JPWO2019135364A1 - Information processing device and information processing method - Google Patents

Abstract

The present technology relates to an information processing device and an information processing method that enable highly accurate correction of position information by a simpler method. The moving body has a GNSS receiving unit that measures the moving state of the moving body, a moving state estimation unit that estimates the true moving state of the moving body from the measurement results of the GNSS receiving unit, and initialization information for acquiring initialization information. The motion state estimation unit, which includes an acquisition unit, initializes the true motion state of the moving body based on the initialization information. The present technology can be applied to, for example, an information processing device that performs processing for estimating the motion state of a moving body.

Description

The present technology relates to an information processing apparatus and an information processing method, and more particularly to an information processing apparatus and an information processing method capable of correcting position information with high accuracy by a simpler method.

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

Japanese Unexamined Patent Publication No. 5-66260 Japanese Unexamined Patent Publication No. 2005-247042

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

This technique has been made in view of such a situation, and makes it possible to correct the position information with high accuracy by a simpler method.

The information processing device of the first aspect of the present technology is initialized with a measuring unit that measures the moving state of the moving body, an estimating unit that estimates the true moving state of the moving body from the measurement results of the measuring unit, and the estimation unit. The estimation unit is provided with an acquisition unit for acquiring information, and the estimation unit initializes the true motion state of the moving body based on the initialization information.

In the information processing method of the first aspect of the present technology, the information processing device measures the moving state of the moving body, estimates the true moving state of the moving body from the measurement result of the measuring unit, and initializes information. Is acquired, and the true motion state of the moving body is initialized based on the acquired initialization information.

The information processing device of the 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 of a moving body, and a moving body based on the positioning signal. It is provided with a control unit that calculates the position and initializes the position based on the acquired position information.

In the second aspect of the present technology, the positioning signal is received from the positioning satellite, the position information of the moving body is acquired, the position of the moving body is calculated based on the positioning signal, and the acquired position is calculated. The position is initialized based on the position information.

The information processing device of the first and second aspects of the present technology can be realized by causing a computer to execute a program.

Further, 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 on a recording medium. be able to.

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

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

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

It is a block diagram which shows the structural example of the 1st Embodiment of the position information processing system to which this technique is applied. It is a figure explaining the 1st initialization process. It is a flowchart explaining the 1st initialization process. It is a figure explaining the 1st initialization process. It is a figure explaining the 2nd initialization process. It is a flowchart explaining the 2nd initialization process. It is a figure explaining the 3rd initialization process. It is a flowchart explaining the 3rd initialization process. It is a figure explaining the 3rd initialization process. It is a figure explaining the 4th initialization process. It is a flowchart explaining the 4th initialization process. It is a figure explaining the 4th initialization process. It is a figure explaining the 5th initialization process. It is a flowchart explaining the 5th initialization process. It is a figure explaining the 6th initialization process. It is a flowchart explaining the sixth initialization process. It is a figure explaining the 7th initialization process. It is a flowchart explaining the 7th initialization process. It is a block diagram which shows the structural example of the 2nd Embodiment of the position information processing system to which this technique is applied. It is a figure explaining the application in the position filter part of the initialization information. It is a figure explaining the application in the position filter part of the initialization information. It is a figure explaining the application in the position filter part of the initialization information. It is a figure explaining the application in the position filter part of the initialization information. It is a figure explaining the application in the position calculation part of the initialization information. It is a figure explaining the application in the position calculation part of the initialization information. It is a flowchart explaining the initialization process of the 2nd Embodiment. It is a block diagram which shows the structural example of one Embodiment of the computer to which this technique is applied.

Hereinafter, embodiments for carrying out the present technology (hereinafter referred to as embodiments) will be described. The explanation will be given in the following order.
1. 1. First Embodiment (Example of Sensor Fusion Algorithm)
2. 2. Second Embodiment (Example of GNSS receiver)
3. 3. Computer configuration example

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

The position information processing system 1 of FIG. 1 is configured to include a moving body 11 and an initialization spot 12, and the moving body 11 as an information processing device estimates its own position information.

