WO2015108066A1

WO2015108066A1 - Information processing device, map matching device, information processing method, and program

Info

Publication number: WO2015108066A1
Application number: PCT/JP2015/050781
Authority: WO
Inventors: 士朗小林; 正宏譽田; 優子赤木
Original assignee: 旭化成株式会社
Priority date: 2014-01-15
Filing date: 2015-01-14
Publication date: 2015-07-23
Also published as: JP2017044470A

Abstract

　An autonomous navigation method that reduces errors when estimating the current position of a user. Provided are an information processing device, an information processing method, and a program, the information processing device being equipped with: a sensor signal acquisition unit that acquires sensor signals from a sensor mounted in an apparatus; an anchor position acquisition unit that acquires a plurality of anchor positions; a trajectory variation detection unit that detects variations in the trajectory of the apparatus on the basis of the sensor signals; and a determination unit that determines a second anchor position from among the plurality of anchor positions on the basis of a first anchor position among the plurality of anchor positions, and the travel distance from the estimated position of the apparatus corresponding to the first anchor position to an estimated position at which a variation in the trajectory of the device was detected.

Description

Information processing apparatus, map matching apparatus, information processing method, and program

The present invention relates to an information processing device, a map matching device, an information processing method, and a program.

Conventionally, autonomous navigation or the like for estimating the position coordinates of a user holding the portable device based on the output of a sensor or the like mounted on the portable device or the like has been known (for example, see Patent Document 1).
[Patent Document 1] JP 2012-117974 A

In Patent Document 1, in order to accurately estimate the position coordinates of the user, a point where the user is assumed to change the azimuth is set as an anchor point, and a rotation point (rotation point R) where the user's rotation motion is detected is estimated. The anchor point closest to the estimated rotation point is determined, and the determined anchor point is set as the current position of the user. However, Patent Document 1 is a technique on the assumption that the difference between the estimated rotation point R and the actual user position is small, and when the estimated rotation point R is significantly different from the actual user position. However, there is a problem that an anchor point that is significantly different from the actual user position is selected.

In the first aspect of the present invention, the sensor signal acquisition unit that acquires the sensor signal of the sensor mounted on the device, the anchor position acquisition unit that acquires a plurality of anchor positions, and the movement direction of the device based on the sensor signal Direction detection unit for detecting a change in the position, a first anchor position among a plurality of anchor positions, and an estimation in which a change in the movement direction of the apparatus is detected from the estimated position of the apparatus corresponding to the first anchor position An information processing apparatus, an information processing method, and a program are provided that include a determination unit that determines a second anchor position among a plurality of anchor positions based on a moving distance to a position.

In the second aspect of the present invention, the information processing apparatus of the first aspect, a map information storage unit that stores map information including a plurality of anchor positions, and an estimated position of a device output from the information processing apparatus There is provided a map matching device including a position determining unit that determines a position on a map of a user holding a device according to an anchor position to be performed.

Note that the above summary of the invention does not enumerate all the necessary features of the present invention. In addition, a sub-combination of these feature groups can also be an invention.

An example of the apparatus 10 which concerns on this embodiment is shown. The structural example of the information processing apparatus 100 which concerns on this embodiment is shown with the sensor 20 and the anchor position memory | storage part 30. FIG. The operation | movement flow of the information processing apparatus 100 which concerns on this embodiment is shown. The 1st anchor position which concerns on this embodiment, and the 1st example of the 2nd anchor position which the determination part 170 determines are shown. The 2nd example of the 1st anchor position which concerns on this embodiment, and the 2nd anchor position which the determination part 170 determines is shown. The modification of the information processing apparatus 100 which concerns on this embodiment is shown with the sensor 20 and the anchor position memory | storage part 30. FIG. The 3rd example of the 1st anchor position which concerns on this embodiment, and the 2nd anchor position which the determination part 170 determines is shown. The 4th example of the 1st anchor position which concerns on this embodiment, and the 2nd anchor position which the determination part 170 determines is shown. The 5th example of the 1st anchor position which concerns on this embodiment, and the 2nd anchor position which the determination part 170 determines is shown. The structural example of the map matching apparatus 200 which concerns on this embodiment is shown. 2 shows an example of a hardware configuration of a computer 1900 that functions as the information processing apparatus 100 according to the present embodiment.

Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

FIG. 1 shows an example of a device 10 according to the present embodiment. The device 10 includes a plurality of sensors, and detects the movement, holding state, position, and the like of the device 10 as an example. The device 10 includes an autonomous navigation system that displays a current position of the device 10 and a route to the destination according to the output of a sensor or the like mounted on the device 10. In addition, the device 10 may further include a map matching function and function as a map matching device.

The device 10 includes, for example, a communication function for connecting to an external device and the Internet, a data processing function for executing a program, and the like. The device 10 is, for example, a smartphone, a mobile phone, a tablet PC (Personal Computer), a portable GPS (Global Positioning System) device, or a small PC. The device 10 includes a display unit 12.

The display unit 12 displays, for example, a screen for operating an Internet web page, e-mail, map, document / music / moving image / image data, and the like according to a user instruction. The display unit 12 is, for example, a touch panel display to which a user instruction is input, and the user instruction is input to an operation screen of software such as a browser by a touch input from the user. Instead of this, the device 10 may receive a user instruction by gesture input. Alternatively, the device 10 may be input with a user instruction by an input device such as a keyboard, a mouse, and / or a joystick.

Here, in the device 10 according to the present embodiment, an example will be described in which a plane parallel to the display surface of the display unit 12 is an xy plane and a direction perpendicular to the display surface is a z-axis. In the device 10 according to the present embodiment, an example in which the display unit 12 has a vertically long rectangular shape will be described. Of the two pairs of opposing sides of the rectangle, the direction along the shorter side (horizontal direction) is the x axis, and the direction along the longer side (vertical direction) is the y axis.

That is, when the user holds the device 10 in his / her hand and looks at the display unit 12, the horizontal direction is substantially parallel to the x axis, and the vertical direction in which the user stands (ie, the gravity direction) is substantially parallel to the yz plane. Will be explained. In this case, when the user uses the device 10 as a telephone and makes a call by placing it on his / her ear, the traveling direction facing the user and the xy plane are substantially parallel, and the plane perpendicular to the traveling direction and the z axis are substantially parallel. It becomes.

The device 10 according to the present embodiment displays the position information of the user holding the device 10 on the display unit 12 using a plurality of positioning method systems. For example, when the device 10 can receive transmission signals from a plurality of GPS satellites, the device 10 displays the position information of the user using the GPS function. If the device 10 cannot receive transmission signals from a plurality of GPS satellites, the device 10 switches from the GPS to the autonomous navigation system, uses the position information acquired by the GPS as the user's initial position, and continues to estimate the user's position information. May be displayed.

Alternatively, the device 10 may start an autonomous navigation system in response to a user input. In this case, the device 10 may acquire information on the initial position of the user by the user's input. Moreover, the apparatus 10 may perform map matching and display a user's positional information with map information.

FIG. 2 shows a configuration example of the information processing apparatus 100 according to this embodiment together with the sensor 20 and the anchor position storage unit 30. The sensor 20 may include at least one of an angular velocity sensor, an acceleration sensor, and a geomagnetic sensor mounted on the device 10, or may be a combination thereof. The sensor 20 outputs, for example, acceleration, angular velocity, and / or geomagnetism detection results for at least two of the three xyz axes of the orthogonal coordinate system with the mounted mobile device as the origin.

The anchor position storage unit 30 stores a plurality of anchor positions in advance. An anchor position is a position estimated that the apparatus 10 or the user holding the apparatus 10 passes. For example, the anchor position is set to a position where the user is assumed to change the moving direction. As the position where the user is assumed to change the moving direction, for example, a corner of a road or a passage can be considered. Corners include intersections and branches.

The anchor position storage unit 30 sets the position estimated by the device 10 or the user holding the device 10 as the anchor position. Here, the anchor position is determined, for example, at a position where the user is assumed to change the moving direction. The anchor position may be determined corresponding to the road through which the user passes, and is determined in each of the directions that the user can pass, such as an intersection or a branch, in order to determine which direction the user has passed. May be.

