WO2019097743A1 - Terminal mobile, système de correction de position actuelle, et programme - Google Patents

Terminal mobile, système de correction de position actuelle, et programme Download PDF

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Publication number
WO2019097743A1
WO2019097743A1 PCT/JP2018/015149 JP2018015149W WO2019097743A1 WO 2019097743 A1 WO2019097743 A1 WO 2019097743A1 JP 2018015149 W JP2018015149 W JP 2018015149W WO 2019097743 A1 WO2019097743 A1 WO 2019097743A1
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WIPO (PCT)
Prior art keywords
error
current position
position information
information
communication device
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PCT/JP2018/015149
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English (en)
Japanese (ja)
Inventor
晋一郎 大谷
朋興 浮穴
大樹 小林
剛久 三輪
利宏 妻鹿
裕希 川野
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三菱電機株式会社
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Publication of WO2019097743A1 publication Critical patent/WO2019097743A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/18—Interfaces between hierarchically similar devices between terminal devices

Definitions

  • the present invention relates to a mobile terminal, a current position correction system and program, and in particular to the positioning of the current position of a mobile terminal.
  • PDR (Pedestrian Dead Reckoning) is one of methods for positioning the current position indoors where it is difficult or impossible for GPS (Global Positioning System) radio waves to reach.
  • PDR Global Positioning System
  • the position of the smartphone that is, the pedestrian is estimated from the sensor values of the smartphone carried by the pedestrian.
  • the traveling distance from the value of the acceleration sensor and the traveling direction from the value of the magnetic sensor the movement destination from the starting point is relatively estimated.
  • PDR has the merit that it is not necessary to install the transmitting device in a mesh shape indoors, and position estimation can be performed with a single smartphone.
  • the main object of the present invention is to correct the error of the current position of the mobile terminal to be smaller by using the current position of the close proximity communication device.
  • a mobile terminal estimates a current position based on storage means for storing current position information and error information, current position information stored in the storage means, and a measurement value by a mounted sensor.
  • Current position estimation means for updating the current position information stored in the storage means with current position information indicating the estimated current position, and an error of the current position information stored in the storage means is estimated and estimated Error estimation means for updating the error information stored in the storage means with error information indicating an error, and current position information in the short distance communication device from the short distance communication device when the short distance communication device approaches
  • the information is stored in the storage means
  • correction means for correcting by updating the information and the error information.
  • the error estimating means uses the moving distance of the mobile terminal obtained from the measurement value by the sensor for estimating the error of the current position information.
  • the error estimation means uses an elapsed time after the error information stored in the storage means is initialized, to estimate an error of current position information.
  • the error estimation means uses the number of course changes of the mobile terminal obtained from the measurement value by the sensor for estimation of an error of current position information.
  • the error estimating means uses moving means estimated based on the measurement value by the sensor for estimating the error of the current position information.
  • the correction means acquires current position information stored in the storage means from the short-range communication device without comparing error information. While updating with the installation position information of the short distance communication device, the error information stored in the storage means is initialized.
  • correction means determines whether the installation position is fixed based on the device identification information received by the reception means from the short distance communication device.
  • the error estimation means uses accuracy information of the measurement value estimated from information on the sensor that outputs the measurement value to estimate an error of current position information.
  • the information on the sensor is at least one of the number of the sensors that output the measurement value or the information on the performance of the sensor.
  • the mobile terminal has transmitting means for transmitting the current position information and the error information stored in the storage means to the short distance communication device when the mobile terminal approaches the short distance communication device.
  • the sensor is at least one of an acceleration sensor, an angular velocity sensor, a magnetic sensor, or an atmospheric pressure sensor, and the current position estimation means estimates a current position using pedestrian autonomous navigation.
  • a present position correction system includes a mobile terminal and a short distance communication device performing short distance wireless communication with the mobile terminal, and the mobile terminal stores current position information and error information. And estimating the current position based on the storage means, the current position information stored in the storage means, and the measured value by the sensor mounted on the mobile terminal, and the current position information indicating the estimated current position Current position estimation means for updating current position information stored in the storage means, and an error of the current position information stored in the storage means is estimated and stored in the storage means as error information indicating the estimated error Error estimation means for updating the error information, and transmission means for transmitting the current position information and the error information stored in the storage means when approaching the near field communication device.
