JP2012098263A - Positioning device and adjustment method and program for positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning device and an adjustment method and program for the positioning device, whereby a calibration process required for autonomous navigation positioning can be performed at appropriate timing without requiring a great load in order to only determine the timing of performing the calibration process.SOLUTION: The positioning device comprises: first positioning means (S1, S2, S8, and S9) for carrying out positioning by receiving a signal from a positioning satellite; second positioning means (S5 and S6) for carrying out positioning by measuring the direction and amount of relative movement; correcting means (S11) configured such that when positional data during an arbitrary movement process is obtained through continuous positioning by the second positioning means and then positioning is carried out by the first positioning means, the positional data of each point during the movement process is corrected based on the positional result of the first positioning means; calibrating means (S14 to S19) for performing the calibration process for the second positioning means; and calibration timing control means (S13) for controlling the timing of performing the calibration process based on the amount of correction made by the correcting means.

Description

  The present invention relates to a positioning device, a positioning device adjustment method, and a program.

  Conventionally, a device that accumulates position data of each point in a movement route by combining a GPS (Global Positioning System) positioning device and a motion sensor (acceleration sensor, geomagnetic sensor, etc.) has been developed. ing. The motion sensor can perform positioning even by continuously measuring the relative moving amount and moving direction even in an area where the radio wave of the GPS satellite does not reach.

  Since the geomagnetic sensor used for the motion sensor includes an offset error in the sensor output due to the influence of a magnetic substance arranged around the sensor, it is necessary to perform a calibration process in order to remove this error. In addition, the sensor output offset may change during use due to changes in the measurement environment, magnetization of surrounding magnetic materials, and the like. Therefore, the calibration process of the geomagnetic sensor needs to be performed many times at an appropriate time (see, for example, Patent Document 1).

Japanese Patent No. 3476797

  When the calibration process of the geomagnetic sensor is performed according to a user instruction, the calibration process is not performed for a long period of time, the measurement error becomes large, or the calibration process is performed when there is almost no measurement error, There arises a problem that wasteful operations are required and wasteful power consumption occurs.

  In addition, when the process of automatically confirming that the offset of the sensor output has not changed greatly at all times or at regular time intervals only for the calibration process of the geomagnetic sensor, there are many cases in this confirmation process itself. Arithmetic processing is required, resulting in an increase in power consumption.

  An object of the present invention is to perform a calibration process at an appropriate time without requiring a large load only for determining the execution time of the calibration process for a configuration in which positioning is performed by measuring the movement amount and the movement direction. It is an object of the present invention to provide a positioning device, a positioning device adjustment method, and a program.

In order to achieve the above object, the invention according to claim 1
First positioning means for receiving a signal from a positioning satellite and performing positioning;
A second positioning means for performing positioning by measuring position data of a reference point and relative moving direction and moving amount;
When the position data of each point in an arbitrary movement process is acquired by continuous positioning by the second positioning means, and then positioning is performed by the first positioning means, the positioning result of the first positioning means is displayed. Correction means for correcting the position data of each point of the movement process acquired by the positioning of the second positioning means based on;
Calibration means for performing calibration processing of the second positioning means;
Calibration timing control means for controlling the execution timing of the calibration process by the calibration means based on the correction amount of the position data by the correction means;
A positioning device characterized by comprising:

The invention according to claim 2 is the positioning device according to claim 1,
The correction means includes
During the movement process from the first point to the second point, intermittent positioning is performed between the first point and the second point by the first positioning unit, and the first point is determined by the positioning of the second positioning unit. When a series of position data is acquired through a moving process from the first point to the second point,
One end of the movement locus overlaps with a point corresponding to the positioning result of the first point by the first positioning means so that the movement locus corresponding to the series of position data has a similar shape before and after the change, By rotating and expanding and contracting uniformly so that the other end of the movement trajectory overlaps with the position corresponding to the positioning result of the second point by the first positioning means, the series of position data Correct to the location data of each point,
The calibration time control means includes
When the amount of rotation of the movement trajectory by the correction unit, the amount of expansion / contraction of the movement trajectory, or the combined amount of the amount of rotation and the amount of expansion / contraction exceeds a predetermined range, the calibration processing by the calibration unit is started. It is characterized by letting.

The invention according to claim 3 is the positioning device according to claim 1,
The second positioning means includes
A geomagnetic sensor for detecting the direction of geomagnetism,
An acceleration sensor for detecting acceleration;
Have
The movement direction is measured based on the direction of geomagnetism detected by the geomagnetic sensor and the output fluctuation pattern of the acceleration sensor, and the movement is performed based on the number of steps counted from the detection output of the acceleration sensor and preset stride data. Measure the amount,
The calibration means includes
A process for correcting the offset of the geomagnetic sensor or a process for correcting the stride data is performed.

