WO2004011881A1 - Moving body position estimation apparatus, position estimation method, and position estimation program - Google Patents

Abstract

A moving body position estimation apparatus includes input means (10) for inputting a landmark recognized by a moving body as landmark information, a landmark database (20) containing position and attribute of landmark information, position estimation means (30) for estimating the current position of the moving body according to the landmark information input through the input means (10) and the landmark information stored in the landmark database (20), guide information creation means (40) for creating guide information according to the position information of the moving body estimated by the position estimation means (30), and output means (50) for outputting the guide information.

Description

 Description Positioning device, position estimation method, and position estimation program for moving object

 The present invention relates to a position estimating apparatus, a position estimating method, and a position estimating program for estimating a current position of a pedestrian (pedestrian) outdoors or indoors, and particularly to a satellite positioning system such as a GPS. TECHNICAL FIELD The present invention relates to a position estimating device, a position estimating method, and a position estimating program for a mobile object capable of accurately and reliably estimating the position of the mobile object without performing. Background art

 Conventionally, there have been proposed techniques for measuring (estimating) the location of a person or a vehicle (moving object) and estimating the position of a moving object for estimating the position to which a powerful moving object moves. Such conventional techniques include the following.

 (1) Also known as Global Navigation Satellite System (GNSS), which measures position using radio waves from artificial satellites, and radio navigation, a position estimation system based on GPS (Global Positioning System) developed in the United States. (2) Self-contained navigation that uses a speed sensor and a direction sensor such as a gyro sensor to accumulate the distance and direction of travel. (3) Hybrid navigation adopted in car navigation systems (commonly known as car navigation systems) that combine the above (1) and (2).

(4) In the above-mentioned (1) GPS, a network-assisted GPS that enables more sensitive and high-speed positioning by supplying information necessary for positioning to the terminal using communication means such as a mobile phone. method. (5) A base station system that uses a base station ID and terminal-side electric field strength to perform positioning within a PHS (Personal Handyphone System) or mobile phone base station. The base station system includes a single base station system using one base station and a multiple base station system using a plurality of base stations to improve accuracy. (6) Hybrid method using GPS and base station information. (7) Install the device in a location where the location is known in advance, and when the device carried by the moving object approaches the installation location, the location is determined by interacting with the device installed in this installation location. The method to identify. (8) A wireless tag system that carries a position by carrying a wireless tag (radio frequency tag) to the mobile object to be positioned, sending a signal to the wireless tag, and receiving a response.

 (9) Using a landmark object that exists in the working environment as a means for estimating the current position, and using a mobile robot that estimates the current position based on the location of the landmark detected by the sensor. However, the above-described conventional position estimation device has the following problems. In other words, (1), (3) and (4) adopt a satellite positioning system that uses radio waves by GPS. For this reason, there is a problem that the device cannot be used effectively in a room or underground shopping mall where radio waves from an artificial satellite do not reach. (2) and (3) use self-contained navigation, so a speed sensor and a direction sensor are required to calculate the change in movement. In other words, in the case of a vehicle, the speed can be detected from the rotation speed of the wheels, but in the case of a pedestrian, a sensor that detects the speed cannot be provided, so that self-contained navigation must be performed for pedestrians. Can not.

 In (5) and (6), a base station system such as PHS is used. However, since the accuracy of position measurement is about several tens to several hundreds of meters, navigation for pedestrians is not possible. Not enough.

 In addition, since (7) and (8) are systems where the device is installed at the position where position measurement is desired, it is necessary to install the device over a wide area in order to enable a wide range of position measurement, which results in cost reduction. However, there is a problem that this may increase.

In addition, in the case of the position estimation technology using landmarks in the mobile robot field (9), the robot's sensor type (camera, ultrasonic sensor, infrared sensor, etc.) For example, some robots use the learning function to select and set the corners and desks of pillars that originally exist in the work environment. To perform position estimation based on landmarks, it is necessary to use multiple ( (3 or more) must be detected by a sensor, which complicates control related to position estimation.

 Therefore, the present invention has been made to solve the above-described problems of the conventional technology, and does not use radio waves from satellites for position measurement as in a satellite positioning system such as a GPS, but as in self-contained navigation. The position of a moving object that does not require a speed sensor or azimuth sensor, does not require special positioning equipment, and can estimate the user's position based on surrounding landmark information input by the user. It is intended to provide an estimating device, a position estimating method, and a position estimating program.

Disclosure of the invention

 In order to solve the above-described problems and achieve the object, the present invention provides a position estimating apparatus for a moving object that estimates a current position and a moving position of a moving object such as a pedestrian, wherein the moving object is recognized as a landmark. Input means for inputting a landmark to be performed as landmark information; a landmark database in which positions and attributes of the landmark information are stored in advance; landmark information input by the input means; and the landmark database Position estimating means for estimating the current position of the moving object based on the landmark information stored in the moving object; and guidance information generation for generating guidance information based on the position information of the moving object estimated by the position estimating means. Means, and output means for outputting the guide information.

The present invention also relates to a method for estimating a current position and a moving position of a moving object such as a pedestrian, the method comprising: estimating a landmark recognized by the moving object as a landmark as landmark information. An information input step; a landmark database in which positions and attributes of the landmark information are stored in advance; landmark information input in the landmark information input step; A position estimating step of estimating a current position of the moving object based on landmark information stored in a database; and a guide information generating step of generating guide information based on the position information estimated in the position estimating step. And a guidance information output step of outputting the guidance information to the moving body.