The moving body 11 is a movable object such as an automobile (including an electric vehicle) or a drone. Further, the moving body 11 is not limited to the case where it is self-propelled, and may move from place to place by being carried by the user, such as a mobile terminal such as a smartphone.

The mobile body 11 includes a GNSS receiving unit 21, a sensor group 22, a map data storage unit 23, an initialization information acquisition unit 24, and a motion state estimation unit 25.

The GNSS receiving unit 21 receives the positioning signal broadcast by the positioning satellite of the GNSS (Global Navigation Satellite System) and performs positioning. The GNSS receiver 21 is composed of receivers that receive a plurality of radio waves from positioning satellites such as GPS (USA), GLONASS (Russia), BeiDou (China), Galileo (EU), and the quasi-zenith satellite Michibiki (Japan). Will be done.

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

The sensor group 22 (measurement unit) is composed of one or more sensors for detecting the movement of the moving body 11. Examples of the sensors included in the sensor group 22 include 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. Examples include sensors, tactile sensors, force sensors, accelerator pedal operating amounts, brake pedal operating amounts, steering wheel steering angles, engine speeds, wheel rotation speeds, and the like.

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

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

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

The initialization information acquisition unit 24 has a communication function for 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 the position information of the initialization spot 12 and its reliability information. Position information is represented by, for example, latitude, longitude, and altitude. The reliability information is represented by a numerical value in the range of 0 to 1, for example, and 1 is the most reliable information.

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 specified as ISO / IEC 14443 and proximity type specified as ISO / IEC 15693. Non-contact communication, NFC (Near Field Communication) specified as ISO / IEC 18092, Bluetooth (registered trademark), and other short-range wireless communication with a communication distance of several meters to several centimeters are 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 mobile body 11 communicates in the vicinity of the initialization spot 12.

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

For example, when the moving body 11 is an automobile, a communication pole arranged near the parking position of the parking lot, a refueling device or charging device of a gas station, an ETC gate, a traffic light, a sign post, a roadside machine, an ORBIS, etc. The speed measuring instrument and the like can be the initialization spot 12. For example, when the moving body 11 is a drone, a communication pole or a charging device arranged in the vicinity of the parking lot can be the initialization spot 12.

Further, for example, when the mobile body 11 is a smartphone, the initialization spot 12 is a ticket gate or ticket vending machine (charging machine) for transportation having a communication function such as NFC, a register device, an NFC poster in which an NFC tag is embedded, or Digital signage or the like can be the initialization spot 12.

It should be noted that the initialization information acquisition unit 24 does not necessarily have to communicate with the initialization spot 12 as long as it can acquire the initialization information of the position. For example, a coded image in which position information is encoded is installed at a predetermined position as an initialization spot 12, and an image sensor as an initialization information acquisition unit 24 captures the coded image to obtain position information. May be obtained. The coded image is, for example, a two-dimensional code called a QR code (registered trademark). In that case, the reliability information is determined according to the situation when the coded image is read. For example, the reliability information is determined based on the distance and angle to the coded image, the degree of focus, and the like calculated from the coded 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 that the initialization spot 12 can be installed at low cost. When the initialization spot 12 is a poster or digital signage, it suffices if a coded image is displayed. The coded image may also be an image displaying numerical values corresponding to latitude, longitude, and altitude. In this case, the initialization information acquisition unit 24 recognizes the captured image as characters to provide position information. 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), and the like, and by executing various programs, the motion state of the moving body 11, for example, Estimate position, speed, posture, etc. The motion state estimation unit 25 moves by integrating the position information and time information supplied from the GNSS receiving unit 21, the sensor data supplied from the sensor group 22, and the map data supplied from the map data storage unit 23. A so-called sensor fusion algorithm that estimates the motion state of the body 11 is executed.

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

However, the sensor fusion algorithm has a drawback that the accuracy is low until the estimation result converges.

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.

Hereinafter, the initialization process for setting the initial motion state of the moving body 11, which is realized in various situations, by acquiring the initialization information from the initialization spot 12 will be described.