Also, the anchor position may be determined for each floor in the building and in the building, and may be determined for lifting means for moving between the floors. The anchor position is set, for example, on a road where a user walks, a passage, an intersection, a pedestrian crossing, a staircase, an escalator, a landing such as a staircase, an elevator, or the like.

The information processing apparatus 100 estimates the position of the user holding the device 10 and determines an anchor position corresponding to the estimated position. The information processing apparatus 100 includes a sensor signal acquisition unit 110, a storage unit 120, a movement direction change detection unit 130, a movement distance calculation unit 140, an anchor position acquisition unit 160, and a determination unit 170.

The sensor signal acquisition unit 110 is connected to the plurality of sensors 20 and acquires sensor signals of the sensors mounted on the device 10. The sensor signal acquisition unit 110 acquires a sensor signal from the sensor 20 according to the user's progress state such as movement and stationary of the device 10. The sensor signal acquisition unit 110 stores the acquired sensor signal in the storage unit 120.

The storage unit 120 is connected to the sensor signal acquisition unit 110 and stores the sensor signal received from the sensor signal acquisition unit 110. The storage unit 120 supplies the stored sensor signal information to the request source in response to requests from each unit such as the movement direction change detection unit 130 and the movement distance calculation unit 140, for example.

The movement direction change detection unit 130 is connected to the storage unit 120 and detects a change in the movement direction of the device 10 based on the acquired sensor signal. For example, the movement direction change detection unit 130 turns to the right (left) when the user holding the device 10 changes the course to one of the branch roads, starts to go up / down the stairs, rides on an escalator / Changes in the direction of travel, such as getting off, reversing at a landing, and getting on / off an elevator, are detected. The movement direction change detection unit 130 supplies the detection result to the movement distance calculation unit 140 and the determination unit 170 in response to detecting the change in the movement direction.

Also, the movement direction change detection unit 130 may detect a change in the movement direction of the device 10 from a time-series change in the position coordinates of the device 10 based on the acquired sensor signal. Specifically, the movement direction change detection unit 130 estimates the position coordinates of the device 10 at a predetermined time interval, sets a difference between the position coordinates of adjacent time intervals as a direction vector, and changes the direction vector with time. When the value exceeds a predetermined threshold, it is detected that the moving direction has changed. In this case, the movement direction change detection unit 130 determines the time of the direction vector at the time when the direction vector changes in time after the predetermined time has elapsed after the time in which the direction vector changes over time. You may detect the time when it became the direction opposite to the direction of a target change as the time when the change of the moving direction of the apparatus 10 was complete | finished.

As described above, the movement direction change detection unit 130 may detect that the movement direction of the device 10 has changed (for example, bent) based on the change in the direction vector. In this case, the movement direction change detection unit 130 may adjust a predetermined time interval before the actual operation of the information processing apparatus 100, thereby reducing the influence of the error and changing the movement direction of the device 10. Can be detected. The movement direction change detection unit 130 may supply the detection result to the movement distance calculation unit 140 and the determination unit 170.

The movement distance calculation unit 140 calculates the distance moved by the user. As an example, the movement distance calculation unit 140 may include a user who holds the device 10 after the movement direction change detection unit 130 detects a change in the movement direction of the device 10 until a change in the next movement direction is detected. Calculate the distance traveled. The movement distance calculation unit 140 may calculate the movement distance based on the movement speed and the movement time of the user, or may calculate the movement distance based on the number of steps and the step length of the user instead. The movement distance calculation unit 140 supplies the calculated movement distance to the determination unit 170.

The anchor position acquisition unit 160 is connected to the anchor position storage unit 30 that stores a plurality of anchor positions, and acquires a plurality of anchor positions. The anchor position acquisition unit 160 supplies the acquired anchor position information to the determination unit 170.

The determining unit 170 moves the first anchor position among the plurality of anchor positions and the estimated position where the change in the movement direction of the device 10 is detected from the estimated position of the device 10 corresponding to the first anchor position. And determining a second anchor position among the plurality of anchor positions. For example, the determination unit 170 determines an anchor position corresponding to the estimated position of the device 10 among a plurality of anchor positions based on a change in the moving direction of the device 10. The determination unit 170 sets the position where the movement direction of the device 10 detected by the movement direction change detection unit 130 is changed as an estimated position where the user holding the device 10 has changed the traveling direction. The determination unit 170 determines the second anchor position based on the movement distance from the estimated position of the device 10 when the first anchor position is determined to the estimated position where the change in the movement direction of the device 10 is detected next. You may decide.

The determining unit 170 sequentially determines the corresponding anchor positions in response to the detection by the movement direction change detecting unit 130. That is, every time the user holding the device 10 changes the traveling direction, the information processing apparatus 100 according to the present embodiment associates the position of the user with a predetermined anchor position, and an error in the position estimation of the user occurs. Prevent accumulation. In addition, the information processing apparatus 100 associates the estimated position of the user with consideration of the distance moved by the user and the moving direction of the user. The operation of the information processing apparatus 100 will be described with reference to FIG.

FIG. 3 shows an operation flow of the information processing apparatus 100 according to the present embodiment. The information processing apparatus 100 associates the estimated position according to the movement of the user carrying the mobile device 10 with a predetermined anchor position by executing the operation flow shown in FIG.

First, the anchor position acquisition unit 160 acquires a plurality of anchor positions from the anchor position storage unit 30 connected to the information processing apparatus 100 (S310). Here, the anchor position acquisition unit 160 may be connected to the storage unit 120 and store the acquired anchor position information in the storage unit 120.

Next, the information processing apparatus 100 sets an initial position (S320). Here, when the user starts walking from a predetermined position, the information processing apparatus 100 sets an anchor position (for example, the closest anchor position) corresponding to the predetermined position as an initial position. Further, when the information processing apparatus 100 is switched from the system that acquires the position information of the device 10 such as GPS to the autonomous navigation system, the information processing apparatus 100 may use the position information acquired by the GPS, and the anchor position corresponding to the position information may be used. Set as the user's initial position.

Further, the information processing apparatus 100 may set the initial position of the user by designating the current position by the user. The information processing apparatus 100 sets an anchor position corresponding to the user's initial position between different anchor positions when there is no anchor position corresponding to the user's initial position at a plurality of predetermined anchor positions. May be.

Next, the sensor signal acquisition unit 110 acquires outputs from the plurality of sensors 20 connected to the information processing apparatus 100 (S330). The sensor signal acquisition unit 110 stores the acquired sensor signal in the storage unit 120. The sensor signal acquisition unit 110 may continuously execute the acquisition of the sensor signal and the storage in the storage unit 120 in synchronization with the output timing of the sensor signal of the sensor 20, instead of being predetermined. The acquisition of the sensor signal and the storage in the storage unit 120 may be continuously executed at a predetermined cycle.

Next, the movement direction change detection unit 130 detects a change in the movement direction of the device 10 (S340). For example, the movement direction change detection unit 130 detects a change in the movement direction of the device 10 according to a predetermined timing or a clock signal. The movement direction change detection unit 130 detects a change in the movement direction of the device 10 based on sensor signals such as an acceleration sensor, an angular velocity sensor, and / or a magnetic sensor.

The moving direction change detection unit 130 calculates, for example, the rotation amount around the gravity axis from the sensor signals of three angular velocity sensors corresponding to the xyz axes of the device 10. For example, the movement direction change detection unit 130 changes the movement direction according to whether or not the amount of rotation about the direction of gravity perpendicular to the traveling direction of the user holding the device 10 is equal to or greater than a predetermined angle. Detect.

Further, the movement direction change detection unit 130 detects a change in acceleration in the horizontal direction perpendicular to the traveling direction of the user holding the device 10 from the sensor signals of the three acceleration sensors corresponding to the xyz axes of the device 10. May be. In addition, the movement direction change detection unit 130 may detect a change in acceleration with respect to the direction of gravity perpendicular to the traveling direction of the user holding the device 10. In this case, the change of the acceleration may be detected from the sensor signal of the geomagnetic sensor of the device 10, and instead of this, it may be detected from the sensor signal of the geomagnetic sensor and the sensor signal of the acceleration sensor.