 The present invention is also a moving object position estimating program for estimating a current position and a moving position of a moving object such as a pedestrian, wherein the landmark information is input as landmark information. An input step, a landmark database in which positions and attributes of the landmark information are stored in advance, landmark information input in the landmark information input step, and landmark information stored in the landmark database. A position estimating step of estimating a current position of the moving object based on the position information; a guide information generating step of generating guide information based on the position information estimated by the position estimating layer; A guidance information output step of outputting to the body is performed by a computer. According to the powerful invention, a landmark recognized by a pedestrian (moving body) is input as landmark information in the landmark information input step, and the input landmark information and the landmark database are input in the position estimation step. Is used to estimate the location of the pedestrian (user), the guide information generation step generates guide information based on the estimated position, and the guide information generated by the guide information output step is output. Therefore, since radio waves from satellites are not used for position measurement unlike the satellite positioning system, even if the radio wave cannot be received, such as in an underground mall or inside a building, it is accurate and reliable for pedestrians (users). Can provide location estimation information. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a functional block diagram showing a configuration of a mobile object position estimating apparatus according to the first embodiment, and FIG. 2 is a flowchart showing a processing procedure of a mobile object position estimating method. Yes, Fig. 3 is a diagram (field) showing an example of landmark arrangement, and Fig. 4 is Fig. 5 is a diagram showing an example of landmark arrangement (underground shopping mall). Fig. 5 is a diagram for inputting landmark information by voice and free text format. Fig. 6 is a text input of landmark information. FIG. 7 is a diagram showing an example of a screen of an input format for each item, FIG. 8 is a diagram showing an example of a screen of a candidate selection input format, and FIG. Fig. 10 is a diagram showing a display example of a screen when advance information on a position is available. Fig. 10 is a diagram showing the configuration of a landmark database. Fig. 11 is a landmark network structure. Fig. 12 shows the landmark network structure (in the case of an underground shopping mall). Fig. 13 shows the position estimation operation of the moving object by the position estimation device. Flowchart showing the processing procedure FIG. 14 is a diagram showing an example of a search processing result, FIG. 15 is a flowchart showing a processing procedure using a screen display for input and output, and FIG. FIG. 17 is a follow chart showing a processing procedure using voice for input / output, FIG. 17 is a follow chart showing a spatial condition matching processing procedure, and FIG. 18 is a follow chart showing a user position determination processing procedure Fig. 19 is a diagram showing a display example of a user inquiry screen for narrowing down landmarks and sets, and Fig. 20 is a display example of a user inquiry screen for fixing landmark sets. FIG. 21 is a diagram showing a display example of an inquiry screen for a user for limiting an estimated position. FIG. 22 is a diagram showing a position estimation process using a positional relationship. And Figure 23 shows the book It is a functional block diagram showing a configuration of a position estimation device of the vehicle according to the facilities of the second embodiment. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of a position estimating device, a position estimating method, and a position estimating program of a moving object according to the present invention will be described in detail with reference to the accompanying drawings. In Embodiment 1 described below, a mobile object position estimating apparatus according to the present invention is a mobile phone “PHS (Personal Handyphone System)” 80 or an information communication terminal apparatus “PDA (Personal Digital Assistants)” 90. Explain the case of incorporating into such as In the second embodiment, a case will be described in which the mobile object position estimating apparatus according to the present invention is divided into an information communication terminal apparatus and a center server, arranged and connected via a network.

 Embodiment 1

 First, a mobile object position estimating apparatus according to the first embodiment will be described. FIG. 1 is a functional block diagram showing a configuration of a mobile object position estimating apparatus according to the first embodiment. FIG. 2 is a flowchart showing a processing procedure of a method for estimating a position of a moving object according to the first embodiment.

 That is, as shown in FIG. 1, the position estimating device 1 includes an input means 10 for inputting a landmark recognized by a moving object (pedestrian) as a landmark as landmark information, and a position and an attribute of the landmark in advance. A position estimation means 3 for estimating the position of the moving object based on the stored landmark database 20 and the landmark information input by the input means 10 and the landmark information stored in the landmark database 20 0, guidance information generating means 40 for generating guidance information based on the position information estimated by the position estimating means 30, and output means 50 for outputting the generated guidance information. The control unit 35 has a function as a controller that performs overall control of the position estimation device 1. Reference numeral 60 denotes input / output control means for controlling input / output by the input means 10 and the output means 50. 70 is a communication I having a function as a communication interface.

 As shown in FIG. 2, the method of estimating the position of the moving object is roughly divided into (1) a landmark information input step (step S210), and (2) a position estimation step (step S211) (step S211). 3) Guide information generation step (Step S212) (4) Guide information output step (Step S213).

That is, landmarks recognized by pedestrians (moving objects) as landmarks are input as landmark information in the landmark information input step. The location is estimated, and guidance information is generated based on the estimated position in the guidance information generation process. The information is generated, and the guidance information generated by the guidance information output step is output to the pedestrian. Specifically, guidance information is displayed on the display screen 91 (Fig. 6) of the PDA 90.

 Here, first, what is the landmark used in the present invention is defined. Generally, a landmark means "a landmark, such as a mountain or high-rise building, that is visually prominent in a certain area, or a landmark for finding a destination." In the present invention, the above-mentioned meaning is expanded and defined as "what can be used by a person to specify (describe) a place or a position, which is visible in a certain place."

 Specifically, the following are called landmarks.

 (1) Buildings: For example, buildings, dwellings, towers, chimneys, castles, stations, walls, etc.

 (2) Facilities: stores, parks, shrines and temples, police boxes, public toilets, amusement parks, vacant lots, etc.

(3) Terrain: sea, river, mountain, cliff, slope, etc.

 (4) Transportation facilities: intersections, traffic lights, pedestrian crossings, pedestrian bridges, pedestrian crossings, signs, railroad crossings, railway tracks, overpasses, bridges, etc. Others include signboards, statues, landmark plants, postal bosses, and telephone boxes.

 Fig. 3 shows an example of the layout of landmarks specified as landmarks in the field. In Figure 3, buildings (white buildings, round buildings, etc.), florists, bakeries, intersections, parks, parking lots, houses, police stations, etc. are illustrated as landmarks. In the figure, A to D represent estimated positions of pedestrians (users).