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

As shown in FIG. 2, the first initialization process is, for example, an example in which the moving body 11 is an automobile and the initialization spot 12 is a communication pole arranged near the parking position of the parking lot. Will be described. In this example, the automobile which is the mobile body 11 and the communication pole which is the initialization spot 12 perform short-range wireless communication.

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

In the first initialization process, first, in step S1, 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, a response corresponding to the request is returned from all the initialization spots 12.

In step S2, the initialization information acquisition unit 24 selects the initialization spot 12 of the maximum received power as the initialization spot 12 of the communication partner among the initialization spots 12 that have returned the response in response to the request. The initialization spot 12 having the maximum received power is the initialization spot 12 located at the closest distance to the moving body 11. Therefore, in other words, the initialization information acquisition unit 24 selects the closest initialization spot 12 among the initialization spots 12 that have returned the response in response to the request as the communication partner's initialization spot 12.

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, the position information of the initialization spot 12 itself and its reliability information are obtained. To get the initialization information. The acquired initialization information is supplied to the motion state estimation unit 25.

In step S4, the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (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 acquired from the initialization spot 12 for the position as the motion state of itself (moving body 11), and sets “0” for the velocity and acceleration. For the reliability, the reliability information acquired from the initialization spot 12 is set. If the velocity or acceleration information can be acquired from the sensors constituting the sensor group 22, the velocity or acceleration information acquired from the sensors may be set.

The first initialization process is executed as described above.

The first initialization process described above is started when the engine of the automobile which is the moving body 11 is started. For example, when the moving automobile is parked (stopped) in a predetermined parking lot. You can also get started.

Further, for example, as shown in FIG. 4, even when the moving body 11 is a drone, when the drone is activated or landed at the parking lot, the above-mentioned first initialization process can be executed. it can.

<1.3 Second initialization process>
Next, the second initialization process will be described.

As shown in FIG. 5, the second initialization process describes, for example, an example in which the moving body 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 as the mobile body 11 and the charging device as 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 and the preparation for charging is completed for the automobile stopped at the predetermined position of the gas station, FIG. The 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 the connected cable, and from the position information of the initialization spot 12 itself and its reliability information. Get the initialization information. The acquired initialization information is supplied to the motion state estimation unit 25.

In step S22, the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (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 acquired from the initialization spot 12 for the position as the motion state of itself (moving body 11), and sets “0” for the velocity and acceleration. 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 charging cable of the electric vehicle which is the moving body 11, but the vehicle is a hybrid vehicle or a gasoline vehicle, and gasoline or light oil is refueled. In that case, the initialization information can be acquired via the communication cable integrated with the refueling cable.

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

<1.4 Third initialization process>
Next, the third initialization process will be described.

As shown in FIG. 7, the third initialization process describes, for example, an example in which the moving body 11 is an electric vehicle or a hybrid vehicle and the initialization spot 12 is a charging device that charges wirelessly. To do. In this example, the electric vehicle, which is the mobile body 11, and the charging device, which is the initialization spot 12, perform short-range wireless communication.

When charging wirelessly, it is necessary to stop at the place where the coil is laid with high accuracy, and as shown in FIG. 7, when the electric vehicle which is the moving body 11 is stopped on the power feeding coil 12A. , 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 uses short-range wireless communication to obtain initialization information including the position information of the initialization spot 12 itself and its reliability information. get. The acquired initialization information is supplied to the motion state estimation unit 25.

In step S42, the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (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 acquired from the initialization spot 12 for the position as the motion state of itself (moving body 11), and sets “0” for the velocity and acceleration. 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, in the non-contact power supply, it is possible to acquire the known position information with high accuracy by utilizing the fact that the alignment is severe.

In the third initialization process described above, the mobile body 11 (initialization information acquisition unit 24) acquired the initialization information by short-range wireless communication with the initialization spot 12, for example, short-range. In wireless communication, only the spot ID that identifies the initialization spot 12 is acquired, and the acquired 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 transmitted. It may be obtained from the server. Communication with the server or the like that holds the initialization information corresponding to the spot ID may be performed by the initialization information acquisition unit 24 or by the motion state estimation unit 25.