The movement direction change detection unit 130 performs signal analysis or pattern matching on the sensor signal to acquire a pattern signal that accompanies the user's walking, detects a change in the traveling direction dependency of the pattern signal, and holds the device 10 It is also possible to detect a change in the moving direction of the user. The movement direction change detection unit 130 may detect a change in the movement direction based on a movement direction (a direct movement direction or a movement direction calculated from time-series data of position coordinates) obtained by processing such as autonomous navigation. Good. The movement direction change detection unit 130 may detect a change in the movement direction of the user by a known traveling direction estimation method used as autonomous navigation, as described in Patent Documents 1 and 2, for example.

The information processing apparatus 100 repeats the detection of the change in the movement direction until the movement direction change detection unit 130 detects the change in the movement direction or until the end of the process is instructed (S350: No, S380: No, S340). That is, the movement direction change detection unit 130 reads the next acquired sensor signal stored in the storage unit 120 and detects a change in the movement direction of the device 10. When the movement direction change detection unit 130 detects a change in the movement direction (S350: Yes), the movement distance calculation unit 140 calculates the distance moved by the user (S360).

The movement distance calculation unit 140 calculates the movement distance from the estimated position of the device 10 when the first anchor position is determined to the estimated position where the change in the movement direction of the device 10 is detected. Here, the first anchor position is information on the latest anchor position determined by the determination unit 170. That is, the first anchor position is an initial position that is set at the start stage of processing, and is an anchor position that is sequentially determined by executing the processing.

Therefore, the movement distance calculation unit 140 calculates the movement distance from the initial position to the estimated position where the change in the movement direction of the device 10 is detected at the start of processing. For example, when the user changes the movement direction from the first anchor position after the user passes the plurality of anchor positions, the movement distance calculation unit 140 exceeds the plurality of anchor positions from the first anchor position, and The movement distance to the estimated position where the change in the movement direction is detected is calculated.

For example, the movement distance calculation unit 140 acquires the movement speed V of the device 10, determines the movement speed V and the first anchor position, and then determines the time t until a change in the movement direction of the device 10 is detected. Accordingly, the moving distance L of the device 10 is calculated. Here, the movement distance calculation unit 140 may acquire the movement speed V from time integration of the sensor signal of the acceleration sensor or the like. Further, the moving distance calculation unit 140 analyzes the sensor signal to acquire a pattern signal accompanying the user's walking, and calculates the moving speed V of the user holding the device 10 from the number of steps per unit time of the user. Good. In this case, the movement distance calculation unit 140 calculates the movement distance L (= Vt) by multiplying the movement speed V by the time t.

Instead, the movement distance calculation unit 140 counts the number of steps of the user holding the device 10 based on the sensor signal, and after the first anchor position is determined, a change in the movement direction of the device 10 is detected. The movement distance L of the device 10 is calculated according to the user's step count N and the user's stride W. In this case, as an example, the movement distance calculation unit 140 analyzes the sensor signal, acquires a pattern signal associated with the user's walk, and counts the number of steps N of the user. Further, the information processing apparatus 100 may cause the user to input his / her own stride W in advance and store it in the storage unit 120. In this case, the movement distance calculation unit 140 calculates the movement distance L (= NW) by multiplying the number of steps N by the step length W.

Next, the determination unit 170 determines the position through which the device 10 has passed when the movement direction change detection unit 130 detects a change in the movement direction of the device 10 as the second anchor position (S370). The determination unit 170 determines the second anchor position based on the first anchor position and the movement distance of the device 10. Here, an operation in which the determination unit 170 determines the second anchor position will be described with reference to FIG.

FIG. 4 shows a first example of the first anchor position according to the present embodiment and the second anchor position determined by the determination unit 170. FIG. 4 shows roads through which a user holding the device 10 passes and anchor positions A, B, and C preset at the intersections of the roads. Here, the anchor position C is set as the first anchor position. Here, at the stage where the information processing apparatus 100 starts processing, the first anchor position is the initial position of the user.

FIG. 4 further shows an example of the user's actual walking route PQ and the user's trajectory pq calculated using a technique such as autonomous navigation. Since the movement direction change detection unit 130 detects a change in the movement direction of the device 10, it detects the R1 point and the R2 point on the user's trajectory pq sequentially. FIG. 4 is a stage in which the determination unit 170 determines the R1 point as the first anchor position in association with the anchor position C, and determines the second anchor position corresponding to the next detected R2 point. Show.

Ideally, it is desirable that the actual walking route PQ coincides with the calculated user trajectory pq. However, as in the example shown in FIG. 4, the calculated user trajectory pq does not coincide with the walking route PQ due to a detection error or the like, and may not overlap the road on which the user passes. Arise. Then, as the second anchor position corresponding to the detected R2 point, for example, when the anchor position closest to the R2 point is determined, the anchor position A that does not correspond to the user's actual walking route may be selected. It will occur. Here, when there is a road to the west side from the anchor position A, the wrong road is selected, and when there is no road to the west side from the anchor position A (example in FIG. 4), walking cannot be continued. Will collapse.

Thus, unlike the sequential coordinate detection and correction using GPS or the like, the user's trajectory pq by autonomous navigation accumulates errors from the initial position, so that errors also occur in the anchor position selection. May end up. In particular, since the user's trajectory pq is based on the detection of the direction of travel of the device 10 held by the user, errors are likely to occur due to shaking of the user's body, meandering, hand shaking, and the like.

Accordingly, the determination unit 170 of the present embodiment detects the change in the moving direction of the device 10 from the estimated position (point R1) immediately before the device 10 when the first anchor position is determined. Based on the moving distance to the position (point R2), the second anchor position is determined. That is, errors accumulate at the estimated positions of the device 10, but the influence of the accumulation of the errors is reduced in detecting the movement distance between the estimated positions. Therefore, the determination unit 170 more accurately determines the anchor position. You can choose.

Specifically, the movement distance calculation unit 140 detects the movement distance L according to the time t from the detection of the R1 point to the detection of the R2 point and the movement speed V of the device 10, or the detection of the R2 point from the detection of the R1 point. The movement distance L corresponding to the number of steps N of the user and the step width W of the user is calculated and supplied to the determination unit 170. And the determination part 170 makes the anchor position located in the distance corresponding to the said movement distance L the 2nd anchor position.

For example, the determination unit 170 compares the distance L _CA from the anchor position C to the anchor position A, the distance L _CB from the anchor position C to the anchor position B, and the movement distance L. Then, the determination unit 170 determines that the closest L _CB corresponds to the distance L moved by the user, and sets the anchor position B as the second anchor position. In this case, the determination unit 170 may further determine the second anchor position when the absolute value of LL _CB is equal to or smaller than a predetermined distance. Accordingly, the determination unit 170 can select an anchor position corresponding to the user's actual walking route. The second anchor position determined by the determination unit 170 is output to and stored in the passing anchor position storage unit that stores the anchor position through which the device 10 has passed.

Further, when determining the second anchor position, the determination unit 170 may determine the second anchor position including the moving direction of the device 10. For example, the determination unit 170 selects the second anchor position and the movement direction from the second anchor position based on the movement direction of the device 10 among the movement direction candidates at the second anchor position (that is, the road to be passed). ).

In FIG. 4, for example, when determining the anchor position B as the second anchor position, the determination unit 170 extracts the BN, BE, and BW directions as candidates for the movement direction from the second anchor position, An angle with the direction from the anchor position C to the anchor position B (that is, the north direction) is calculated. For example, the determination unit 170 calculates 0, +90, and −90 degrees corresponding to the BN, BE, and BW directions, respectively. The determination unit 170 acquires the angle or the like of the direction changed by the device 10 by autonomous navigation, and determines the corresponding movement direction by comparing with the calculated angle. As an example, the determination unit 170 is approximately 90 degrees counterclockwise at the R2 point with respect to the direction from the R1 point to the R2 point (for example, approximately 25 degrees clockwise with respect to the northward direction). The closest BW direction (−90 degrees direction) is determined as the moving direction of the device 10 according to the changed detection result.