The invention according to claim 4 is the positioning device according to claim 3,
The calibration means includes
After performing the process of correcting the offset of the geomagnetic sensor, when the correction amount of the offset is less than a predetermined amount, the process of correcting the stride data is executed.

The invention according to claim 5
Adjustment of a positioning device provided with first positioning means for receiving a signal from a positioning satellite and performing positioning by measuring position data of a reference point and relative movement direction and amount of movement A method,
When the position data of each point in an arbitrary movement process is acquired by continuous positioning by the second positioning means, and then positioning is performed by the first positioning means, the positioning result of the first positioning means is displayed. A correction step of correcting the position data of each point in the movement process acquired by the positioning of the second positioning means based on;
A calibration step for performing a calibration process of the second positioning means;
A calibration timing control step for controlling the execution timing of the calibration process by the calibration step based on the correction amount of the position data by the correction step;
It is characterized by including.

The invention described in claim 6 is the method of adjusting a positioning device according to claim 5,
The correction step includes
During the movement process from the first point to the second point, intermittent positioning is performed between the first point and the second point by the first positioning unit, and the first point is determined by the positioning of the second positioning unit. When a series of position data is acquired through a moving process from the first point to the second point,
One end of the movement locus overlaps with a point corresponding to the positioning result of the first point by the first positioning means so that the movement locus corresponding to the series of position data has a similar shape before and after the change, By rotating and expanding and contracting uniformly so that the other end of the movement trajectory overlaps with the position corresponding to the positioning result of the second point by the first positioning means, the series of position data Correct to the location data of each point,
The calibration time control step includes:
When the amount of rotation of the movement trajectory by the correction step, the amount of expansion / contraction of the movement trajectory, or the combined amount of the rotation amount and the amount of expansion / contraction exceeds a predetermined range, the calibration processing by the calibration step is started. It is characterized by letting.

The invention described in claim 7
Computer capable of communicating with first positioning means for receiving a signal from a positioning satellite and performing positioning by measuring position data of a reference point and relative moving direction and moving amount. In addition,
When the position data of each point in an arbitrary movement process is acquired by continuous positioning by the second positioning means, and then positioning is performed by the first positioning means, the positioning result of the first positioning means is displayed. A correction function for correcting the position data of each point in the movement process acquired by the positioning of the second positioning means based on;
A calibration function for performing calibration processing of the second positioning means;
A calibration timing control function for controlling the execution timing of the calibration process by the calibration function based on the correction amount of the position data by the correction function;
It is a program that realizes.

The invention according to claim 8 is the program according to claim 7,
The correction function is
During the movement process from the first point to the second point, intermittent positioning is performed between the first point and the second point by the first positioning unit, and the first point is determined by the positioning of the second positioning unit. When a series of position data is acquired through a moving process from the first point to the second point,
One end of the movement locus overlaps with a point corresponding to the positioning result of the first point by the first positioning means so that the movement locus corresponding to the series of position data has a similar shape before and after the change, By rotating and expanding and contracting uniformly so that the other end of the movement trajectory overlaps with the position corresponding to the positioning result of the second point by the first positioning means, the series of position data Correct to the location data of each point,
The calibration time control function is:
When the amount of rotation of the movement trajectory by the correction function, the amount of expansion / contraction of the movement trajectory, or the combined amount of the rotation amount and the amount of expansion / contraction exceeds a predetermined range, the calibration processing by the calibration function is started. It is characterized by letting.

  According to the present invention, since the execution time of the calibration process of the second positioning means is determined based on the correction amount of the position data, it is not necessary to perform a heavy load process only for determining the execution time, and the second positioning means. The calibration process can be executed at an appropriate time.

It is a block diagram which shows the whole structure of the positioning apparatus of embodiment of this invention. It is a figure which shows an example of a series of position data acquired by a positioning process. It is a figure explaining the correction | amendment process of a series of position data obtained by the positioning of autonomous navigation. It is a flowchart which shows the control procedure of the positioning process performed by CPU. It is a figure explaining the expansion-contraction amount and rotation amount of the movement locus | trajectory before and behind correction | amendment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing an overall configuration of a positioning apparatus according to an embodiment of the present invention.

  The positioning device 1 of this embodiment is a device that measures the position during movement and records the position data of each point on the movement route. This positioning device 1 can perform positioning by autonomous navigation in response to movement of a user by walking.