As shown in FIG. 9, even when the mobile body 11 is a drone and the drone performs non-contact power supply, the above-mentioned third initialization process can be executed.

<1.5 Fourth initialization process>
Next, the fourth initialization process will be described.

As shown in FIG. 10, the fourth initialization process is, for example, an example in which the moving body 11 is a drone, the initialization spot 12 is a parking lot, and the coded image 12A is installed there. Will be described. The initialization information acquisition unit 24 of the mobile body 11 is composed of, for example, an image sensor, and when the drone takes off from the parking lot, 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 captures the coded image 12A attached to the ground at the timing when the vehicle rises a predetermined distance from the ground of the parking lot. , The position information of the initialization spot 12 and the reliability information thereof are acquired. The position information of the initialization spot 12 is obtained by decoding the coded image 12A, and the reliability information is determined from the recognition level such as the distance and the angle when the coded image 12A is imaged. The position information of the initialization spot 12 and the reliability information thereof are supplied to the motion state estimation unit 25 as initialization information.

In step S62, the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (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 acquired from the initialization spot 12 for the position as the motion state of itself (moving body 11), and sets “0” for the velocity and acceleration. For the reliability, the reliability information acquired from the initialization information acquisition unit 24 is set.

The fourth initialization process is executed as described above. In the above-mentioned example, the coded image 12A is imaged at the timing when the distance rises from the ground by a predetermined distance, but the coded image 12A may be imaged before takeoff.

In the fourth initialization process described above, for example, as shown in FIG. 12, the moving body 11 is a smartphone, the initialization spot 12 is a poster or digital signage, and the coded image 12A is displayed on the display surface. Even if it is, it can be executed in the same manner.

<1.6 Fifth initialization process>
Next, the fifth initialization process will be described.

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

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

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

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

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

In step S84, the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (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 velocity information, and the reliability information acquired from the initialization spot 12 as the motion state of itself (moving body 11).

The fifth initialization process is executed as described above.

<1.7 Sixth initialization process>
Next, the sixth initialization process will be described.

As shown in FIG. 15, the sixth initialization process describes, for example, an example in which the moving body 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 mother ship as the initialization spot 12 measures the speed of the drone departing from the mother ship.

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 transmits the transmitted position information, speed information, and Get reliability information. The acquired position information, velocity information, and reliability information are supplied to the motion state estimation unit 25 as initialization information. The position information indicating the position of the mother ship, the measured velocity information, and the reliability information are RTK-PPP (Real Time Kinematic --Precise Point) by the L6 signal, which is the centimeter-class positioning reinforcement information of the quasi-zenith satellite Michibiki (QZSS). Positioning) can be used to obtain highly reliable and high-definition information.

In step S103, the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (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 velocity information, and the reliability information acquired from the initialization spot 12 as the motion state of itself (moving body 11).

The sixth initialization process is executed as described above.

<1.8 7th initialization process>
Next, the seventh initialization process will be described.

As shown in FIG. 17, the seventh initialization process describes, for example, an example in which the mobile body 11 is a smartphone carried by the user and the initialization spot 12 is a ticket gate of a station. For communication between the initialization information acquisition unit 24 of the mobile body 11 and the ticket gate, which is the initialization spot 12, for example, NFC, which is near field communication, is used. Proximity wireless communication is an extremely short communication with a communication distance of about several centimeters among short-range wireless communications. For example, when the user touches 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 by proximity wireless communication. To do. The acquired initialization information is supplied to the motion state estimation unit 25.

In step S122, the motion state estimation unit 25 initializes (sets) the motion state and reliability of itself (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 acquired from the initialization spot 12 for the position as the motion state of itself (moving body 11), and sets “0” for the velocity and acceleration. 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 the communication distance of the proximity wireless communication is extremely short, it is possible to acquire the known position information with high accuracy.

In the seventh initialization process described above, the mobile body 11 (initialization information acquisition unit 24) acquired the initialization information by the proximity wireless communication with the initialization spot 12, but for example, the 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. Communication with the server or the like that holds the initialization information corresponding to the spot ID may be performed by the initialization information acquisition unit 24 or by the motion state estimation unit 25.