  • the present position correction system further comprises: first receiving means for receiving current position information and error information transmitted from the mobile terminal; and current transmitted from the near field communication device in proximity to the mobile terminal As a result of comparing the second receiving means for receiving position information and error information, the error information received by the first receiving means, and the error information received by the second receiving means, the current state of the mobile terminal When it is determined that the error of the position information is larger than the error of the current position information of the short range communication device, the current position information stored in the storage means by the current position information and the error information transmitted from the short range communication device And correction means for correcting by updating the error information.
  • a program according to the present invention is a computer capable of accessing storage means for storing current position information and error information, and a current position based on the current position information stored in the storage means and the measurement value by the mounted sensor.
  • Current position estimation means for updating the current position information stored in the storage means with current position information indicating the estimated current position, and estimating an error of the current position information stored in the storage means
  • Error estimation means for updating the error information stored in the storage means with error information indicating the estimated error
  • current position information in the short-distance communication device from the short-distance communication device when in proximity to the short-distance communication device
  • receiving means for receiving error information, as a result of comparing the error information stored in the storage means with the error information received by the receiving means, When it is determined that the error of the current position information stored in the storage means is larger than the error of the current position information of the short range communication device, the storage means is made of the current position information and the error information acquired from the short range communication device. It is intended to function as a
  • the present invention it is possible to correct the error of the current position of the mobile terminal to be smaller by using the current position of the close proximity communication device.
  • FIG. 1 is an overall configuration diagram showing an embodiment of a current position correction system according to the present invention. It is a hardware block diagram of the portable apparatus in this Embodiment. It is a figure which shows the block configuration of the portable apparatus in this Embodiment. It is a figure which shows an example of a data structure of the present condition information set to the present condition information storage part in this Embodiment. It is a flowchart which shows the update process of the present positional information in this Embodiment. It is a flowchart which shows the correction
  • FIG. 1 is an entire configuration diagram showing an embodiment of a current position correction system according to the present invention.
  • two mobile devices 10 and 20 are shown as mobile terminals.
  • a smartphone is used as the mobile devices 10 and 20 will be described as an example.
  • it is a communication terminal device having a short distance communication function and having portability, it is not necessary to limit the portable devices 10 and 20 to a smartphone such as a tablet terminal.
  • the portable devices 10 and 20 are carried by users A and B moving in the facility. Although only two portable devices 10 and 20 necessary for explanation are illustrated in FIG. 1, the number of portable devices 10 and 20 may be three or more.
  • FIG. 2 is a hardware configuration diagram of the portable devices 10 and 20 in the present embodiment.
  • the portable devices 10 and 20 according to the present embodiment can be realized by a general-purpose hardware configuration that includes a computer and is conventionally present. That is, as shown in FIG. 2, the portable devices 10 and 20 have a CPU 1, a ROM 2, a RAM 3, a storage 4, a short distance wireless communication interface (IF) 5 for performing short distance wireless communication, and a liquid crystal panel 6 as a user interface.
  • IF short distance wireless communication interface
  • various sensors 7 connected to the internal bus 8.
  • the various sensors 7 include an acceleration sensor, an angular velocity sensor (gyro sensor), an air pressure sensor, a magnetic sensor, and the like.
  • FIG. 3 is a block diagram showing the portable device 10 according to the present embodiment. Although only the block configuration of the portable device 10 is illustrated in FIG. 3 for the sake of convenience, the portable device 20 also has the same configuration. Here, the portable device 10 will be described as a representative.
  • the portable device 10 includes a PDR calculation unit 11, a current position estimation unit 12, an error estimation unit 13, a short distance communication processing unit 14, a correction unit 15, a control unit 16, a PDR data storage unit 17, a device information storage unit 18, and current information A storage unit 19 is provided.
  • the components not used in the description of the present embodiment are omitted from FIG.
  • the PDR calculation unit 11 calculates the moving distance and the traveling direction from the starting point (the current position) by performing positioning in accordance with pedestrian autonomous navigation (PDR) based on the measurement values of the various sensors 7. Then, the PDR calculating unit 11 estimates a relative moving destination from the starting point (current position) based on the calculated moving distance and traveling direction, and stores the estimated moving destination in the PDR data storage unit 17.
  • PDR pedestrian autonomous navigation
  • the current position estimation unit 12 estimates the current position based on the current position information stored in the current condition information storage unit 19 and the movement distance and the traveling direction estimated by the PDR calculation unit 11. Then, the current position estimation unit 12 updates the current position information stored in the current status information storage unit 19 with the current position information indicating the estimated current position.
  • the current position estimation unit 12 functions as a current position estimation unit.