Thus, the determination unit 170 can select an anchor position and a passage corresponding to the actual walking route of the user. In addition, by selecting a path from the anchor position in this way, it may be possible to detect an anchor position selection error. For example, in FIG. 4, when the error ΔL is superimposed on the movement distance L due to detection with low reliability or the like, the determination unit 170 determines that the closest _LCB corresponds to the distance L moved by the user. The anchor position A is set as the second anchor position. In this case, since the determination unit 170 extracts AN and AE as candidates for the moving direction from the anchor position A, if a detection result changed approximately 90 degrees counterclockwise at the point R2 is acquired, there is no corresponding passage. Therefore, it can be determined that the anchor position is selected incorrectly. Then, the determination unit 170 may determine that the L _CA that is the next closest distance corresponds to the distance L that the user has moved, and determine the anchor position A as the second anchor position.

As described above, the determination unit 170 may use the change in the movement direction of the device 10 to select the anchor position with high accuracy even when the error ΔL is superimposed on the movement distance L. The determination unit 170 may use a change ratio, a ratio, or the like for the purpose of detecting a change in the moving distance and / or moving direction.

The determination unit 170, for example, a ratio of a movement distance (estimated movement distance) from the estimated position (R1 point) immediately before the device 10 to the current estimated position (point R2) and the distance between anchors The second anchor position may be determined based on (distance ratio). Instead of or in addition to this, the determination unit 170 determines the second anchor position based on the ratio (direction ratio) between the moving direction of the device 10 (assumed to be an estimated direction change) and the angle between the anchors. You may decide.

For example, the determination unit 170 calculates a distance ratio (= (estimated movement distance−anchor distance) / anchor distance) for each second anchor position candidate, and the anchor position where the distance ratio becomes the smallest is calculated. Is determined as the second anchor position. Further, the determination unit 170 calculates a direction ratio (= (estimated direction change−anchor angle) / anchor angle) for each second anchor position candidate, and the anchor position at which the direction ratio is the smallest. May be determined as the second anchor position. Note that the distance ratio and the direction ratio may be calculated as absolute values.

Further, the determination unit 170 may determine the anchor position having the smallest sum of the distance ratio and the direction ratio as the second anchor position. In this case, the determination unit 170 may calculate the sum after multiplying the distance ratio and the direction ratio by a predetermined coefficient. In this case, a plurality of sets of coefficients for multiplying the distance ratio and the direction ratio are determined in advance, and the determination unit 170 determines the predetermined set of coefficients according to the case where the movement distance is prioritized or the movement direction is prioritized. It may be changed.

In addition, when the reliability of the traveling direction output from the autonomous navigation is low, or when it is determined that the reliability of the estimated position coordinates is low, the determination unit 170 determines the distance estimated during the period of low reliability. The ratio of the distance may be calculated without including. For example, when the posture of the device 10 has changed significantly (stumbling of the user holding the device 10, behavior to avoid from collision, congestion, etc., falling), the change in the rotation direction of the device 10 has changed more than a predetermined angle. In some cases (such as turning a corner while looking left and right, turning while turning), the reliability of the estimated traveling direction may be low.

Therefore, when the determination unit 170 detects from the magnitude of the change that the reliability of the traveling direction may be low, the determination unit 170 maintains the traveling direction immediately before detection, and the fluctuation is recovered normally. The second anchor position may be determined without using the movement distance estimated during the period until. FIG. 5 shows a second example of the first anchor position according to the present embodiment and the second anchor position determined by the determination unit 170. FIG. 5 shows roads on which a user holding the device 10 passes and anchor positions A, B, C, and D preset on the roads. Here, the anchor position A is set as the first anchor position.

FIG. 5 further shows an example of the user's actual walking route PQ and the user's trajectory pq calculated using a technique such as autonomous navigation. Since the movement direction change detection unit 130 detects a change in the movement direction of the device 10, it detects the R1 point and the R2 point on the user's trajectory pq sequentially. FIG. 5 shows an example in which the determination unit 170 determines the R1 point as the first anchor position in association with the anchor position C, and determines the second anchor position corresponding to the next detected R2 point. Show.

It should be noted that the section P′-Q in the user's walking route PQ is a section in which the user moves while greatly fluctuating, and is a section in which the reliability in the traveling direction is low. That is, of the user's trajectory pq calculated using a technique such as autonomous navigation, the section of the trajectory p'-q is a case where there is a deviation from the actual user's walking route P'-Q. Show. As described above, when the user's trajectory pq different from the actual user's walking route is used, the determination unit 170 determines the anchor position D as the second anchor position according to the moving direction and the estimated moving distance of the device 10. Will be decided as.

Therefore, for example, at the point P ′, the determination unit 170 determines that the reliability in the traveling direction has decreased in response to the change in the movement direction of the device 10 being greater than a predetermined threshold. . Then, the determination unit 170 maintains the traveling direction immediately before passing through the point P ′, and the travel distance (referred to as the distance A) estimated during the period until the user moves in the section P′−Q is Without using it, the second anchor position is determined. Here, when the determination unit 170 determines the second anchor position using the distance ratio, the distance ratio may be calculated using (estimated movement distance−distance A−inter-anchor distance) / inter-anchor distance). .

As described above, the determination unit 170 determines the second anchor position as the point C. Accordingly, the determination unit 170 selects the anchor position C existing on the actual user's walking route PQ without selecting the anchor position in the section of the trajectory p′-q deviated from the actual user's walking route. You can choose. Therefore, the determination unit 170 can prevent the failure of the operation after the anchor position deviated from the walking route, and can continue the operation from the anchor position C on the actual user's walking route PQ.

For example, the determination unit 170 determines the correct anchor position based on the estimated moving distance moved during the period when the reliability in the traveling direction is low and the moving direction of the user at point Q when the reliability in the traveling direction is restored. Guess. Alternatively, the determination unit 170 may continue the operation with the anchor position C as the correct second anchor position.

The determination unit 170 acquires the second anchor position stored in the passing anchor position storage unit. The information processing apparatus 100 uses the second anchor position determined by the determination unit 170 as the first anchor position until the processing is completed, and returns to the stage of detecting the movement report change by the movement direction change detection unit 130. The next second anchor position determination operation corresponding to the user's walking operation is continued. (S380: No, S340).

The information processing apparatus 100 ends the process in response to the user inputting the end of the autonomous navigation (S380: Yes). Further, the information processing apparatus 100 may end the processing in response to switching to another positioning method system or the like.

As described above, the information processing apparatus 100 according to the present embodiment calculates the distance that the user moves before the estimated position of the device 10 is detected, determines the anchor position based on the movement distance, The selection error of the anchor position is reduced. Thereby, the information processing apparatus 100 can reduce an estimation error of the current position of the user by autonomous navigation.

The determination unit 170 of the information processing apparatus 100 according to the present embodiment described above determines that the second anchor position is determined by comparing the movement distance L calculated by the movement distance calculation unit 140 with the distance between the anchor positions. did. In addition to this, the determination unit 170 may update the moving speed V or the stride W of the user according to the determination of the second anchor position.

Further, the determination unit 170 may store a parameter for estimating the moving speed V instead of the moving speed V of the user. Here, the parameter for estimating the moving speed V may include a moving speed calculated based on the distance between the anchor positions, or may include a physical quantity representing the user's action between the anchor positions. As an example, the determination unit 170 includes, as a physical quantity representing a user's motion between anchor positions, an average value of amplitude values of angular velocities in the gravity axis direction between anchor positions calculated based on sensor signals.

The moving distance calculation unit 140 can estimate the moving speed V of the user more accurately from the parameter updated in consideration of the user's action. Specifically, the movement distance calculation unit 140 estimates the movement speed V of the user based on the relationship between the acceleration amplitude value in the gravity axis direction and the movement speed. In this case, the movement distance calculation unit 140 may have a linear relationship between the acceleration amplitude value in the gravity axis direction and the movement speed.

As an example, when the movement speed V of the user acquired by the movement distance calculation unit 140 is stored in the storage unit 120, the determination unit 170 moves the device 10 based on the distance between the anchor positions determined that the device 10 has passed. Update speed. In the example of FIG. 4, since the distance L _CB between anchor positions corresponds to the distance that the user has moved during time t, the determination unit 170 calculates the moving speed of the user as V _new = L _CB / t. The updated moving speed V _new is stored in the storage unit 120.