Alternatively, when the map data stored in the map data storage unit 23 also stores the initialization information of each initialization spot 12, in the proximity wireless communication, the spot that identifies the initialization spot 12 Only the ID may be acquired, and the initialization information corresponding to the spot ID may be searched from the map data of the map data storage unit 23 and acquired.

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

In the first embodiment described above, with respect to the motion state estimated by using the sensor fusion algorithm from a plurality of information such as the position information from the GNSS receiving unit 21 and the sensor data obtained by the sensor group 22. This was an example of performing initialization using the acquired initialization information.

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

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

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

The satellite acquisition unit 61 acquires and tracks the positioning satellite.

The acquisition of the positioning satellite is performed by calculating the correlation value while moving the Doppler frequency and the code phase in a predetermined step. After all steps are completed, the positioning satellite is captured from the Doppler frequency and code phase with the highest correlation value (power MAX), but if the maximum correlation value is below a predetermined threshold, the positioning satellite will be acquired. It is considered that it could not be supplemented.

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

The position calculation unit 62 calculates the position and speed of the GNSS receiver 51 using the pseudo-distance and Doppler frequency corresponding to the number of tracking satellites supplied from the satellite acquisition unit 61 and the time information. To do. For the positioning calculation and the speed calculation, for example, a weighted least squares method in which weights are added according to the reliability of each positioning satellite is used. Further, as the weight, signal quality information such as C / No (Carrier to Noise Density Ratio) and elevation angle for each satellite can be used. The position calculation unit 62 outputs the position and speed obtained by the calculation to the position filter unit 63 together with the time.

The position filter unit 63 performs smoothing (filtering) processing of the position and speed supplied from the position calculation unit 62. As the smoothing process, a Kalman filter having three states of position, velocity, and acceleration is generally used. The position filter unit 63 smoothes the position and speed supplied from the position calculation unit 62, and outputs the processed position and speed together with the time.

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

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

As in the first embodiment, the position information provided by the position / time recording device 13 may be a coded image in which the position information is encoded. In this case, the communication unit 52 communicates with the short distance. Instead of the function, it suffices to have an imaging function.

The position / time recording device 13 in 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 position information to the communication unit 52. The position information is latitude, longitude, and altitude information obtained by advanced surveying. The time information is highly accurate synchronized time information acquired via cellular communication such as 3G, 4G, and 5G.

The time information is not essential, and at least the position information may be stored in the position / time recording device 13. However, if highly accurate time information can be acquired, it is preferable because the GNSS receiver 51 can contribute to highly accurate positioning. On the other hand, if the time information is omitted, the position-time recording device 13 only needs to store the static information of the position information, so that the coded image such as the above-mentioned two-dimensional code or NFC is used. It can be realized by power supply. As a result, the installation cost of the position / time recording device 13 can be significantly suppressed, so that there is an advantage that the position / time recording device 13 as the initialization spot 12 can be installed in more places. Further, when the position information is provided by NFC or a coded image, the moving body 11 is read in a substantially stationary state, so that there is an advantage that the speed information can be set as "0". is there. Of course, when the moving body 11 is a smartphone or the like, the communication unit 52 may detect the speed with higher accuracy by using the built-in acceleration sensor or gyro sensor.

The offset removing 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 removing unit 53 converts the acquired position of the position / time recording device 13 into the position of the moving body 11, the position of the position / time recording device 13 and the communication unit 52 is determined from the acquired position information. Remove the offset.

For example, when the 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 cm, so that the offset removing unit 53 uses the acquired position / time recording device 13. Remove an offset of a few cm in the altitude direction from the position of.

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

Further, for example, when the moving body 11 is a drone or the like, the distance from the position / time recording device 13 detected from other sensor information such as the barometric pressure sensor or the ToF sensor is removed from the acquired position / time recording device 13. Will be done.