  As shown in FIG. 1, the positioning device 1 includes a CPU (Central Processing Unit) 10 that performs overall control of the device, a RAM (Random Access Memory) 11 that provides a working memory space to the CPU 10, A ROM (Read Only Memory) 12 storing a control program executed by the CPU 10 and control data, a GPS receiving antenna 13 and a GPS receiving unit 14 for receiving transmission data from a GPS (Global Positioning System) satellite, and autonomous Three-axis geomagnetic sensor 15 and three-axis acceleration sensor 16 that are navigation sensors, an operation unit 17 that has a plurality of operation buttons and inputs an operation command from a user, and a display unit 18 that displays various information and images. Autonomous navigation control for performing positioning calculation of autonomous navigation based on the measurement data of the power source 19 for supplying the operating voltage to each part and the autonomous navigation sensors (15, 16) An autonomous navigation error correction processing unit 21 as a correction unit that performs correction calculation of the position data acquired by the control unit 20, the autonomous navigation control processing unit 20, and a position where a series of position data along the movement route is accumulated. A data storage unit 22 and a map database 24 in which map image data of each point are registered are provided.

  Among the above configurations, the GPS positioning antenna 13, the GPS receiving unit 14 and the CPU 10 constitute a first positioning means, and the triaxial geomagnetic sensor 15, the triaxial acceleration sensor 16 and the autonomous navigation control processing unit 20 constitute a second positioning means. Composed.

  The GPS receiver 14 demodulates a signal received via the GPS receiving antenna 13 based on an operation command from the CPU 10 and sends various transmission data of GPS satellites to the CPU 10. The CPU 10 can acquire position data representing the current position by performing a predetermined positioning calculation based on the transmission data of the GPS satellite.

  The triaxial geomagnetic sensor 15 detects the magnitudes of magnetic fields in the x axis, y axis, and z axis directions orthogonal to each other. The triaxial acceleration sensor 16 detects the magnitude of acceleration in each of the x-axis, y-axis, and z-axis directions.

  The autonomous navigation control processing unit 20 is for assisting the arithmetic processing of the CPU 10, and inputs measurement data of the triaxial geomagnetic sensor 15 and the triaxial acceleration sensor 16 via the CPU 10 at a predetermined sampling period. The direction and amount of movement of the positioning device 1 are calculated from the measurement data. Furthermore, the position data of the moving point is obtained and output to the CPU 10 by adding the vector data including the calculated moving direction and moving amount to the position data of the reference point supplied from the CPU 10.

  Specifically, the autonomous navigation control processing unit 20 calculates the movement direction from the output fluctuation pattern specific to the walking motion that appears in the output of the triaxial acceleration sensor 16. During walking, the user's torso is largely tilted back and forth and rolled to the left and right. At this time, if the positioning device 1 is mounted on the user's torso, the positioning device 1 also performs the same motion, and this motion appears in the output of the triaxial acceleration sensor 16. The autonomous navigation control processing unit 20 can calculate which direction the positioning device 1 is traveling by analyzing the output fluctuation pattern. Also, which direction of the positioning device 1 is the direction of gravity based on the output of the triaxial acceleration sensor 16, and which direction of the positioning device 1 is the direction of magnetic north based on the output of the triaxial geomagnetic sensor 15. can do. Then, the moving direction of the user can be obtained from the direction based on these results.

  The autonomous navigation control processing unit 20 detects the vertical movement of the positioning device 1 from the output of the triaxial acceleration sensor 16 and counts the number of steps from the detection of the vertical movement. Then, the amount of movement by walking is calculated by multiplying the preset stride data and the number of steps. Here, if there is an error in the stride length data, a uniform measurement error is added to the movement amount measurement result.

  The autonomous navigation error correction processing unit 21 is an arithmetic device for assisting the arithmetic processing of the CPU 10. The autonomous navigation error correction processing unit 21 receives a series of position data calculated by the autonomous navigation control processing unit 20 and stored in the position data storage unit 22 when intermittent GPS positioning is performed. Based on the position data acquired by positioning, a calculation process for correcting the position data to more accurate position data is performed. A specific example of this correction processing will be described in detail later.

  The position data storage unit 22 is configured by, for example, a RAM or a nonvolatile memory, and position data acquired by positioning while the apparatus is moving is sequentially registered. For example, an index number “No.” indicating the acquisition order and a correction flag indicating whether the position data has been corrected are added to the position data, for example.

  The RAM 11 stores an offset storage area 11a in which offset data indicating the offset of the sensor output of the triaxial geomagnetic sensor 15 is stored, a stride data storage area 11b in which stride data used to calculate the movement amount is stored, and the like. Is provided.