Further, when the storage unit 120 stores the user's stride, the determination unit 170 updates the user stride information based on the distance between the anchor positions through which the device 10 has passed. In the example of FIG. 4, since the distance L _CB between the anchor positions corresponds to the distance moved by the user with the number of steps N, the determination unit 170 calculates and updates the user's stride as W _new = L _CB / N, The updated stride W _new is stored in the storage unit 120.

Thus, since the determination unit 170 updates the user's moving speed V or the stride W based on the distance that the user has moved immediately before, the determination of the next moving distance by the moving distance calculation unit 140 is more accurate. Can be calculated. In addition, even if the user's walking speed increases or decreases depending on the physical condition of the user, other luggage, and the degree of congestion on the walking road, the movement distance calculation unit 140 calculates a more accurate movement distance. can do.

Note that the determination unit 170 may update the moving speed of the user and / or the stride of the user using the distance between the two or more anchor positions. If the distance _LCB between anchor positions is about 5 m or less, for example, the user will pass in several steps, and an error may occur in the calculation of the user's moving speed and step length. Therefore, for example, the determination unit 170 uses a distance between two or more anchor positions that is equal to or greater than a predetermined distance in order to use a distance that allows the user to walk about 10 steps or more.

In addition, when the distance that the user has walked several hundred steps is used, the determination unit 170 cannot cope with a change in the user's way of walking and the average moving speed and step length influenced by past actions. May be calculated. Therefore, when the distance between the plurality of anchor positions is used, the determination unit 170 may update the user's moving speed and / or stride using a distance that is equal to or less than a predetermined upper limit value. In this case, it is desirable that the determination unit 170 calculates the moving speed and the stride without using data such as a section with a low reliability.

In the information processing apparatus 100 according to the present embodiment described above, an example in which the sensor signal acquisition unit 110 acquires a sensor signal from at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor has been described. In addition to this, the sensor signal acquisition unit 110 may acquire a sensor signal of a sensor including an atmospheric pressure sensor mounted on the device 10.

Here, the atmospheric pressure sensor detects a change in atmospheric pressure around the device 10 in response to the user holding the device 10 moving up and down by any elevator, escalator, stairs, or slope. In this case, the determination unit 170 determines the second anchor position based on the movement distance from the estimated position of the device 10 when the first anchor position is determined to the estimated position where the atmospheric pressure change around the device 10 is detected. To decide.

In this case, the movement direction change detection unit 130 detects that the movement direction of the user has been changed by the lifting / lowering means if a change in atmospheric pressure is detected even if a change in the movement direction of the user by the acceleration sensor or the like is not detected. . The movement direction change detection unit 130 detects, for example, that the user has got on the lifting / lowering means such as an escalator and got off the lifting / lowering means. In addition, the movement direction change detection unit 130 may detect walking of elevating means such as stairs and escalators, and stop of the walking. That is, the movement direction change detection unit 130 may detect both a change in the movement direction of the user and a change in atmospheric pressure around the device 10.

Further, the movement distance calculation unit 140 can acquire the movement speed V of the user by comparing the temporal change of the atmospheric pressure with the data of the height and the atmospheric pressure difference for each floor. That is, the information processing apparatus 100 can determine whether the user is on an elevator or an escalator. Therefore, the movement distance calculation unit 140 can calculate the movement distance L that is moved by the lifting means or the like even when the user is not walking. Here, the memory | storage part 120 may memorize | store the data of the height and atmospheric | air pressure difference for every floor, etc. previously.

In addition, since the information processing apparatus 100 can detect the user's walking state by analyzing the sensor signal from the acceleration sensor, the user walks on the escalator even if the time variation of substantially the same atmospheric pressure is detected. It is possible to determine whether the vehicle is on the elevator or on the elevator. Similarly, the information processing apparatus 100 can determine whether the user is walking on the stairs or on an escalator.

Thus, since the movement direction change detection unit 130 detects a change in the movement direction by the user's lifting means based on the change in atmospheric pressure and the movement distance calculation unit 140 can calculate the movement distance L, the determination unit 170. Can determine an anchor position corresponding to the actual walking route of the user. That is, the information processing apparatus 100 can reduce the estimation error of the current position of the user by autonomous navigation even when the user moves between floors in the building. In this case, since the information processing apparatus 100 determines the anchor position based on the change in atmospheric pressure around the device 10, the information processing apparatus 100 can determine the anchor position even when the user is not walking.

In addition, even if there are a plurality of anchor positions that are different floors in the building and that are substantially equidistant from the first anchor position, the information processing apparatus 100 can be a floor on which the user walks based on a change in atmospheric pressure. Anchor positions can be determined.

FIG. 6 shows a modification of the information processing apparatus 100 according to this embodiment together with the sensor 20 and the anchor position storage unit 30. In the information processing apparatus 100 according to the present modification, the same reference numerals are given to the substantially same operations as those of the information processing apparatus 100 according to the present embodiment illustrated in FIG. The information processing apparatus 100 according to this modification further includes a movement direction detection unit 150.

The moving direction detection unit 150 is connected to the storage unit 120 and detects the moving direction of the device 10 based on the sensor signal. For example, the movement direction detection unit 150 detects the movement direction of the device 10 according to a predetermined timing or a clock signal.

The movement direction detection unit 150 may accumulate the detected movement direction of the device 10 in the storage unit 120, and may calculate a locus of movement of the user holding the device 10 based on the accumulated movement direction. That is, the moving direction detection unit 150 can calculate the user's trajectory pq shown in the example of FIG. 4 by accumulating the moving direction of the device 10. The movement direction detection unit 150 supplies the detected movement direction and / or the calculated trajectory to the determination unit 170.

The determination unit 170 of this modification determines the second anchor position based on the first anchor position, the movement distance of the device 10, and the movement direction. Here, for example, when there are a plurality of anchor positions having substantially the same distance between the anchor positions, the determination unit 170 may not be able to determine the second anchor position only by comparing the distances. Therefore, the determination unit 170 determines the anchor position that exists in the direction depending on whether the user holding the device 10 has moved from the first anchor position in the left, right, east-west, north-south, or up-down direction. The second anchor position is determined.

For example, when the determination unit 170 determines the second anchor position based on the first anchor position and the movement distance, the direction of the second anchor position with respect to the first anchor position indicates that the user has moved It is determined whether the direction is substantially the same as the direction. Then, when the direction of the second anchor position is different from the moving direction of the user, the determination unit 170 excludes the determined second anchor position and newly sets the second anchor position from among other anchor positions. You may decide.

Instead, the determination unit 170 sets an anchor position that is substantially in the same direction as the moving direction of the user among the plurality of anchor positions as a second anchor position candidate, and selects the first anchor position and the anchor position from the candidates. The second anchor position may be determined based on the movement distance. As described above, the information processing apparatus 100 according to the present modification determines the second anchor position in consideration of the moving direction of the user, so that the selection error of the anchor position can be further reduced.

In addition, when the distance between different anchor positions is shorter than a predetermined reference distance, the determination unit 170 may determine the second anchor position by giving priority to the moving direction of the device 10. The operation of the determination unit 170 in this case will be described with reference to FIG.

FIG. 7 shows a third example of the first anchor position according to the present embodiment and the second anchor position determined by the determination unit 170. In this example, the same reference numerals are given to substantially the same parts as those of the first anchor position and the second anchor position according to the present embodiment shown in FIG.

-Immediately after the user starts walking or immediately after changing the movement direction, the user's movement may not be stable. Therefore, if the movement distance calculation unit 140 calculates the movement distance of the user in a range close to the initial position or the first anchor position, the calculated movement distance may include a large error.

As shown in FIG. 7, the user's trajectory pq calculated by the moving direction detection unit 150 also has a large error. In such a case, the movement distance calculation unit 140 and the movement direction detection unit 150 tend to calculate the movement distance largely. For example, in the case of FIG. 7, even if the distance L _CA from the anchor position C to the anchor position A and the distance L _CB from the anchor position C to the anchor position B are compared with the movement distance L, the movement distance L Are substantially the same, and it becomes impossible to determine which one should be selected.