Regarding the speed information, when the position information of the position / time recording device 13 is provided by NFC or a coded image, the offset removing unit 53 sets the speed information as the initialization information to “0”. When the moving body 11 is a smartphone, an automobile, or the like, the communication unit 52 detects the speed from the built-in acceleration sensor, gyro sensor, vehicle-mounted pulse, or the like, and sets the speed information. Even if the moving body 11 is an object capable of exchanging data while moving, there is a restriction that when the moving body 11 acquires the position information from the position / time recording device 13, the moving body 11 is stationary. Therefore, the speed information may be set with the speed set to "0".

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

Further, the offset removing unit 53 can set the reliability as follows. For example, when the distance between the moving body 11 and the position / time recording device 13 is extremely short, such as when the position information is acquired from the position / time recording device 13 by NFC, the error in the position information is extremely small, so that 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. When the position / time recording device 13 is a coded image, the reliability is set based on the distance to the coded image, the imaged angle, and the like. Further, the larger the noise that the sensor that acquires the position information has in principle, the smaller the reliability is set.

The offset removing 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 initialization information from the offset removal unit 53 to move 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 the embodiment of 1, it corresponds to the initialization spot 12. Similar to the initialization spot 12, the position / time recording device 13 includes a communication pole, a refueling device / charging device, an ETC gate, a traffic light, a sign post, a roadside device, a speed measuring device, and the like when the moving body 11 is an automobile. can do. When the mobile body 11 is a smartphone, the position / time recording device 13 can be composed of a ticket gate or ticket vending machine for 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 moving body 11 based on the positioning signal, and in the first embodiment, the GNSS receiver 21 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 the speed information from the position calculation unit 62, and is the control unit according to the first embodiment. Speaking, it corresponds to the motion 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. , In the first embodiment, it corresponds to the initialization information acquisition unit 24.

<2.2 Application of initialization information in position filter unit 63>
The application of the initialization information supplied from the offset removing unit 53 to the position filter unit 63 will be described with reference to FIGS. 20 to 23.

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, the position accuracy is reduced due to the influence of multipath.

For example, as shown in FIG. 20, the estimated position of the moving body 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 calculated as it is. As a result, although the moving body 11 is actually moving along the broken line locus 101, the solid line locus 102 is detected.

Therefore, in general, the position filter unit 63 integrates the speed to calculate the position by utilizing the fact that the speed measurement is not easily affected by multipath, and the Kalman filter is used to integrate the speed and the positioning result. To find the most probable position. As a result, for example, the moving body 11 is corrected as if it had moved the locus 103 shown in FIG.

However, since the velocity integral value is emphasized, the offset cannot be eliminated if there is a deviation in the initial position as shown in FIG. FIG. 22 shows the locus 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. 23, a position / time recording device 13 that stores at least known position information is used, as shown in the locus 105. , The position of the moving body 11 can be corrected.

<2.3 Application of initialization information in position calculation unit 62>
The application of the initialization information supplied from the offset removing unit 53 to the position calculation unit 62 will be described with reference to FIGS. 24 and 25.

As shown in FIG. 24, the distance calculated from the positioning satellite 121 is a pseudo distance influenced by the multipath, the ionosphere, and the troposphere, and is the original moving body 11 (GNSS receiver 51) and the positioning satellite 121. The geometric distance, which is the exact distance to and from, is unknown.

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

As shown in FIG. 25, by comparing the pseudo-distance errors for each of the plurality of positioning satellites 121, it is possible to determine whether or not each positioning satellite 121 is out of sight. The reliability of the pseudo-distance of the positioning satellite 121 having a large pseudo-distance error is low, and the reliability of the pseudo-distance of the positioning satellite 121 having a small pseudo-distance error is high. The pseudo-distance error here does not include the clock error of the receiver.

The position calculation unit 62 sets the weight of the positioning satellite with a large pseudo-distance error to be small and the weight of the positioning satellite with a small pseudo-distance error to be large as the weight when performing the positioning calculation using the weighted least squares method. , Positioning calculation can improve the accuracy of position calculation. Alternatively, the data of the positioning satellite having a large pseudo-distance error may be excluded from the target of the positioning calculation.