  • the current position information is information indicating the current position of the portable device 10 (user A), and as described later, is represented by the floor on which the user A is present and the position (coordinate data) on the floor.
  • the current position information is thus obtained by estimation.
  • the error estimation unit 13 estimates an error of the current position information stored in the current condition information storage unit 19. Then, the error estimation unit 13 updates the error information stored in the current information storage unit 19 with error information indicating the estimated error.
  • the error estimation unit 13 functions as an error estimation unit.
  • the near field communication processing unit 14 performs near field communication with the near field communication device when the near field communication device approaches.
  • Short-range communication device refers to a device equipped with a function for performing short-distance wireless communication.
  • a portable device 20 that moves by being carried by a user is assumed as the short-distance communication device.
  • a device such as a beacon, which is attached and installed at a known place, that is, fixedly installed, such as a device using BLE technology.
  • a beacon is used for explanation. Since the position of the beacon is fixed, the position information transmitted from the beacon is information indicating the installation position of the beacon, and corresponds to current position information indicating the current position.
  • a mobile terminal that moves autonomously may also be included in the short distance communication device.
  • the near-field communication processing unit 14 approaches the near-field communication device, specifically, when the near-field communication device approaches the near-field communication device, the near-field communication device 14 It functions as a receiving means for receiving current position information and error information in the short distance communication device.
  • the short distance communication processing unit 14 functions as a transmitting unit that transmits the current position information and the error information stored in the current status information storage unit 19 to the short distance communication device when the short distance communication device approaches.
  • the close proximity state may occur when the portable device 10 moves by itself, when the near-field communication device to be communicated with is moved and approaches the portable device 10, or when both are moving.
  • the correction unit 15 compares the error of the current position information of the portable device 10 with that of the short distance communication device. If it is determined that the error is larger than the error of the current position information, the current position information and error information stored in the current information information storage unit 19 are corrected by updating the current position information and error information acquired from the short distance communication device.
  • the correction unit 15 functions as a correction unit.
  • the control unit 16 controls the operation of each of the components 11 to 15 described above.
  • the PDR data storage unit 17 stores the movement distance and the traveling direction obtained by the PDR calculation unit 11.
  • the device information storage unit 18 stores information on various sensors 7 mounted on the mobile device 10.
  • the information on the various sensors 7 includes the type and number of sensors mounted on the portable device 10, information on the performance of the various sensors 7, and the like.
  • the device information storage unit 18 may store information related to the mobile device 10, specifically, information that can specify a model such as a model number of the mobile device 10. And the information regarding various sensors 7 may be acquired from the outside from this information.
  • FIG. 4 is a view showing an example of the data configuration of the present condition information set in the present condition information storage unit 19 in the present embodiment.
  • the current position information, the estimation error, and the correction information are set in the current state information as the information on the current position of the mobile device 10.
  • the current position information is information indicating the current position of the mobile device 10.
  • the current position information is composed of information (X coordinate and Y coordinate) representing the position in the facility in two dimensions (plane) and a floor number (floor) that can be specified by Z coordinate data.
  • the Z coordinate data is represented by the number of floors in which the user A is present.
  • the current position of the user A is obtained by estimation, but the estimation error is an error of the current position estimated to be generated by this estimation.
  • the correction information includes information related to the current position information and the correction when the estimation error is corrected.
  • the correction time and the correction partner are included.
  • the correction time is time information when current position information and an estimation error are corrected. In the present embodiment, only time is handled, but the format for representing time such as including date is not limited to this.
  • the correction partner is information for specifying the short-range communication device as the acquisition destination of the updated information when the current position information and the estimation error are updated.
  • device identification information (device ID) is set.
  • Each component 11 to 16 in the portable device 10 is realized by cooperative operation of a computer mounted on the portable device 10 and a program operated by the CPU 1 mounted on the computer. Further, each of the storage units 17 to 19 is realized by the storage 4 mounted in the portable device 10. Alternatively, the RAM 3 or an external storage means may be used via the network.
  • the program used in the present embodiment can be provided by communication means as well as provided by being stored in a computer readable recording medium such as a memory card.
  • the programs provided from the communication means and the recording medium are installed in the computer, and various processes are realized by the CPU 1 of the computer sequentially executing the programs.