In Fig. 3, landmarks are taken as examples in the open air. However, landmarks that can be used to locate people (mobiles) in underground shopping centers or buildings (for example, stairs) , Stores, doors, elevators, entrances, etc.) can be used as landmarks. Fig. 4 shows an example of an underground shopping mall, not an open-air area, where stores (P, Q, R,...), Stairs, and entrances can be specified and used as landmarks. In the figure, X and Y represent the estimated position of the pedestrian (user). Hereinafter, referring to FIG. 1, each component in the functional block diagram of the position estimation device will be described. explain about. The input means 10 has an input function for inputting landmark information by a moving body (hereinafter, the moving body is referred to as a “user”). This landmark information can be input using input methods used in ordinary information equipment, such as voice input, button input, keyboard input, pen input, touch panel input, and image input.

 The landmark information input by the user through the input means 10 is information relating to a certain landmark which is visible to the user around the user and includes information having the following items (1) to (4). It is. However, not all items are required to be input for one landmark, only the items that can be input are input.

 (1) Landmark classification (category), for example, buildings, stores, houses, police boxes, stations, bridges, pedestrian bridges, telephone boxes, post boxes, traffic lights, mountains, and rivers. This classification can also be configured to have a hierarchical structure, such as a large classification, a middle classification, and a small classification. In this case, the classification power is simplified and the convenience can be improved.

 (2) Landmark specific names, such as Tokyo Tower, Makuhari Laboratory Building, and Makuhari Station Crossing.

 (3) The features of landmarks are used as items, and features such as the color, shape, and size of landmarks can be used as items. For example, landmark features include white color, slender / round shape, large size, red roof, and many windows.

 (4) The positional relationship is an item, and the positional relationship is the position information of landmarks viewed from the user and the arrangement information between landmarks. The position information of the landmark as seen from the user is the distance information such as near / far / next / front / opposite / opposite, or 10 m from the landmark, and the direction such as the landmark being north. Information.

Here, the arrangement information between landmarks is, for example, that one landmark is Information related to the location between landmarks, such as next to a landmark or on the other side of a road. In addition, as other items, even if the user does not know the current position accurately, for example, the name of a prefecture or the name of a municipalities / area, or the name of a shopping street / underground street, the user can input the information. Information. These are not information of individual landmarks, but can be regarded as common information of surrounding landmarks.

 The input formats of landmark information include the following (1) to (3). (1) Free text input format, which includes voice input and text input. Speech input is a spoken input method. For example, you can input by voice such as "In front of you, there is a large white building in the north, next to a florist." In the case of text input, free text can be input as text using a keyboard or pen.

 FIG. 5 shows an example in which the landmark information is input by voice using the PHS80 (in free text format). This example shows that a person would say "There is a large white building in the north in front of you, and there is a florist next to you. There is a post box in front of the florist."

 FIG. 6 shows an example of a screen in which landmark information is input by text input (free text format) using PDA90. In this example, the text input "A large white building in front of you in the north and a flower shop next to it. There is a post box in front of the flower shop." I have. Here, in the following description, 91 is a display screen of the PDA 90, 92 is an OK key for setting an input, and 93 is a cancel key for canceling the setting. '

(2) This is an input format that allows the user to freely enter a response for each item with respect to the landmark using an input method by item. Here, FIG. 7 shows an item-by-item input screen displayed on the display screen 91 of the PDA 90. The item-by-item input screen includes the following five categories: category 1, category 2, name, feature, and positional relationship. It has two fields. By this item The input screen is a screen for inputting landmark information that can be seen around you. You can input information corresponding to each item using keyboard input or pen input.

 (3) An input method that uses the candidate selection input format, in which answers to the above items are selected from a candidate list and answered. FIG. 8 shows an item-specific screen having a pull-down setting function (candidate selection input format), in which category 2 input can be selected from items in the bundle menu. The pull-down menu contains items such as convenience stores, gas stations, florists, and bookstores. Input is made by selecting one of these items. This example indicates that a bookstore was set as category 2.

 Further, when the user can use the advance information on his / her current position, the input means 10 displays a list of nearby landmarks using the advance information, and allows the user to select an item from this list. Can be. FIG. 9 is a display example when the prior information regarding the position can be used, and the prior information setting screen is displayed. Here, the case where the advance information on the current position of the user can be used refers to the case where the position is previously estimated and the previous location is known, and the case where the user has rough information of the current position based on the area name or the like. Is given. In this example, a bakery with a landmark nearby is set on the opposite side of the road.

 The landmark database 20 is a database that stores landmark information that can be recognized as landmarks in advance. FIG. 10 shows an example of the configuration of the landmark database 20. In the landmark data shown in FIG. 10, there are nine items of management data contents such as ID, name, classification (1, 2), address, latitude and longitude, layout, characteristics, and other items.

The data items of the landmark database 20 are as follows. That is, (1) ID is a number / symbol that can identify landmark data, and indicates, for example, “1 2 3 4”. (2) The name is the unique name of the landmark. For example, the unique names are Tokyo Tower, Makuhari Laboratory Building, and Makuhari Station Crossing. (3) Classification is the type (category) of a landmark. An example For example, buildings, stores, houses, police boxes, stations, bridges, pedestrian bridges, railroad crossings, telephone boxes, post boxes, intersections, traffic lights, mountains, and rivers. Here, as a classification method, for example,

If the data is classified into categories such as Class 1 and Class 2 or Classified with a hierarchical structure such as Large Class, Medium Class and Small Class, the versatility as data can be improved.

 (4) Address is the address of the landmark. For example, it indicates Chiba Prefecture, Chiba Prefecture. (5) The longitude and latitude are the longitude and latitude of the landmark location. For example, east longitude 13.91.234, north latitude 3.8.1234. (6) The arrangement is the arrangement (positional relationship) between landmarks. For example, landmark A is 10 meters northeast of landmark B. The details of this arrangement will be described later. (7) Features are features that represent the color, shape, size, etc. of landmarks. For example, it shows white, large, many windows, and pictures on the wall.