  The ROM 12 stores a positioning control processing program for acquiring position data at each point in the moving process by using both positioning by autonomous navigation and positioning by GPS. In addition to being stored in the ROM 12, this program can be stored in a non-volatile memory such as a portable storage medium such as an optical disk or a flash memory, for example, which can be read by the CPU 10 via a data reader. is there. In addition, a form in which such a program is downloaded to the positioning apparatus 1 via a communication line using a carrier wave as a medium can be applied.

  Next, the positioning control process of 1st Embodiment performed in the positioning apparatus 1 of the said structure is demonstrated.

  In FIG. 2, the figure showing an example of a series of position data acquired by the positioning process of a positioning control process is shown. FIG. 4 shows a flowchart of the positioning control process executed by the CPU 10.

[Positioning process]
In the positioning control process, positioning by GPS is intermittently performed, and positioning by autonomous navigation is continuously performed during positioning by GPS to store position data of each point in the movement process. In the example of FIG. 2, when moving from point A to point B, the actual movement route T1 is represented by a broken line, and the movement locus T2 of the positioning result by autonomous navigation is represented by a solid line. After the first GPS positioning is performed at the starting point A, the autonomous navigation positioning is continuously performed during the movement process from the point A to the point B, and a series of position data represented by the movement trajectory T2 is acquired. Then, the second positioning by GPS is performed at the point B.

  Such positioning processing is realized mainly by steps S1 to S9 in the flowchart of FIG. That is, when the positioning process is started, the CPU 10 first receives a GPS satellite signal via the GPS receiving antenna 13 and the GPS receiving unit 14 (step S1). Then, a predetermined positioning calculation is performed to calculate position data, and this is stored in the position data storage unit 22 together with positioning time data and the like (step S2). The GPS positioning at the point A in FIG. 2 is performed by these processes.

  Subsequently, the GPS positioning result is registered as position data of the first reference point that is the starting point of the autonomous navigation positioning (step S3), and then the GPS reception counter that counts the time for performing the GPS positioning is reset. (Step S4). Then, in the subsequent loop processing of steps S5 to S7, processing for reading sampling data of sensor outputs of the triaxial acceleration sensor 16 and the triaxial geomagnetic sensor 15 (step S5) and positioning by autonomous navigation are performed to determine the position data. The process of storing the time data and the like in the position data storage unit 22 (step S6) is repeated until the GPS reception counter has exceeded a certain time (step S7) and exceeded. Positioning of the moving process from point A to point B in FIG. 2 is performed by these loop processes.

  In the positioning process in step S6, the CPU 10 sends the sampling data read in step S5 to the autonomous navigation control processing unit 20, and the autonomous navigation control processing unit 20 measures the relative moving direction and moving amount to determine the positioning point. Calculate position data. When reading the sensor output of the triaxial geomagnetic sensor 15, the offset data in the storage area 11a of the RAM 11 is used to remove the offset from the sensor output. Further, when calculating the relative movement amount, the stride data in the storage area 11b of the RAM 11 is used.

  In the storage process of the position data in step S7, a correction flag indicating that the position data is not corrected is added and stored.

  On the other hand, if it is determined in the determination process of step S7 that the count value of the GPS reception counter has exceeded a predetermined time, the process proceeds to an intermittent GPS positioning process. That is, the CPU 10 receives a GPS satellite signal via the GPS receiving antenna 13 and the GPS receiving unit 14 (step S8), performs a predetermined positioning calculation to calculate position data, and uses the position data as a positioning time. And the like are stored in the position data storage unit 22 (step S9). The GPS positioning of the point B in FIG. 2 is performed by these processes.

  And it returns to step S4 on both sides of the process of step S10-S13 or step S10-S19 mentioned later, and the process from step S4 is repeated, The above-mentioned intermittent positioning by GPS and the continuous autonomous in the meantime The navigation positioning is repeatedly executed, and the position data of each point on the moving route is acquired.

[Correction process]
In FIG. 3, the figure explaining the correction | amendment process of a series of position data obtained by the positioning of autonomous navigation is shown. In the figure, a series of position data movement trajectory T2 obtained by autonomous navigation positioning is indicated by a solid line, and a position data movement trajectory T3 after correction is indicated by a one-dot chain line.

  After intermittent GPS positioning processing in steps S8 and S9 described above, the CPU 10 then registers a point (for example, point B) where the GPS positioning is performed as a second reference point (step S10). . Then, correction processing is performed on a series of position data (for example, position data of the movement trajectory T2) obtained by positioning by autonomous navigation from the first reference point (for example, point A) where the previous GPS positioning was performed to immediately before. (Step S11: Correction means).

