be executed by one device or shared by a plurality of devices.

Note that the effects described in this specification are merely examples and are not limited, and there may be effects other than those described in this specification.

Note that the present technology can also take the following configuration.
(1)
a measuring unit that measures the motion state of the moving body;
an estimating unit for estimating the true motion state of the moving object from the measurement result of the measuring unit;
and an acquisition unit for acquiring initialization information,
Information processing apparatus, wherein the estimation unit initializes a true motion state of the moving object based on the initialization information.
(2)
The information processing device according to (1), wherein the acquisition unit acquires the initialization information from the other device by performing short-range communication with the other device.
(3)
The information processing apparatus according to (2), wherein the acquisition unit performs short-range communication with a plurality of the other devices, and acquires the initialization information from the other device with the highest received power.
(4)
The information processing apparatus according to any one of (1) to (3), wherein the acquisition unit acquires the initialization information when preparation for charging is completed.
(5)
The acquisition unit acquires identification information for identifying the initialization information through a first communication, and acquires the initialization information through a second communication based on the identification information. (1) The information processing apparatus according to any one of (3) to (3).
(6)
The information processing apparatus according to any one of (1) to (3), wherein the acquisition unit acquires position information of the moving body and reliability information thereof as the initialization information.
(7)
The information processing apparatus according to any one of (1) to (3), wherein the acquisition unit acquires position information and speed information of the moving body and reliability information thereof as the initialization information.
(8)
The information processing apparatus according to any one of (1) to (3), wherein the acquisition unit acquires the initialization information by capturing an encoded image.
(9)
The information processing device according to (8), wherein the encoded image is a two-dimensional code.
(10)
The information processing device
estimating the true motion state of the moving body from the measurement result of measuring the motion state of the moving body;
get the initialization information,
An information processing method for initializing a true motion state of the moving body based on the acquired initialization information.
(11)
a receiving unit that receives a positioning signal from a positioning satellite;
a location information acquisition unit that acquires location information of a mobile object;
A control unit that calculates the position of the mobile object based on the positioning signal and initializes the position based on the acquired position information.
(12)
The control unit calculates the position of the mobile object using a weighted least-squares method with a weight according to the reliability of each positioning satellite, and sets the weight based on the acquired position information. 11) The information processing device described above.
(13)
The information processing apparatus according to (12), wherein the control unit sets the weight based on a pseudorange error obtained from the acquired position information.
(14)
The position information acquisition unit also acquires speed information of the moving body,
The control unit calculates the speed of the moving body using a weighted least squares method with a weight according to the reliability of each positioning satellite, and sets the weight based on the obtained speed information. 11) The information processing apparatus according to any one of (13).
(15)
The information processing device according to (14), wherein the control unit sets the weight based on a Doppler frequency error obtained from the acquired velocity information.
(16)
The information processing apparatus according to any one of (11) to (15), wherein the position information acquisition unit acquires the position information by performing short-range communication with another device.
(17)
The information processing apparatus according to any one of (11) to (15), wherein the position information acquisition unit acquires the position information by capturing an encoded image.

1 position information processing system 11 moving object 12 initialization spot 13 position and time recording device 21 GNSS receiver 22 sensor group 23 map data storage unit 24 initialization information acquisition unit 25 movement state estimation unit 51 GNSS receiver, 52 communication unit, 53 offset removal unit, 61 satellite acquisition unit, 62 position calculation unit, 63 position filter unit, 201 CPU, 202 ROM, 203 RAM, 206 input unit, 207 output unit, 208 storage unit, 209 communication unit, 210 drive

Claims (14)

a measuring unit that measures the motion state of the moving body;
an estimating unit that estimates the position, velocity, and acceleration of the moving object from the measurement results of the measuring unit;
and an acquisition unit that acquires initialization information from the initialization spot,
When the acquisition unit acquires position information and its reliability information as the initialization information, the estimation unit sets the position information acquired as the initialization information for the position of the moving object, The velocity and acceleration of the body are set to "0", and when the acquisition unit acquires the velocity information and its reliability information in addition to the position information as the initialization information, the position and velocity of the moving body , the position information and the speed information acquired by the acquisition unit are set as information processing apparatus. The information processing apparatus according to claim 1, wherein the acquisition unit acquires the initialization information from the initialization spot by performing short-range communication with the initialization spot. The information processing apparatus according to claim 2, wherein the acquisition unit performs short-range communication with a plurality of the initialization spots, and acquires the initialization information from the initialization spot with the maximum received power. The information processing apparatus according to claim 1, wherein the acquisition unit acquires the initialization information when preparation for charging is completed. When identification information for identifying the initialization information is obtained from the initialization spot via the first communication, the obtaining unit performs second communication from a device different from the initialization spot based on the identification information. The information processing apparatus according to claim 1, wherein the initialization information is acquired via. The information processing apparatus according to claim 1, wherein the acquisition unit acquires the initialization information by capturing a coded image of the initialization spot. The information processing apparatus according to claim 6 , wherein the encoded image is a two-dimensional code. The information processing device
estimating the position, velocity, and acceleration of the moving body from the measurement results of measuring the motion state of the moving body;
When position information and its reliability information are obtained from the initialization spot as initialization information, the position information obtained as the initialization information is set for the position of the moving body, and the velocity and acceleration of the moving body are set. is set to "0", and when speed information and its reliability information are acquired in addition to the position information as the initialization information, the acquired position information and speed Set information How information is processed. a receiving unit that receives a positioning signal from a positioning satellite;
a location information acquisition unit that acquires location information as initialization information of the moving object from a location recording device;
a speed information setting unit that sets speed information as the initialization information according to the type of the position recording device;
a control unit that calculates the position and speed of the moving object based on the positioning signal, and corrects the calculated position and speed of the moving object based on the position information and the speed information that are the initialization information; with
The information processing device, wherein the speed information setting unit sets the speed information as the initialization information to "0" when the position information of the initialization information is provided from the position recording device in the form of NFC or an encoded image. The control unit calculates the position of the mobile object using a weighted least-squares method to which a weight is added according to the reliability of each positioning satellite, and sets the weight based on the acquired position information. 10. The information processing device according to 9 . The information processing apparatus according to claim 10 , wherein the control section sets the weight based on a pseudorange error obtained from the acquired position information. The control unit calculates the velocity of the moving body using a weighted least squares method to which a weight is added according to the reliability of each positioning satellite, and sets the weight based on the acquired velocity information. 10. The information processing device according to 9 . The information processing apparatus according to claim 12 , wherein the control section sets the weight based on a Doppler frequency error obtained from the acquired velocity information. The position information acquisition unit also acquires speed information as the initialization information from the position recording device,
The information processing apparatus according to claim 9 , wherein the speed information setting section sets the speed information acquired by the position information acquisition section as the speed information of the initialization information.

Images