 Here, among the above data items, (6) the arrangement data will be described in detail. FIGS. 11 and 12 show the landmark arrangement examples shown in FIGS. 3 and 4, respectively, where landmarks are used as nodes and nearby landmarks are connected with links. It is networked. The placement data is data related to the landmark's network link, and includes the distance and direction between the landmarks connected by the link, and the state between the landmarks (information on what exists between them). For example, the presence or absence of a road, the type of road, etc.).

 For example, in Fig. 11, "white building (id = l) is 5 meters west of the florist (id = 2) and there are no roads between landmarks." (id = 1) is north of the white building (id = 3), 20 meters away, with a road (National Highway No. 〇 △) between landmarks. " In FIG. 11, solid lines and ¾ / 锒 are shown as the lines of links between landmarks. The solid line indicates that there is no road between the landmarks (the landmark is next to it), and the dashed line indicates

道路 There are roads between the landmarks, and landmarks Indicates that they are engaged.

 In FIG. 3 and FIG. 11, the intersection is also a landmark. In FIG. 11, a link is established between the intersection and a landmark near the intersection. This link (location data) also describes the data on where the landmark linked to the intersection is located at the intersection. For example, in Fig. 11, on the link between the flower shop (id = 2) and the intersection 1, the flower shop (id = 2) is stored at the "northwest corner" of the intersection 1 ( be written.

 Furthermore, the 3D model of the landmark (occupied space data in the 3D space) can be stored in the landmark database 20. By using this 3D model to virtually reconstruct a townscape, etc., and virtually arranging the user's viewpoint in the reconstructed townscape, a certain landmark can be seen from a user at a certain position. Can be determined to be shadowed by other landmarks. As described above, when a three-dimensional landmark model is adopted, the accuracy of position estimation for a pedestrian based on landmark information can be improved. The position estimating means 30 has a processing function of estimating the position of the user based on the landmark information input by the input means 10 and the landmark information stored in the landmark database 20. ing. The position estimation processing of the moving object by the position estimating means 30 includes (1) processing for limiting the search range of the landmark based on the prior information of the position of the user (the moving object), and (2) inputting the landmark. Search processing of the landmark database by attributes, (3) matching processing of the spatial conditions of the landmarks in the search results, and (4) determination processing of the user position.

Hereinafter, the details of these processes (1) to (4) will be described with reference to the flowchart of FIG. FIG. 13 is a flowchart showing a procedure for estimating the position of a moving object by the position estimating apparatus according to the present invention. First, information (landmark information) about landmarks existing around the object recognized by the user is input (step S3110). Next, a search range of the landmark database 20 based on prior information on the user position is opened. (Step S 3 1 1), The landmark database 20 is searched according to the input landmark attributes (step S312).

 Then, the matching process of the spatial condition with respect to the command mark of the search result is performed (step S313), and then the user position is determined (step S314). As described above, (step S311) to (step S314) are the position estimation steps. Hereinafter, guidance information generation processing is performed (step S315), and finally, the generated guidance information is output (step S316). Hereinafter, details of each process in the above-described flowchart will be described.

 (1) Limiting the search range of the landmark database

 The process of limiting the search range of the landmark database is based on the prior information of the user position, and is the position information process of the user that can be used prior to the position estimation process. Here, the user location advance information can be used when the result of the previously performed location estimation processing is held. For example, if the position estimation processing is performed 10 minutes before and the result is held, the search range can be limited to an area centered on the estimated position of the previous result. The size of this area can be adjusted according to the user's means of movement. It can also be used when the user inputs rough location information.

 In other words, even when the user does not know his / her current location accurately, in most cases, the user inputs in advance the location information such as the name of the prefecture or the name of the town or village, or the location information such as the name of a shopping street or underground shopping street. can do. This prior position information can also be set in the input means 10 as one of the input items. Here, when the position estimating device is incorporated in the PHS 80 or PDA 90 as in the first embodiment, the base station information extracted by the PHS 80 or PDA 90 is used as the advance information of the user position. Can be used as In the case of an underground shopping mall, landmark information can be received using information hotspots for internet connection.

(2) Search processing of landmark database by landmark attribute The search processing of the landmark database based on the landmark attribute is performed by searching the landmark stored in the landmark database 20 using the attribute information of the landmark existing around the user input by the input means 10 as a search key. Processing. Here, the landmark attribute is other than the layout data among the data items stored in the landmark database 20, and includes a name, a classification, an address, a longitude and a latitude, a special ^ :, and the like. In this landmark search process, the landmark database 20 is searched using the input landmark attributes such as name, classification, address, latitude and longitude, and characteristics as keys. Furthermore, when attributes are entered for multiple landmarks, search is performed for each landmark.

 For example, when the landmark attribute as shown in Fig. 6 above is input, the landmark database is searched according to the following search conditions (a), (b) and (c). Is performed. In other words, (a) the search condition of landmark 1 is (class = building) And (feature = white) And (feature = large), and (b) the search condition of landmark 2 is (class = store) And (Category = Florist), and (c) the search condition of landmark 3 is (Category-Postbox). Here, when a name is entered as a landmark attribute, a search by this name can effectively search for a landmark. For this reason, a landmark search by name may be executed prior to a search process using the value of another attribute as a key.

 FIG. 14 is a diagram summarizing search results based on the above search condition examples. According to FIG. 14, the IDs of landmarks hit by the search conditions of landmarks 1, 2, and 3 are “la, lb, lc,...”, “2a, 2b, 2c,…-”, "3a, 3b, 3c, ...".

 (3) Matching processing of spatial conditions

In this spatial condition matching process, when the user inputs information about multiple landmarks, the spatial conditions of the landmarks match (match) the landmarks in the search result. It is processing to check whether or not. this The matching process is performed using the landmarks [(la, lb, lc,...), (2a, 2b, 2c,...), (3a, 3b, 3c,. )]

However, it checks whether the spatial conditions are met, and if not, it is deleted from the search processing result, and processing is performed so that only the matching landmark combinations remain.