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

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

<2.4 Initialization process of the second embodiment>
The initialization process by the position information processing system 1 of the second embodiment will be described with reference to the flowchart of FIG. 26. This process is started, for example, at the same time when the power of the moving body 11 is turned on.

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

For example, when the communication unit 52 exchanges information with the position / time recording device 13 using NFC, the position / time recording device 13 exists in the RF field (magnetic field) output by the communication unit 52 and records the position / time. When the response is received 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 the coded image and the communication unit 52 acquires the position information by reading the coded image, the position / time recording device 13 is included in the image captured by the communication unit 52. When the coded image held by the camera 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 has been detected, the process proceeds to step S202, and the communication unit 52 acquires at least the position information from the position / time recording device 13 and causes the offset removing unit 53 to obtain at least the position information. 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 S203, the offset removing unit 53 removes the offset portion of 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.

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

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

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

In step S204, the offset removing 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 S205, each of the position calculation unit 62 and the position filter unit 63 initializes the position and the speed based on the initialization information supplied from the offset removal unit 53. The position calculation unit 62 obtains a pseudo distance error and a Doppler frequency error from the position information and the speed information as initialization information, and reflects them in the weight of the weighted least squares method when performing the positioning calculation and the speed calculation. The position filter unit 63 corrects the positioning result using the Kalman filter by using the position information and the speed information as the initialization information. The correction process by the Kalman filter may be corrected by the particle filter.

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

The initialization process of the second embodiment is executed as described above, and the position information and speed 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 a series of processes are executed by software, the programs constituting the software are installed on the computer. Here, the computer includes a microcomputer embedded in dedicated hardware and, for example, 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 the hardware of a computer that executes the above-mentioned series of processes programmatically.

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

An input / output interface 205 is further 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, a mouse, a microphone, a touch panel, an input terminal, and the like. The output unit 207 includes a display, a speaker, an output terminal, and the like. The storage unit 208 includes a hard disk, a RAM disk, a non-volatile memory, and the like. The communication unit 209 includes a network interface and the like. The drive 210 drives a removable recording medium 211 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory.

In the computer configured as described above, the CPU 201 loads the 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. Is processed. The RAM 203 also appropriately stores data and the like necessary for the CPU 201 to execute various processes.

In a computer, the program can be installed in the storage unit 208 via the input / output interface 205 by mounting the removable recording medium 211 in the drive 210. The program can also 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, the program can be pre-installed in the ROM 202 or the storage unit 208.

In the present specification, the steps described in the flowchart are performed in chronological order in the order described, and of course, when they are called in parallel or when they are called, even if they are not necessarily processed in chronological order. It may be executed at the required timing such as.

In the present specification, the 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 device in which a plurality of modules are housed in one housing are both systems. ..

The embodiment of the present technology is not limited to the above-described embodiment, and various changes can be made without departing from the gist of the present technology.

This technique is applicable to all applications where the position is fixed and the initial position is injected.

For example, a form in which all or a part of the plurality of embodiments described above can be combined can be adopted.

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

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

Further, 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.

It should be noted that the effects described in the present specification are merely examples and are not limited, and effects other than those described in the present specification may be obtained.