  • the control unit 16 monitors the movement of the user A by constantly monitoring the measurement value from the acceleration sensor (N in step 101). Then, when the control unit 16 detects the movement of the user A (Y in step 101), the PDR calculation unit 11 determines the movement distance from the starting point (current position) based on the measurement value by the acceleration sensor according to the instruction from the control unit 16. Also, the traveling direction from the starting point (the current position) is calculated based on the measured value by the magnetic sensor (step 102). Then, the PDR calculating unit 11 estimates a relative moving destination from the starting point (current position) based on the calculated moving distance and traveling direction (step 103), and stores it in the PDR data storage unit 17.
  • the current position estimation unit 12 reads the current position information stored in the current condition information storage unit 19 and adds the relative moving destination estimated by the PDR calculation unit 11 with the current position information as the starting point. A new current position is estimated as A moves. Then, the current position estimation unit 12 updates the current position information stored in the current status information storage unit 19 with the current position information indicating the estimated current position (step 104).
  • current position information obtained by estimation may include an error. That is, there is a possibility that the position of the user A may deviate from the actual position (current position).
  • the error estimation unit 13 estimates an error of current position information obtained by this estimation. Specifically, the user A estimates the error of the current position information updated in step 103, reads the estimation error stored in the current information storage unit 19, and adds the estimated error to the read error information. Estimate a new error (accumulated error) associated with movement. Then, the error estimation unit 13 updates the estimation error stored in the current information storage unit 19 with the estimated error (cumulative error) (step 105).
  • a specific estimation method of the error of the current position information by the error estimation unit 13 will be described later. Here, the description will be continued on the assumption that numerical values can be obtained as illustrated in FIG. 4 as estimation errors.
  • the estimation error of the current position information and the current position information of the portable device 10 (user A) held in the current state information storage unit 19 is updated. Become.
  • the control unit 16 constantly monitors whether the portable device 20 is within the communication range of the short distance communication processing unit 14 (N in step 111). That the portable device 20 is within the communication range of the short-distance communication processing unit 14, that is, the control unit 16 can detect the portable device 20, the short-distance communication processing unit 14 performs short-distance wireless communication with the portable device 20. It means that the portable device 10 and the portable device 20 approach each other to such an extent that it becomes possible. In the present embodiment, proximity to the portable device 20 to a position where short distance wireless communication can be performed is assumed to be located at the same position, that is, the current position is the same. If the current positions are the same, the current positions indicated by the current position information of the portable devices 10 and 20 should be logically the same. However, as described above, in the present embodiment, there is an estimation error in the current position information.
  • the control unit 16 causes the short distance communication processing unit 14 to store the current information stored in the current status information storage unit 19.
  • the position information and the estimation error are transmitted to the portable device 20 (step 112).
  • the short distance communication processing unit 14 also transmits the device ID "Ta" of the portable device 10 as the information for specifying the transmission source. Since the mobile device 20 operates in the same manner as the mobile device 10, the mobile device 20 transmits the current position information and the estimation error stored in the current information storage unit of the mobile device 20 to the mobile device 10. Thereby, the short distance communication processing unit 14 receives the current position information and the estimation error transmitted from the portable device 20 (step 113).
  • the device ID “Tb” of the portable device 20 is added to the received information as information for specifying the transmission source.
  • FIG. 1 schematically shows information exchange between the portable devices 10 and 20. In addition, transmission and reception of information may be implemented first.
  • the correction unit 15 starts the operation according to the instruction from the control unit 16. First, the correction unit 15 confirms the device ID of the transmission source of the information. Here, since the other party of communication is the mobile device 20, that is, the moving object (Y in step 114), the correction unit 15 reads out the estimation error stored in the current state information storage unit 19. Then, the correction unit 15 compares the read estimation error with the estimation error obtained from the portable device 20. As a result of comparison, when the read estimation error is larger than the estimation error obtained from the portable device 20 (Y in step 115), the current position information and the estimation error stored in the current information storage unit 19 are obtained from the portable device 20 The current position information and the estimated error are updated (step 116).
  • the estimation error of the portable device 10 is larger than the estimation error of the portable device 20, it is considered that the current position information in the portable device 20 indicates the current position relatively correctly. Although both may have estimation errors, it is considered that at least the current position of the portable device 20 on the communication partner side is correctly measured. Therefore, in the present embodiment, the information considered to be relatively correct is adopted, and the current position in the portable device 10 is corrected with the current position in the portable device 20 as described above.
  • FIG. 4 shows an example of data setting of the current status information before and after the correction.
  • the current status information of the portable device 10 is updated with the information acquired from the portable device 20.
  • the current position information and the estimation error after correction are the same as those of the portable device 20.