Therefore, the determination unit 170 prioritizes the moving direction of the device 10 and determines the second anchor position. That is, the decision unit 170 detects that the user's moving direction has already changed and the point R2 has been detected before reaching the anchor position A, and the user's trajectory pq has changed to the east in the figure. The user determines that the moving direction has been changed to the east at the anchor position B. Thus, the determination unit 170 gives priority to the change and sets the anchor position B as the second anchor position. Thereby, the information processing apparatus 100 can reduce the selection error of the second anchor position that occurs when the distance between the different anchor positions is shorter than the predetermined distance.

If the determination unit 170 detects a change in the movement direction of the device 10 and cannot determine the second anchor position for a predetermined time or more, the determination unit 170 moves the first anchor position and the device 10. A second anchor position may be determined based on the direction. Here, for example, even if the movement direction change detection unit 130 detects a change in the movement direction of the device 10 and the movement distance calculation unit 140 calculates the movement distance L of the device 10, only the distance L from the first anchor position is calculated. There may be no anchor position corresponding to the distant position.

FIG. 8 shows a fourth example of the first anchor position according to the present embodiment and the second anchor position determined by the determination unit 170. In this example, the same reference numerals are given to substantially the same parts as those of the first anchor position and the second anchor position according to the present embodiment shown in FIG.

For example, when the user's actual movement speed, the number of steps, the step length, and the like vary due to the user's movements different from normal walking such as stepping, meandering, and rotation, the movement distance calculation unit 140 includes an error. The movement distance L is calculated. In this case, the determination unit 170 may not be able to determine the second anchor position corresponding to the movement distance L and may get stuck. Here, as shown in FIG. 8, the moving direction detection unit 150 can sequentially calculate the user's trajectory pq (or p′−q ′) although it includes an error.

Therefore, even if the R2 point where the movement direction of the user has changed and the anchor position A are separated from each other by a predetermined distance, the determination unit 170 determines that the user is moving in the east direction. The anchor position A corresponding to the road that can move in the east direction is determined as the second anchor position. In this case, when there are a plurality of roads that can go in the east direction, the determination unit 170 may determine the corresponding anchor position closest to the point R2 as the second anchor position. Thereby, the information processing apparatus 100 can prevent a deadlock due to the anchor position not being determined.

Further, when determining the anchor position corresponding to the estimated position of the device 10 among the anchor positions in a predetermined region, the determination unit 170 determines the first anchor position, the movement distance of the device 10, and the predetermined position. The second anchor position is determined based on the moving direction of the device 10 in a period longer than the predetermined time. For example, when the user gently changes the movement direction, the movement direction change detection unit 130 may not be able to detect the change in the movement direction.

FIG. 9 shows a fifth example of the first anchor position according to the present embodiment and the second anchor position determined by the determination unit 170. In this example, the same reference numerals are given to substantially the same parts as those of the first anchor position and the second anchor position according to the present embodiment shown in FIG.

As shown in the example of FIG. 9, when a user walks on a road having a relatively wide road, when the user travels in the oblique direction, the movement direction change detection unit 130 cannot detect the change in the movement direction. . For example, the movement direction change detection unit 130 may not be able to detect a change from the first travel direction to the second travel direction and / or a change from the second travel direction to the third travel direction. Then, the movement direction detection unit 150 sequentially calculates the trajectory pq corresponding to the user's walk.

Therefore, the movement direction detection unit 150 calculates the movement direction of the device 10 in a period longer than a predetermined time based on the calculated trajectory pq corresponding to the user's walk. Here, the movement direction detection unit 150 sets a period longer than a predetermined time to be longer than the time during which the movement direction change detection unit 130 detects the movement direction. For example, the movement direction detection unit 150 may set the period as a period during which the user walks two steps or more, and preferably sets the period as four steps or more.

For example, when the user walks for a predetermined time or longer without changing the traveling direction, the moving direction detection unit 150 detects the traveling direction as the traveling direction of the user. In this case, the moving direction detection unit 150 may store the detected traveling direction in the storage unit 120. For example, the moving direction detection unit 150 sequentially detects and stores a first traveling direction, a second traveling direction, and a third traveling direction in the drawing.

The moving direction detection unit 150 sequentially stores such traveling directions, and the traveling direction stored immediately before and the traveling direction stored this time change more than a predetermined angle, and If the movement direction change detection unit 130 does not detect a change in the movement direction during the change in the movement direction, it detects that the movement direction has changed. Accordingly, the moving direction detection unit 150 can detect a change from the first traveling direction to the second traveling direction and a change from the second traveling direction to the third traveling direction, respectively.

The moving direction detection unit 150 supplies the detection result of the change in the traveling direction to the determination unit 170, and the determination unit 170 determines the anchor position according to the change in the traveling direction. Here, the determination unit 170 determines an estimated position (point R1) of the device 10 in a period between a period in which the first traveling direction is detected and a period in which the second traveling direction is detected, for example. The anchor position A corresponding to the position (for example, closest) is set as the second anchor position. Here, the determination unit 170 may set an intermediate point of a period between the period in which the first traveling direction is detected and the period in which the second traveling direction is detected on the user's trajectory as the estimated position.

And the determination part 170 determines the estimated position (R2 point) of the apparatus 10 in the period between the period when the 2nd advancing direction was detected, and the period when the 3rd advancing direction was detected, for example, and the said estimated position The anchor position C corresponding to is set as the next second anchor position. In this manner, the information processing apparatus 100 can determine the anchor position by detecting the change in the traveling direction even when the user gently changes the traveling direction.

The information processing apparatus 100 may further include a device position acquisition unit that acquires the position of the device 10. Here, the device position acquisition unit acquires the position of the device 10 obtained by an external device or the like. The device position acquisition unit acquires the position information of the device 10 obtained by positioning means such as GPS. In addition, the device position acquisition unit may receive and measure a standardized wireless LAN signal such as Wi-Fi (Wireless Fidelity) and acquire the position information of the device 10 obtained.

Further, the device position acquisition unit may acquire the position information of the device 10 obtained by receiving radio waves or electromagnetic waves such as infrared rays emitted from a beacon provided at a predetermined position. In addition, the device position acquisition unit may acquire the position information of the device 10 from an external device or the like that supplies the absolute position of the device 10 or calculates the absolute position regardless of radio waves and electromagnetic waves. The device position acquisition unit supplies the acquired position of the device 10 to the determination unit 170.

In this case, the determination unit 170 preferentially determines the anchor position closest to the position of the device 10 as the second anchor position in response to the device position acquisition unit acquiring the position of the device 10. In this way, when the information processing apparatus 100 can estimate the position of the device 10 with higher accuracy than the autonomous navigation, the information processing device 100 preferentially adopts the position of the device 10 estimated with the high accuracy, and the corresponding anchor position. Is the second anchor position. Thereby, the information processing apparatus 100 can reduce the influence of the position error accumulated by the autonomous navigation.

Further, when a walking route for the user to walk is determined in advance, the information processing apparatus 100 may register in advance the corresponding anchor position on the walking route as the second anchor position candidate. The determination unit 170 may determine the second anchor position from the registered second anchor position candidates when a change in the moving direction of the user is detected.

In the information processing apparatus 100 described above, it has been described that the movement direction detection unit 150 calculates the trajectory pq corresponding to the user's walk. In addition to this, the movement direction detection unit 150 may correct the calculated trajectory pq according to the determination unit 170 determining the second anchor position.

In this case, every time the determination unit 170 determines the second anchor position, the determination unit 170 stores the determined second anchor position in the storage unit 120. Then, the movement direction detection unit 150 corrects the corresponding portion of the calculated trajectory pq in accordance with the update of the second anchor position. As a result, the information processing apparatus 100 can calculate the user's path pq with higher accuracy.

In the information processing apparatus 100 described above, the example in which the movement direction change detection unit 130 detects a change in the movement direction of the device 10 and the movement direction detection unit 150 detects the movement direction of the device 10 has been described. Here, when the movement direction detection unit 150 can detect a change in the movement direction of the device 10 by further detecting a temporal change in the movement direction of the detected device 10, the movement direction detection unit 150 The operation of the change detection unit 130 may be executed. That is, in this case, the movement direction change detection unit 130 and the movement direction detection unit 150 may be the same member.