The present technology can also have the following configurations.
(1)
A measuring unit that measures the motion state of a moving body,
An estimation unit that estimates the true motion state of the moving body from the measurement results of the measurement unit, and an estimation unit.
Equipped with an acquisition unit to acquire initialization information
The estimation unit is an information processing device that initializes the true motion state of the moving body 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 device 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 having the maximum received power.
(4)
The information processing device according to any one of (1) to (3), wherein the acquisition unit acquires the initialization information when the preparation for charging is completed.
(5)
The acquisition unit acquires the identification information that identifies the initialization information via the first communication, and acquires the initialization information via the second communication based on the identification information (1). The information processing apparatus according to any one of (3).
(6)
The information processing device according to any one of (1) to (3) above, wherein the acquisition unit acquires the position information of the moving body and the reliability information thereof as the initialization information.
(7)
The information processing device according to any one of (1) to (3) above, 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 a coded image.
(9)
The information processing device according to (8) above, wherein the coded image is a two-dimensional code.
(10)
Information processing device
From the measurement result of measuring the moving state of the moving body, the true moving state of the moving body is estimated.
Get initialization information,
An information processing method that initializes the true motion state of the moving body based on the acquired initialization information.
(11)
A receiver that receives positioning signals from positioning satellites and
The position information acquisition unit that acquires the position information of the moving body,
An information processing device including a control unit that calculates the position of the moving body based on the positioning signal and initializes the position based on the acquired position information.
(12)
The control unit calculates the position of the moving body by using a weighted least squares method in which weights are added according to the reliability of each positioning satellite, and sets the weights based on the acquired position information. 11) The information processing apparatus according to the above.
(13)
The information processing device according to (12), wherein the control unit sets the weight based on a pseudo-distance error obtained from the acquired position information.
(14)
The position information acquisition unit also acquires speed information of the moving body, and
The control unit calculates the speed of the moving body by using a weighted minimum square method in which weights are added according to the reliability of each positioning satellite, and sets the weights based on the acquired speed information. The information processing apparatus according to any one of 11) to (13).
(15)
The information processing device according to (14), wherein the control unit sets the weight based on the Doppler frequency error obtained from the acquired speed information.
(16)
The information processing device 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 a coded image.

1 Position information processing system, 11 Moving object, 12 Initialization spot, 13 Position time recording device, 21 GNSS receiver, 22 Sensor group, 23 Map data storage unit, 24 Initialization information acquisition unit, 25 Motion 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 (17)

A measuring unit that measures the motion state of a moving body,
An estimation unit that estimates the true motion state of the moving body from the measurement results of the measurement unit, and an estimation unit.
Equipped with an acquisition unit to acquire initialization information
The estimation unit is an information processing device that initializes the true motion state of the moving body based on the initialization information. The information processing device according to claim 1, wherein the acquisition unit acquires the initialization information from the other device by performing short-range communication with the other device. The information processing device according to claim 2, wherein the acquisition unit performs short-range communication with the plurality of other devices and acquires the initialization information from the other device having the maximum received power. The information processing device according to claim 1, wherein the acquisition unit acquires the initialization information when the preparation for charging is completed. The acquisition unit acquires the identification information for identifying the initialization information via the first communication, and acquires the initialization information via the second communication based on the identification information. The information processing device described. The information processing device according to claim 1, wherein the acquisition unit acquires the position information of the moving body and the reliability information thereof as the initialization information. The information processing device according to claim 1, wherein the acquisition unit acquires position information and speed information of the moving body and reliability information thereof as the initialization information. The information processing device according to claim 1, wherein the acquisition unit acquires the initialization information by capturing a coded image. The information processing device according to claim 8, wherein the coded image is a two-dimensional code. Information processing device
From the measurement result of measuring the moving state of the moving body, the true moving state of the moving body is estimated.
Get initialization information,
An information processing method that initializes the true motion state of the moving body based on the acquired initialization information. A receiver that receives positioning signals from positioning satellites and
The position information acquisition unit that acquires the position information of the moving body,
An information processing device including a control unit that calculates the position of the moving body based on the positioning signal and initializes the position based on the acquired position information. A claim that the control unit calculates the position of the moving body by using a weighted least squares method in which a weight is added according to the reliability of each positioning satellite, and sets the weight based on the acquired position information. The information processing apparatus according to 11. The information processing device according to claim 12, wherein the control unit sets the weight based on a pseudo-distance error obtained from the acquired position information. The position information acquisition unit also acquires speed information of the moving body, and
The control unit calculates the speed of the moving body by using a weighted minimum square method in which weights are added according to the reliability of each positioning satellite, and sets the weights based on the acquired speed information. The information processing apparatus according to 11. The information processing device according to claim 14, wherein the control unit sets the weight based on the Doppler frequency error obtained from the acquired speed information. The information processing device according to claim 11, wherein the position information acquisition unit acquires the position information by performing short-range communication with another device. The information processing device according to claim 11, wherein the position information acquisition unit acquires the position information by capturing a coded image.

Images