 Here, the combination of landmarks can be represented as a set such as {la, 2b, 3b}, {lc, 2a, 3c}, for example. Hereinafter, in this specification, these combinations are referred to as landmark sets. In addition, the landmark set shall include those with only one landmark, such as {2 a}.

 (4) User position confirmation processing

 The processing for determining the user position includes a search processing from the landmark database 20, a matching processing of a spatial condition for the landmark of the search result, and a landmark that matches the inputted surrounding landmark information. After the set of candidates has been obtained, this is a process for more accurately estimating the position of the user. Details of the user position determination processing will be described later.

 The guide information generating means 40 has a function of generating various kinds of guide information based on the position of the user estimated by the position estimating means 30. The guidance information generated by the guidance information generation means 40 includes: (1) guidance information for teaching the estimated current position (for example, "You are near □ 〇"); The guide information for teaching the route so that the user can reach a place known by the user, and (3) the guide information for giving directions to the destination.

This guidance information includes the direction to reach the destination and distance information (arrival information). That is, the guide information generating means 40 can display the current position (a position having a certain area) on the map as one of the guide information. Specifically, assuming that the user's current position can be estimated based on the position estimation affirmation, a map range including the user's current position is selected based on the latitude and longitude of the position and displayed on the terminal. The current position of the user is displayed on the displayed map. Communication function The same applies when downloading map data from the server used.

 Here, in many cases, the estimated position of the user is an area, and thus the position of the user on the map is displayed by displaying the user estimated position area on this map. In addition, the user may be requested to move so as to facilitate the navigation to determine the current position of the user. Specifically, a move instruction such as "Please move to the place of X" is issued.

 The output unit 50 has a function of outputting the estimated position estimated by the position estimating unit 30 and the guidance information generated by the guidance information generating unit 40. The output method by the output means 50 includes a text output on a screen using a liquid crystal or the like, an output using voice such as voice synthesis, an output using a map displayed on the screen, and the like. The output means 50 corresponds to the display means 91 of the PDA 90. In addition, the output unit 50 can output and display information on the way of the position estimation process by the position estimation unit 30.

 Hereinafter, the operation processing procedure in the position estimation processing method will be described with reference to the flowcharts of FIGS. FIG. 15 shows an operation flowchart in which a screen display is used for input and output. That is, first, it is determined whether or not the advance information of the user position has a predetermined force (Step S510). If there is advance information (Yes at Step S510), the landmark database is used by using the advance information. A list of landmarks recognized in the vicinity is acquired from 20 (step S511). Next, an input screen is displayed using the landmark list that has been insulted (step S513). On the other hand, if there is no prior information on the user position as a result of the determination at step S510 (No at step S510), a landmark input screen indicating that there is no prior information is displayed (step S512).

Next, the user inputs landmark information on the input screen (step S514), and executes position estimation processing based on the landmark information input (step S515). Next, it is determined whether or not the position of the place has been estimated by (step S516), and the place is estimated by this determination. If it is determined (Yes at Step S516), the estimated position is displayed (Step S517).

 Next, it is determined whether or not the ability to generate the guide information is present (step S518). When the guide information is generated by this determination, the content of the guide information is displayed (step S519). On the other hand, if the position (place) cannot be estimated by the determination in (Step S516) (No in Step S516), the failure of the position estimation is displayed (Step S520), and the position estimation is stopped as it is. In this case (Yes at step S521), the processing is terminated (end). On the other hand, when the position estimation is performed again (No at Step S521), the process returns to (Step S510) and the processing procedure is repeated from the beginning.

 Next, FIG. 16 shows a flowchart of an operation process of using voice for input and output. That is, first, the prior information of the user position determines a certain force (Step S610), and if there is prior information (Yes at Step S610), the landmark is used by using the prior information. A list of landmarks recognized nearby is acquired from the database 20 (step S611). Next, the acquired landmark list is registered as a vocabulary to be recognized (step S612).

 Next, the user inputs landmark information by voice (step S613), and extracts landmark information by voice recognition using the vocabulary to be recognized by the landmark list (step S614). Then, position estimation processing is performed based on the extracted landmark information (step S615). Next, it is not determined whether or not the force can be used to estimate the position of the place in (Step S616). If the place is estimated by this determination (Yes in Step S616), the estimation is performed. The position is output by voice (step S617). Specifically, this output is a question for the confirmation landmark.

Next, it is determined whether or not to generate guide information (step S618). If guide information is to be generated by this determination (step S618: YES), the contents of the guide information are output by voice (step S618). Step S619). Meanwhile, (step If the position (location) cannot be estimated by the judgment in S6 16) (No at Step S6 16), the failure of the position estimation is displayed (Step S620), and the position estimation processing is performed as it is. If the processing is to be stopped (Yes at step S621), the processing is ended (END). On the other hand, if the position estimation processing is to be performed again (No at Step S621), the process returns to (Step S610) and performs the processing procedure again from the beginning.

 Hereinafter, the details of the position estimation processing step will be described. FIG. 17 is a flowchart showing a matching process of the spatial condition in the position estimation processing step shown in FIG. That is, the matching process of this spatial condition includes (1) matching process at distance (step S700), (2) matching process at azimuth (step S711), (3) It consists of each processing step with matching processing (Step S712). Actually, the spatial condition matching process can be performed by combining these processes.

 (1) Distance matching processing

 Matching processing at this distance checks whether the landmarks in the search results obtained for each of the multiple landmarks are close in distance, and if they do not match, deletes them from the search processing results Processing. Specifically, only matching landmark combinations will remain. The criterion for determining the closeness in distance can be calculated using the height of the landmark or the shape of the landmark (2D or 3D model).

 If this closeness criterion is calculated based on the height of the landmark, for example, a tall landmark such as Tokyo Tower can be used as a landmark from a distance. In addition, by using the shape of the landmark, it is possible to use the landmark in consideration of the degree of overlap of the building and a wide open section.