FIG. 10 shows a configuration example of the map matching apparatus 200 according to the present embodiment. In the map matching apparatus 200 of the present embodiment, the same reference numerals are assigned to substantially the same operations as those of the information processing apparatus 100 according to the present embodiment shown in FIGS. 2 and 6, and the description thereof is omitted. The map matching apparatus 200 further includes an input unit 210, a map information storage unit 220, and a position determination unit 230.

The input unit 210 inputs the initial position of the user. In addition, the input unit 210 may input an instruction to start processing of the map matching function. As an example, the map matching apparatus 200 may display the map information on the display unit 12 of the mobile device 10 and allow the user to specify the current position, thereby inputting the user's initial position and starting the map matching function. . In this case, the input unit 210 may be an input device such as a touch panel combined with the display unit 12 as an example. The storage unit 120 may store the initial position of the user input from the input unit 210.

The map information storage unit 220 stores map information including a plurality of anchor positions. Further, the map information storage unit 220 stores map information including a correspondence relationship between a plurality of anchor positions and position coordinates on the map. The map information storage unit 220 may store map information to be displayed on the display unit 12.

The position determination unit 230 determines the position on the map of the user holding the device 10 according to the anchor position corresponding to the estimated position of the device 10 output from the information processing apparatus 100. Since the information processing apparatus 100 can output the anchor position corresponding to the estimated position of the user with reduced error, the position determination unit 230 can accurately determine the position of the user on the map.

The position determination unit 230 causes the display unit 12 to display the determined user position together with the map information. Further, the position determination unit 230 may cause the display unit 12 to display the user trajectory calculated by the movement direction detection unit 150. Thereby, the user can confirm the position on the map of the user himself / herself by autonomous navigation with reduced error.

Also, since the position determination unit 230 can determine the correct position on the map of the user by map matching, the position determination unit 230 can also calculate a more accurate distance that the user has moved. Therefore, the position determination unit 230 may be connected to the movement distance calculation unit 140 and supply the calculated movement distance to the movement distance calculation unit 140. Accordingly, the movement distance calculation unit 140 can calculate the more accurate movement speed of the user based on the accurate distance obtained from the map matching and the walking time obtained from the autonomous navigation. Furthermore, the parameter regarding the moving speed estimated in autonomous navigation can be updated to an appropriate one according to the obtained accurate moving speed and the physical quantity obtained from the autonomous navigation.

FIG. 11 shows an example of a hardware configuration of a computer 1900 that functions as the information processing apparatus 100 according to the present embodiment. A computer 1900 according to the present embodiment is mounted inside the device 10, for example. Instead of this, the computer 1900 may be provided outside the device 10, receive a sensor output from the device 10, and transmit an anchor position determination result or the like to the device 10. In this case, the computer 1900 transmits and receives wirelessly to and from the device 10 as an example.

A computer 1900 according to this embodiment is connected to a CPU peripheral unit having a CPU 2000, a RAM 2020, a graphic controller 2075, and a display device 2080 that are connected to each other by a host controller 2082, and to the host controller 2082 by an input / output controller 2084. A communication interface 2030, a storage unit 2040, an input / output unit 2060, a ROM 2010, a card slot 2050, and an input / output chip 2070.

The host controller 2082 connects the RAM 2020 to the CPU 2000 and the graphic controller 2075 that access the RAM 2020 at a high transfer rate. The CPU 2000 operates based on programs stored in the ROM 2010 and the RAM 2020 and controls each unit. The graphic controller 2075 acquires image data generated by the CPU 2000 or the like on a frame buffer provided in the RAM 2020 and displays it on the display device 2080. Instead of this, the graphic controller 2075 may include a frame buffer for storing image data generated by the CPU 2000 or the like.

The input / output controller 2084 connects the host controller 2082 to the communication interface 2030, the storage unit 2040, and the input / output unit 2060 which are relatively high-speed input / output devices. The communication interface 2030 communicates with other devices via a network. Storage unit 2040 stores programs and data used by CPU 2000 in computer 1900. The storage unit 2040 is a nonvolatile memory, such as a flash memory or a hard disk.

The input / output unit 2060 is connected to the connector 2095, transmits / receives a program or data to / from the outside, and provides the storage unit 2040 via the RAM 2020. The input / output unit 2060 may transmit / receive to / from the outside with a standardized connector and communication method. In this case, the input / output unit 2060 is a standard such as USB, IEEE 1394, HDMI (registered trademark), or Thunderbolt (registered trademark). May be used. Further, the input / output unit 2060 may transmit and receive with the outside using a wireless communication standard such as Bluetooth (registered trademark).

Also, the ROM 2010, the card slot 2050, and the relatively low-speed input / output device of the input / output chip 2070 are connected to the input / output controller 2084. The ROM 2010 stores a boot program that the computer 1900 executes at startup and / or a program that depends on the hardware of the computer 1900. The card slot 2050 reads a program or data from the memory card 2090 and provides it to the storage unit 2040 via the RAM 2020. The input / output chip 2070 connects the card slot 2050 to the input / output controller 2084 and, for example, various input / output devices via the parallel port, serial port, keyboard port, mouse port, etc. You may connect to.

The program provided to the storage unit 2040 via the RAM 2020 is provided by the user via the input / output unit 2060 or stored in a recording medium such as the memory card 2090. The program is read from the recording medium, installed in the storage unit 2040 in the computer 1900 via the RAM 2020, and executed by the CPU 2000.

The program is installed in the computer 1900, and the computer 1900 includes the sensor signal acquisition unit 110, the storage unit 120, the movement direction change detection unit 130, the movement distance calculation unit 140, the movement direction detection unit 150, the anchor position acquisition unit 160, and the determination unit. It functions as 170 or the like.

The information processing described in the program is read into the computer 1900, whereby the sensor signal acquisition unit 110, the storage unit 120, and the movement direction change, which are specific means in which the software and the various hardware resources described above cooperate. It functions as a detection unit 130, a movement distance calculation unit 140, a movement direction detection unit 150, an anchor position acquisition unit 160, a determination unit 170, and the like. And the specific information processing apparatus 100 according to the intended use is constructed | assembled by implement | achieving the calculation or processing of the information according to the intended use of the computer 1900 in this embodiment by this concrete means.

As an example, when communication is performed between the computer 1900 and an external device or the like, the CPU 2000 executes a communication program loaded on the RAM 2020 and executes a communication interface based on the processing content described in the communication program. A communication process is instructed to 2030. The communication interface 2030 receives transmission data stored in a transmission buffer area provided on a storage device connected via the RAM 2020, the storage unit 2040, the memory card 2090, or the input / output unit 2060 under the control of the CPU 2000. The data is read and transmitted to the network, or the received data received from the network is written into a reception buffer area or the like provided on the storage device. As described above, the communication interface 2030 may transfer transmission / reception data to / from the storage device by the DMA (Direct Memory Access) method. Instead, the CPU 2000 transfers the storage device or the communication interface 2030 as the transfer source. The transmission / reception data may be transferred by reading the data from the data and writing the data to the communication interface 2030 or the storage device of the transfer destination.

In addition, the CPU 2000 uses the RAM 2020 to transfer all or necessary portions from among files or databases stored in the storage unit 2040, the memory card 2090, or a storage device connected via the input / output unit 2060 by DMA transfer or the like. And various processes are performed on the data on the RAM 2020. Then, CPU 2000 writes the processed data back to the storage device by DMA transfer or the like. In such processing, since the RAM 2020 can be regarded as temporarily holding the contents of the storage device, in the present embodiment, the RAM 2020 and the storage device are collectively referred to as a memory, a storage unit, or a storage device. Various types of information such as various programs, data, tables, and databases in the present embodiment are stored on such a storage device and are subjected to information processing. Note that the CPU 2000 can also store a part of the RAM 2020 in the cache memory and perform reading and writing on the cache memory. Even in such a form, the cache memory bears a part of the function of the RAM 2020. Therefore, in the present embodiment, the cache memory is also included in the RAM 2020, the memory, and / or the storage device unless otherwise indicated. To do.