  • the estimation error in the portable device 10 is 30, which is larger than 15 of the estimation error in the portable device 20. Therefore, the correction unit 15 respectively corrects the current position information and the estimation error with the current position information and the estimation error received from the portable device 20.
  • the correction unit 15 updates the correction time with the corrected current time, and the correction partner with the device ID “Tb” of the mobile device 20 from which the information is acquired.
  • step 116 When the correction process in step 116 is completed, the process returns to step 110. Note that even if the portable device 20 is still in the communication range, the same update process may not be repeatedly performed since the above-described one correction may be performed for one detection. This can be determined by temporarily storing the device ID “Tb” received in step 113 until the portable device 20 is out of the communication range of the short distance communication processing unit 14.
  • the estimation error read out from the present condition information storage unit 19 is less than or equal to the estimation error obtained from the portable device 20 (N in step 115)
  • the current position information stored in the present condition information storage unit 19 is the correct current position
  • the process returns to step 110 without updating the information.
  • the portable device 20 since the portable device 20 has the same function as the portable device 10, the portable device 20 steps the current position information and the estimation error stored in the current information storage unit 19 in the portable device 20.
  • the current position information and the estimation error received from the portable device 10 are updated.
  • the mobile device 20 is described as the communication partner here, even when the mobile device 10 approaches the beacon and the near-field wireless communication becomes possible with the beacon by the movement of the user A. is there.
  • the beacon does not necessarily have the same function as the mobile devices 10 and 20. Therefore, even if the portable device 10 transmits current position information and estimation error, the beacon does not necessarily receive current position information and estimation error. However, it does not matter if the beacon does not receive the current position information and the estimation error.
  • the short distance communication processing unit 14 receives the information transmitted from the beacon (step 113).
  • the received information includes installation position information indicating the installation position of the beacon and a device ID of the beacon as information for specifying the transmission source.
  • the correction unit 15 treats the received installation position information as current position information without comparing the estimation error described above, and stores it in the current information storage unit 19
  • the present embodiment it is not necessary to calculate the average of the current position information of the portable device 10 and the portable device 20 which is the communication partner, and one of the current position information is positioned more accurately. It was decided that one current position information was adopted.
  • communication between the portable devices 10 and 20 is assumed to be performed by ad-hoc communication of WiFi, Bluetooth (registered trademark) or the like. Then, when the users A and B carrying the portable devices 10 and 20 pass each other, the portable devices 10 and 20 enter a communicable range, thereby performing mutual communication (hereinafter referred to as “passing communication”). Correction processing is performed. As the passing communication is repeatedly executed, the current position information stored in the current information information storage unit 19 is corrected with the current position information corresponding to the relatively small estimation error. For this reason, the current position information gradually indicates the correct current position. Also, when the other party of communication is a beacon, the estimation error is reset to the correct current position of zero.
  • the usage environment of the portable device 10 is an environment such as in a facility where it is difficult or impossible for GPS radio waves to reach, it is possible to correctly measure the current position as described above. .
  • an index such as a movement distance, an elapsed time, or the number of course changes is used.
  • the movement distance is the movement distance of the user (mobile device), and can be measured based on the measurement value by the acceleration sensor. It is considered that the error of the current position information becomes relatively larger as the moving distance becomes longer. Basically, the movement distance indicates the movement distance after the estimation error stored in the current situation information storage unit 19 is initialized to zero. However, when corrected with the estimation error of the portable device 20, the estimation error obtained based on the moving distance is the movement of the user B after the estimation error stored in the current information storage unit of the portable device 20 is initialized. The estimation error accompanying the movement of the user A after correction is accumulated in the estimation error accompanying. Note that not the moving distance but an index of the number of steps of the user may be used. The number of steps can be measured by an acceleration sensor.
  • the elapsed time is the elapsed time after the estimation error is initialized to 0, and can be measured by the clock means. Unless the user A moves at all, it is considered that the error of the current position information becomes relatively large as the time since being initialized passes.
  • the elapsed time is an elapsed time after the estimation error stored in the current status information storage unit 19 is initialized to zero.
  • the estimation error obtained based on the elapsed time is associated with the elapsed time since the estimation error stored in the current information storage unit of the portable device 20 is initialized.
  • the estimation error associated with the elapsed time after the estimation error stored in the current condition information storage unit 19 of the portable device 10 is corrected is accumulated in the estimation error.
  • the number of course change is the number of times the user A changes the course by turning right or left in the facility.
  • the number of course changes can be measured by an acceleration sensor and an angular velocity sensor. It is considered that the error of the current position information becomes relatively large as the course change is repeated as compared with the case where the vehicle continues to go straight.