In addition, the distance between landmarks in the search result can be calculated using longitude / latitude or positional relationship data among the data items in the landmark database 20. For latitude and longitude, use a distance calculation formula based on latitude and longitude. Positional relationship In the case of data, starting from one of the landmarks in the search result, it is checked whether or not the landmarks linked by links are included in the search processing results. For example, a process is performed to check whether or not the landmark “2a, 2b, 2C-J” exists in the landmark linked by the landmark 1a.

 If the user inputs information (distance information) related to the distance of the landmark as one of the surrounding landmark information, processing is performed to check whether the landmark in the search processing result matches the distance information. . Then, when the user inputs the expression “close, far, etc.” as distance information, it converts them into numerical values (may have a certain range) before performing matching processing by distance.

(2) Matching process in azimuth

 In the matching process in this direction, information on the direction of the landmark (azimuth information) is input as the surrounding landmark information. In this case, it is a process to delete from the search result. Specifically, it is a process that leaves only the matching landmark sets. For example, if the direction information "Landmark 1 is located north of Landmark 2" is entered, the search results for Landmark 1 (la, lb, · ' This is a process to check the search results (2a, 2b---) for combinations that are in the north.

 In addition, if the direction information “Landmark 1 is in the north and Landmark 2 is in the west” is entered, the search result for landmark 1 (la, lb,...) Check if there is an overlapping combination of the area and the area on the east side of the landmark 2 search result (2a, 2b, · '·). By this check, if there is an overlapping combination of the southern and eastern areas, it can be inferred that pedestrians may be present in that area.

 (3) Matching processing in placement

The matching process in this rooster is performed by using landmarks as surrounding landmark information. When the information (arrangement information) about the arrangement between the links is input, it is checked whether the landmarks in the search result match the arrangement information. This is the process of deleting and leaving only the matching landmark sets. For example, if the rooster information "Landmark 1 is next to landmark 2" is entered, search results for landmark 1 (la, lb, Check if there are any combinations next to the search results (2a, 2b, ...). Here, the meaning of “to be next to” means that landmarks are truly adjacent to each other or are located close to each other. In the landmark database 20, the distance between the landmarks connected by the link is stored as the positional information data (link) between the landmarks. Therefore, the distance is stored by the input arrangement information and the link. You can check whether the location information matches the landmark.If the location information "Landmark 1 is across the road from Landmark 2" is entered, search for Landmark 1 In the results (la, lb, · · ·), check if there is a combination that sandwiches the road between the landmark 2 search results (2a, 2b, · · ·). In the landmark database 20, information on what exists between landmarks connected by links, such as the presence or absence of roads, is described as position information data (links) between landmarks. It will be checked whether or not the layout information entered and the layout information described in the link match.

If the location information “Landmark 1 is at the corner of the intersection” is input, it is linked to the intersection by a link based on the landmark 1 search results (la, lb, ...). Check if there is anything that has been done. As described above, in the landmark database 20, the intersection is also set as one of the landmarks. Therefore, in the positional relationship data (link) connecting the intersection and the nearby landmark, the landmark is Where they are stored (stored). As a result, matching between the input arrangement information and the arrangement information described in the link is performed. Can be checked.

 (4) User position confirmation processing

 The user position determination process performs a search process from the landmark database 20 and a matching process of the spatial condition for the landmark of the search result, and finds a landmark set candidate that matches the input surrounding landmark information. This is a process for enabling the position of the user to be more accurately estimated after the is acquired. FIG. 18 is a flowchart showing a user position determination process in the position estimation process step shown in FIG.

 In other words, this user position determination processing includes (1) an inquiry processing to the user for narrowing down the landmark set (step S810), and (2) an inquiry processing to the user to determine the landmark set (step S810). 811), ③ Inquiry process to the user to limit the estimated position (step S812), and ④ Location estimation process using landmark set (step S813) It is configured. In practice, the user position can be determined by combining these processes.

 ① Inquiry process to the user to narrow down landmarks

This processing is performed when there are a plurality of remaining landmark sets as a result of performing the search processing based on the landmark database 20 and the search result matching processing based on the positional relationship information. Specifically, it is a process of narrowing down landmark sets for multiple landmark sets. In the landmark set narrowing down processing, for each landmark set, a link (representing a positional relationship) of the landmark database 20 is entered from a landmark included in the landmark set, and a landmark set is added to the landmark set. It searches for landmarks that are not included, extracts landmarks that can be distinguished from other landmark sets from the searched ones, and asks the user whether or not the extracted landmarks are nearby. This is the process of narrowing down the landmark sets by asking questions.

Fig. 19 shows a display example of a user inquiry screen for narrowing down landmark sets. It is. Specifically, a plurality of estimated position candidates are displayed, and a landmark that is closer to the user is selected from among a plurality of catches. In the example shown in Fig. 19, the user checks (selects) a house with a red roof from among postal posts, traffic lights, Makuhari Beikari, red houses, and houses with roofs, which are candidates for multiple estimated positions. Is shown. By this selection, the landmark set can be narrowed down.

 ② Inquiry processing to the user to confirm the landmark set

 After performing some processing of search processing from the landmark database 20, matching processing of search results based on positional relationship information, and inquiry processing to the user for narrowing down landmark strings, the landmark set is processed. This is the process performed when only one remains. By performing the landmark set confirmation inquiry processing, the accuracy of the landmark set, that is, the position estimation processing precision can be improved.

 The landmark set finalized inquiring process extracts the landmarks that are not included in the landmark set by using the links of the landmark database 20 from the landmarks that are included in the landmark set, and checks whether the extracted landmarks exist. A question is asked to the user, and the landmark set is determined based on the answer. Here, the extraction of landmarks is performed in consideration of the fact that the landmarks are characteristic landmarks, and that the landmarks included in the landmark set and the extracted landmark power can be formed into a polygon surrounding the user. It is.