In addition, the CPU 2000 performs various operations, such as various operations, information processing, condition determination, information search / replacement, etc., described in the present embodiment, specified for the data read from the RAM 2020 by the instruction sequence of the program. Is written back to the RAM 2020. For example, when performing the condition determination, the CPU 2000 determines whether the various variables shown in the present embodiment satisfy the conditions such as large, small, above, below, equal, etc., compared to other variables or constants. When the condition is satisfied (or not satisfied), the program branches to a different instruction sequence or calls a subroutine.

Further, the CPU 2000 can search for information stored in a file or database in the storage device. For example, in the case where a plurality of entries in which the attribute value of the second attribute is associated with the attribute value of the first attribute are stored in the storage device, the CPU 2000 displays the plurality of entries stored in the storage device. The entry that matches the condition in which the attribute value of the first attribute is specified is retrieved, and the attribute value of the second attribute that is stored in the entry is read, thereby associating with the first attribute that satisfies the predetermined condition The attribute value of the specified second attribute can be obtained.

The programs or modules shown above may be stored in an external recording medium. As the recording medium, in addition to the memory card 2090, an optical recording medium such as a DVD, Blu-ray (registered trademark) or CD, a magneto-optical recording medium such as an MO, a tape medium, a semiconductor memory such as an IC card, or the like is used. be able to. Further, a storage device such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a recording medium, and the program may be provided to the computer 1900 via the network.

As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

The execution order of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior”. It should be noted that they can be implemented in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. is not.

10 devices, 12 display units, 20 sensors, 30 anchor position storage units, 100 information processing devices, 110 sensor signal acquisition units, 120 storage units, 130 movement direction change detection units, 140 movement distance calculation units, 150 movement direction detection units, 160 anchor position acquisition unit, 170 determination unit, 200 map matching device, 210 input unit, 220 map information storage unit, 230 position determination unit, 1900 computer, 2000 CPU, 2010 ROM, 2020 RAM, 2030 communication interface, 2040 storage unit, 2050 card slot, 2060 input / output unit, 2070 input / output chip, 2075 graphic controller, 2080 display device, 2082, host controller, 2084 input / output controller, 2090 Memory card, 2095 connector

Claims

A sensor signal acquisition unit for acquiring a sensor signal of a sensor mounted on the device;
An anchor position acquisition unit for acquiring a plurality of anchor positions;
Based on the sensor signal, a movement direction change detection unit that detects a change in the movement direction of the device;
A first anchor position of the plurality of anchor positions and a movement distance from an estimated position of the device corresponding to the first anchor position to an estimated position where a change in the movement direction of the device is detected; A determination unit for determining a second anchor position among the plurality of anchor positions;
An information processing apparatus comprising:
The information processing apparatus according to claim 1, wherein the determination unit determines a position through which the device has passed when the movement direction change detection unit detects a change in the movement direction of the device as the second anchor position. .
The information processing apparatus according to claim 1 or 2, wherein the first anchor position is an anchor position through which the device has passed.
Based on the sensor signal, comprising a moving direction detector for detecting the moving direction of the device,
The information processing apparatus according to any one of claims 1 to 3, wherein the determination unit determines the second anchor position based on the first anchor position, a movement distance of the device, and the movement direction. .
5. A movement distance calculation unit that calculates the movement distance from an estimated position of the device when the first anchor position is determined to an estimated position where a change in the movement direction of the device is detected. The information processing apparatus according to any one of the above.
The movement distance calculation unit obtains the movement speed of the device, and according to the time from the determination of the movement speed and the first anchor position until a change in the movement direction of the device is detected, The information processing apparatus according to claim 5, wherein a movement distance of the device is calculated.
A storage unit for storing information on the moving speed of the device;
The information processing apparatus according to claim 6, wherein the determination unit updates information related to a moving speed of the device based on a distance between anchor positions through which the device has passed.
The information processing apparatus according to claim 7, wherein the information related to the moving speed of the device is a moving speed of the device or a parameter for estimating the moving speed.
The determination unit calculates a time required for the device to move between anchor positions that the device has passed based on an output of the movement direction change detection unit, and the calculated time and the device have passed. The information processing apparatus according to claim 7 or 8, wherein information on a moving speed of the device is updated based on a distance between anchor positions.
The moving distance calculation unit counts the number of steps of the user holding the device based on the sensor signal, and determines from the first anchor position until a change in the moving direction of the device is detected. The information processing apparatus according to claim 5, wherein the movement distance of the device is calculated according to the number of steps of the user and the step length of the user.
A storage unit for storing the user's stride;
The information processing apparatus according to claim 10, wherein the determination unit updates information on a stride of the user based on a distance between anchor positions through which the device has passed.
The determination unit updates the step information of the user based on the number of steps required for the user to move between anchor positions through which the device has passed and the distance between anchor positions through which the device has passed. 11. The information processing apparatus according to 11.
The information processing apparatus according to any one of claims 1 to 12, wherein the sensor signal acquisition unit acquires a sensor signal from at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor.
The information processing apparatus according to any one of claims 1 to 13, wherein the anchor position acquisition unit is connected to an anchor position storage unit that stores a plurality of anchor positions.
The information processing apparatus according to any one of claims 1 to 14, wherein the information on the first anchor position is information on a latest anchor position determined by the determination unit.
A sensor signal acquisition unit for acquiring a sensor signal of a sensor including an atmospheric pressure sensor mounted on the device;
An anchor position acquisition unit for acquiring a plurality of anchor positions;
A first anchor position of the plurality of anchor positions, and a movement distance from an estimated position of the device corresponding to the first anchor position to an estimated position where a change in atmospheric pressure around the device is detected. A determination unit for determining a second anchor position among the plurality of anchor positions;
An information processing apparatus comprising:
The information according to claim 16, wherein the atmospheric pressure sensor detects a change in atmospheric pressure around the device in response to a user holding the device being lifted or lowered by any one of an elevator, an escalator, a staircase, and a slope. Processing equipment.
Based on the sensor signal, comprising a moving direction detector for detecting the moving direction of the device,
The information processing apparatus according to claim 16 or 17, wherein the determination unit determines the second anchor position based on the first anchor position, a movement distance of the device, and the movement direction.
19. The determination unit according to claim 4 or 18, wherein when the distance between different anchor positions is shorter than a predetermined reference distance, the second anchor position is determined with priority given to a moving direction of the device. Information processing device.
When the determination unit cannot determine the second anchor position for a predetermined time or more despite detecting a change in the movement direction of the device, the determination unit moves the first anchor position and the device. The information processing apparatus according to claim 4, wherein the second anchor position is determined based on a direction.
When determining the anchor position corresponding to the estimated position of the device among the anchor positions in a predetermined region, the determining unit determines the first anchor position, the movement distance of the device, and the predetermined position. The information processing apparatus according to claim 4 or 18, wherein the second anchor position is determined based on a moving direction of the device over a period of time or more.
It further comprises a device position acquisition unit that acquires the position of the device,
The determination unit preferentially determines an anchor position closest to the position of the device as the second anchor position in response to the device position acquisition unit acquiring the position of the device. The information processing apparatus according to any one of the above.
The information processing apparatus according to any one of claims 1 to 22, wherein the anchor position is a corner position.
The information processing apparatus according to any one of claims 1 to 23;
A map information storage unit for storing map information including a plurality of anchor positions;
A map matching device comprising: a position determination unit that determines a position on a map of a user holding the device according to an anchor position corresponding to the estimated position of the device output from the information processing device.
Obtaining a sensor signal of a sensor mounted on the device;
Obtaining multiple anchor positions;
Detecting a change in the direction of movement of the device based on the sensor signal;
A first anchor position of the plurality of anchor positions and a movement distance from an estimated position of the device corresponding to the first anchor position to an estimated position where a change in the movement direction of the device is detected; Based on, determining a second anchor position of the plurality of anchor positions;
An information processing method comprising:
A program that causes a computer to function as the information processing apparatus according to any one of claims 1 to 23.