  • the number of course changes is the number of course changes since the estimation error stored in the portable device 10 is initialized to zero.
  • the estimation error obtained on the basis of the number of course changes is the user B after the estimation error stored in the current information storage unit of the portable device 20 is initialized.
  • the estimation error accompanying the course change of the user A after correction is accumulated in the estimation error due to the course change.
  • an index may be used that is the sum (accumulated angle) of the angles (angles shifted from the straight ahead direction) when changing the course.
  • the angle when the course is changed can be measured by the acceleration sensor and the gyro sensor.
  • the moving distance, the elapsed time, and the number of course changes described above are numerical data, but in addition to this, for example, an index of moving means may be used to estimate the estimation error.
  • the moving means is a moving means of the user. Walking means, traveling, elevators, stairs, transport machines (vehicles, trains, etc.), etc. can be considered as the moving means. Moving means, an acceleration sensor, pressure sensor, an angular velocity sensor, it is possible to determine by analyzing the measured values, such as magnetic sensor triaxial. For example, movement by walking is relatively slower than movement by traveling. In addition, the movement by the transport machine is relatively faster than the movement by traveling.
  • the moving means can be determined by setting in advance the threshold value of the speed.
  • the movement by the stairs is accompanied by the movement in the vertical direction in addition to the movement in the two-dimensional direction, and the movement by the elevator is only the movement in the vertical direction.
  • the moving means can be estimated based on the measurement values of the various sensors 7.
  • information set in the device information storage unit 18 may be used. For example, as the number of sensors used for positioning the current position increases, it is considered that the error of the current position information becomes relatively smaller. Further, when the model of the portable device 10 is new, the sensor mounted on the portable device 10 is also newer, and the newer the sensor is, the better the accuracy is, and it is considered that the error of the current position information becomes relatively small. As described above, by digitizing the number and accuracy of the sensors, they can be handled in the same manner as the moving distance and the like described above.
  • the index described above can be used as information used to estimate the estimation error. These indices do not necessarily have to be used alone, and may be used in combination as appropriate. However, since the range and the magnitude of the numerical values that can be obtained differ depending on the index, and in order to give priority to each index, when calculating the estimation error by combining these index values, weighting is performed on each index to estimate the estimation error It is preferable to calculate In addition, when the other party of communication described above is a beacon, it is also necessary to calculate the estimation error to zero.
  • the error estimating unit 13 calculates the estimation error of the current position information stored in the current condition information storage unit 19.
  • the correction unit 15 is provided in the portable device 10, and the correction unit 15 corrects the current position information and the estimation error stored in the current condition information storage unit 19 by itself.
  • the pair of portable devices 10 and 20 that have conducted passing communication transmits the current position information and the estimation error to an external portable device management center (not shown) instead of the other party, and the current information storage unit 19 It may be configured to delegate the determination of necessity of correction of current position information and estimation error stored in the management center.

Abstract

L'invention concerne un dispositif mobile (10) qui comprend : une unité de stockage d'informations d'état actuel (19) qui stocke des informations de position actuelle et une erreur d'estimation des informations de position actuelle ; une unité de traitement de communication à courte portée (14) qui reçoit des informations de position actuelle et des informations d'erreur d'un dispositif mobile (20) à partir du dispositif mobile (20) lorsqu'elle est amenée à proximité du dispositif mobile (20) ; et une unité de correction (15) qui effectue une correction en mettant à jour les informations de position actuelle et les informations d'erreur stockées dans l'unité de stockage d'informations d'état actuel (19) à l'aide des informations de position actuelle et des informations d'erreur obtenues à partir du dispositif mobile (20), lorsque l'erreur des informations de position actuelle du dispositif mobile (10) est déterminée comme étant plus grande que l'erreur des informations de position actuelle du dispositif mobile (20) suite à la comparaison des informations d'erreur stockées dans l'unité de stockage d'informations d'état actuel (19) aux informations d'erreur reçues par l'unité de traitement de communication à courte portée (14).
PCT/JP2018/015149 2017-11-14 2018-04-11 Terminal mobile, système de correction de position actuelle, et programme WO2019097743A1 (fr)

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JP2022118535A (ja) * 2021-02-02 2022-08-15 日立Astemo株式会社 車両位置推定装置、自動運転装置および車両位置推定方法
CN114630269B (zh) 2022-02-28 2024-01-09 北京百度网讯科技有限公司 信号处理方法、装置、设备及存储介质

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