FIG. 20 is a display example showing a landmark set confirmation inquiry screen. That is, based on the check contents (answers) to the inquiry displayed in FIG. 19, the landmark set is determined on the inquiry screen shown in FIG. In the example shown in Fig. 21, a confirmation message is displayed as to whether or not there is power near the “red roof house” that the user checked last time. If a negative answer is entered in response to this confirmation inquiry, check again with another landmark (post office, traffic light, Makuhari bakery, etc.) linked from the landmark group. ゝ Re-execute the position estimation process, or report the position estimation failure to the user.

 (3) Inquiry to the user to limit the estimated position, matching process

 Inquiry processing to the user to limit the estimated position is processing to inquire how the landmarks that compose the landmark set look to the user in order to limit the user position that can be estimated from one landmark set. It is. If the landmark information input first is sufficient to limit the estimated position, this processing can be omitted.

 FIG. 21 is a display example showing a screen for inquiring the user to limit the estimated position. Here, the explanation is made assuming that the position is estimated at a place as shown in FIG. First, it is assumed that the user inputs “a white building and a florist next to it” as surrounding landmark information. At this time, by performing the process of limiting the estimated position, the landmark set that matches the landmark information is {white building (id = l), florist (id = 2)}. The position of the user that can be estimated based on the information of this landmark group is assumed to be in any of the locations near point A, near point B, and near point D in Fig. 11. can do.

 At this time, as shown in Fig. 21, the process of limiting the estimated position involves inquiring where the white building can be seen (south or north, on the opposite side of the road or on this side). In the example shown in Fig. 21, it is assumed that the white building has been answered to the north of the user, on the other side of the road. Hereinafter, based on this answer, the current position of the user can be estimated by position estimation processing using the next set of landmarks.

 位置 Position estimation processing using landmark sets

The position estimation process using a landmark set is a process for estimating a user position by using one determined landmark set and a user's positional relationship to the landmark set. Here, the position estimated by the position estimating device of the present invention is not, for example, a position of one point represented by latitude and longitude so that positioning can be performed by GPS. This is an estimated area where the user exists.

 The position estimation processing using this landmark set is performed using information on the positional relationship of the landmarks constituting the determined landmark set as viewed from the user. The information on the positional relationship of landmarks as seen from the pedestrian is based on the value of the positional relationship data in the input landmark information (distance and direction of the landmark as seen from the pedestrian) and the above ③ Inquiries to pedestrians for limitation The values obtained as a result of the processing can be used.

 FIG. 22 shows an example of a position estimation process using a user's positional relationship with a landmark. In this example, by determining (white building, florist, building, intersection) as a landmark set, the white building can be identified. Further, from the user's perspective, "white building is located in front of the northeast It is assumed that the positional relationship information of “is in the direction” is input. At this time, it can be estimated that the user is in the area centered on the white building (in the figure, the circular area) from the positional relationship of “in front of the eyes”, and the white building is determined from the positional relationship of “northeast”. It can be estimated that the user is in the southwest area of. From both the “front” and “northeast” positional relationships, it can be estimated that the user is at the overlap of the two areas (near point A in Fig. 11).

 In the case of the present invention, since the user's location can be estimated based on the surrounding landmark information input by the user, the user's location can be estimated instead of a single point represented by latitude and longitude by conventional GPS positioning. The area to be estimated (eg, in front of 〇 △ station, in front of DX building, etc.) can be easily and accurately estimated. It can also be used as a search system for places that are based on landmarks that can be seen around them, for example, a search system that searches for places that meet the condition that “Tokyo is visible and close to the station”.

Embodiment 2

Next, a moving object position estimating apparatus according to Embodiment 2 will be described. FIG. 23 is a functional block diagram showing the configuration of the mobile object position estimating apparatus 1a according to the second embodiment, in which the components of the position estimating apparatus 1a are combined with the information communication terminal device 81 and the center server. It is divided into a bus 82 and a bus. That is, as shown in FIG. 23, the information communication terminal 81 includes an input unit 11 for inputting landmark information, an output unit 51 for outputting guide information generated by the guide information generating unit 67, an input / output It has a control unit 16 and a control unit 65.

 On the other hand, the center server 82 includes a landmark information input by the input means 11, a landmark database 66 previously storing landmark positions and attributes, and a landmark stored in the landmark database 66. Position estimating means 68 for estimating the position based on the information, and guidance information generating means 67 for generating guidance information based on the position information estimated by the position estimating means 68. ing.

 The center server 82 has an input means 62, an output means 63, and an input / output control unit 64 as input / output means of a normal personal computer. As the input means 62, a keyboard, a track pole, a mouse, or the like is used. As the output means 63, a computer CRT display or the like is used. The control unit 65 has a function as a controller that performs overall control of the center server 82. Reference numeral 72 denotes a communication I / F having a function as a communication interface, and the communication I / F 72 enables free communication with the communication I / F 71 of the information communication terminal device 81 through a communication medium 73. Has become. Here, the same reference numerals are given to the functional units having the same functions as the respective units shown in FIG. 1, and the detailed description is omitted.

 In the second embodiment, as in the first embodiment described above, the surrounding landmark information is input by the input unit 11, and the input landmark information and the landmark database are input by the position estimating unit 68. The location of the user is estimated using 66, guidance information generating means generates guidance information based on the estimated position, and the output information 51 outputs the generated guidance information.

Also, a program for realizing the configuration shown in the first and second embodiments described above is recorded on a computer-readable recording medium, and the program recorded on this recording medium is read and executed by the computer. Therefore, Embodiments 1 and 2 The same effects as those of the mobile object position estimation device 1 and la shown in (1) can be realized using a general computer system.

 Here, the storage medium refers to a storage medium such as a semiconductor memory, a CD-ROM, a floppy disk, a DVD disk, a magneto-optical disk, a portable storage medium such as an IC card, or a hard disk, and a LAN. It includes a database that holds the model building program of the connected installation source, as well as transmission media on the public line network.

 According to the present invention, a landmark recognized by a user (pedestrian) as a landmark is input as landmark information in the landmark information input step, and the input landmark information and the landmark database are input in the position estimation step. The position of the pedestrian is estimated by using the information, the plan information is generated based on the position estimated by the guidance information generation step, and the guidance information generated by the guidance information output step is output. However, unlike satellite positioning systems, radio waves from satellites are not used for position measurement, so if the equipment can be used effectively even in underground shopping malls and department stores, it will have an effective effect. It can also be implemented as a route guidance system that provides users, such as pedestrians, with guidance information in places where GPS signals cannot be received, such as in underground malls and buildings.

 Further, according to the present invention, there is no need to install a special device for positioning at a place such as a base station as in the base station system, and there is no need for a speed sensor and a direction sensor as in self-contained navigation. This has the effect of being able to be used as a pedestrian navigation system that provides pedestrians with location information and route guidance information.

Further, according to the present invention, surrounding landmark information is input to the position estimating device provided in the server by voice using a PHS or a mobile phone, so that the estimated position information and the route guidance information to the destination are provided. It can be used for a voice guidance output system, a pedestrian guidance system that cannot use a speed sensor or a direction sensor, a sightseeing spot search system, and a cinematographic I-Keihan support system. Industrial applicability

 As described above, the position estimating device, the position estimating method, and the position estimating program of the moving object according to the present invention estimate the current position of a pedestrian or the like using an information communication terminal device such as a PHS, a mobile terminal, and a PDA. It is suitable for a position estimating apparatus for a moving object that moves.

Claims

The scope of the claims

1. A position estimating device for a moving object for estimating a current position and a moving position of a moving object such as a pedestrian,

 Input means for inputting landmarks recognized by the moving object as landmarks as landmark information;

 A landmark database in which positions and attributes of the landmark information are stored in advance;

 Position estimation means for estimating the current position of the moving object based on the landmark information input by the input means and the landmark information stored in the landmark database;

 Guide information generating means for generating guide information based on the position information of the moving body estimated by the position estimating means;

 Output means for outputting the guide information. '

2. A moving object position estimating device for estimating a current position and a moving position of a moving object such as a pedestrian,

 Input means for inputting landmarks recognized by the moving object as landmarks as landmark information;

 A landmark database in which positions and attributes of the landmark information are stored in advance;

 Position estimating means for estimating the current position of the moving object based on the landmark information input by the input means and the landmark information stored in the landmark database;

Guide information generating means for generating guide information based on the position information of the moving body estimated by the position estimating means; Output means for outputting the guidance information,

 The input means and the output means are provided in an information communication terminal device,

 The position estimating means, the landmark database, and the guidance information generating means are provided in a centasa server,

 A position estimating device for a mobile object, wherein the information communication terminal device and the center server mutually transmit and receive information via a network.

3. The landmark database contains an ID number for identifying the landmark information, a unique name of the landmark, a type of the landmark, an address where the landmark is located, a longitude and a location where the landmark is located. 3. The position estimating device according to claim 1, wherein data indicating a latitude, a landmark shape, a landmark color, and the like are stored as specific items.

4. The landmark database is characterized in that information on directions, distances, and landmarks between landmarks adjacent to each other is stored as arrangement item data indicating a positional relationship between the landmarks. The position estimating device for a moving object according to claim 3, wherein:

5. The input means further includes a landmark list display function of displaying a list of landmark information located near the moving body based on the advance information on the location of the moving body, 3. The position of the moving object according to claim 1 or 2, wherein selection and input of landmark information are performed from a landmark list displayed based on the list display function. Estimation device.

6. The input means is characterized in that it has an item-by-item input function for answering the item specifying the landmark information and inputting the information by item. 3. The position estimating device for a moving object according to claim 1 or claim 2.

7. The input means has a candidate selection input function of selecting and answering an answer selected by the item-by-item input function from a candidate list and inputting the answer. Mobile position estimation device.

8. A method for estimating the current position and the movement position of a moving object such as a pedestrian,

 A landmark information inputting step of inputting a landmark recognized by the moving object as a landmark as landmark information;

 A landmark database in which the position and attribute of the landmark information are stored in advance,

 A position estimating step of estimating the current position of the moving object based on the landmark information input in the landmark information input step and the landmark information stored in the landmark database;

 A planned information generating step of generating guidance information based on the position information estimated in the position estimating step,

 A guidance information output step of outputting the guidance information to the moving body.

9. The position estimating step includes: a landmark search range limiting process based on advance information of a moving object position; a landmark database search process based on an input landmark attribute; and a space for the searched landmark. 9. The method for estimating the position of a moving object according to claim 8, comprising a matching process of a target condition and a process of determining a position of the moving object.

10. The matching process of the spatial condition is based on the distance information of the landmark. A matching process based on azimuth information of the landmark, a matching process based on orientation information based on the orientation information of the landmark, and a matching process based on location information of the landmark. 10. The method for estimating the position of a moving object according to item 8 or 9.

11. The user position determination processing includes a landmark string narrowing query processing for extracting nearby landmarks, a landmark set determination query processing for limiting the landmarks and 袓, and the landmarks. The method is characterized by comprising a process of inquiring the estimated position to limit the position of the set, and a process of estimating the position using a landmark set based on the positional relationship of the landmarks constituting the determined landmark set. 10. The method for estimating the position of a moving object according to claim 8 or claim 9.

1 2. A landmark information inputting step of inputting a landmark recognized as a landmark as landmark information by a landmark estimation program for estimating a current position and a moving position of a moving body such as a pedestrian. When,

 A landmark database in which positions and attributes of the landmark information are stored in advance;

 A position estimation step of estimating a current position of the moving object based on the landmark information input in the landmark information input step and the landmark information stored in the landmark database;

 A planned information generating step of generating guidance information based on the position information estimated in the position estimating step,

 A guidance information output step of outputting the guidance information to the mobile object.