  In the correction process of step S11, the CPU 10 fixes the other end portion of the moving locus (for example, the moving locus T2) indicated by the series of position data while fixing the one end portion overlapping the first reference point (for example, the point A). Is uniformly enlarged, reduced, or rotated so as to overlap the second reference point (for example, point B) to create a corrected movement locus (for example, movement locus T3). That is, the movement trajectory before correction (T2) and the movement trajectory after correction (T3) are deformed to be similar. Then, the position data of each positioning point moved on the corrected movement locus (T3) is corrected as corrected position data. The autonomous navigation error correction processing unit 21 calculates a series of corrected position data by performing a calculation process for deforming the above-described movement locus.

  The series of position data after the correction is overwritten and stored in the position data before correction in the position data storage unit 22, for example. At this time, a correction flag indicating that the position data has been corrected is added and stored.

  By such correction processing, when the measurement value of the movement amount or the measurement value of the movement direction includes a uniform error during autonomous navigation positioning, these errors can be effectively removed. it can. In the example of FIGS. 2 and 3, the movement locus T3 of the corrected position data is closer to the actual movement route T1 than the movement locus T2 before correction.

  When the correction process of step S11 is completed, the second reference point set in step S10 is newly set to the second reference point set in step S10 in order to set the point where GPS positioning was performed immediately before as the reference point used for positioning in the subsequent autonomous navigation. Register as one reference point (step S12).

[Calibration process]
After the correction process is performed in step S11, the CPU 10 next determines whether or not the calibration process of the stride data used for the measurement of the triaxial geomagnetic sensor 15 and the movement amount is necessary based on the result of the correction process. (Step S13: Calibration time control means).

FIG. 5 is a diagram for explaining the rotation amount and the expansion / contraction amount of the movement locus before and after correction.
The determination process in step S13 is based on the amount of expansion and contraction and the amount of rotation between the movement locus before correction (T2 in FIG. 3) and the movement locus after correction (T3 in FIG. 3). This is performed based on whether or not the predetermined range is exceeded. Here, the rotation amount is ∠B1, A, B in FIG. 5, and the expansion / contraction amount is the ratio of the line segment B / A to the line segment B1, A. For example, when the expansion / contraction magnification is outside the range of 0.8 to 1.2 times, when the rotation amount exceeds ± 15 °, or when the expansion / contraction magnification is in the range of 0.9 to 1.1 times When the rotation amount exceeds ± 10 ° outside, it is determined that the movement trajectory correction amount exceeds the predetermined range.

  Note that the values of the magnification and the rotation amount that serve as the determination criteria are not limited to the above example, and can be changed to appropriate values. Further, in the above example, the necessity of calibration processing is determined based on the expansion / contraction magnification, the rotation amount, and the condition in which these are combined. For example, only the expansion / contraction magnification, only the rotation amount, or The necessity of the calibration process may be determined based on only the combined condition.

  As a result of the determination process in step S13, if the movement trajectory correction amount does not exceed the predetermined range, it is determined that the calibration process is unnecessary, and the process returns to step S4. On the other hand, if the movement locus correction amount exceeds the predetermined range, it is determined that the calibration process is necessary, and the calibration process after step S14 is executed.

  If it is determined that the calibration process is necessary, first, the CPU 10 performs a notification process such as outputting a guidance display on the display unit 18 in order to notify the user to execute the offset correction process of the triaxial geomagnetic sensor 15. (Step S14). Subsequently, the input signal of the operation unit 17 is confirmed, and it is determined whether or not there is a correction processing start operation from the user within a certain time (step S15). If there is no start operation within a certain time, the current calibration process is omitted and the process returns to step S4.

  On the other hand, if there is a start operation within a certain time, the CPU 10 executes an offset correction process (step S16: calibration means). In the offset correction process, first, the CPU 10 causes the display unit 18 to output a display informing the user's operation content and operation timing necessary for the offset correction process. Based on these displays, the user is caused to perform an operation of rotating the positioning device 1 three-dimensionally. Further, during this rotation operation, the CPU 10 takes in the sensor output of the three-axis geomagnetic sensor 15, and plots the sensor output on the three-dimensional coordinates, as well as the spherical plot surface. Each center point is calculated.

  Then, a difference vector between the center point of the three-dimensional coordinate and the center point of the spherical plot surface is calculated as an offset of the triaxial geomagnetic sensor 15. Next, offset data representing this offset is stored in the offset storage area 11a of the RAM 11, and the correction process is terminated.

  When the offset repair process in step S16 is completed, the CPU 10 next calculates the difference between the offset obtained this time and the offset stored in the offset storage area 11a until immediately before (that is, the correction amount of the offset from the previous time). Then, it is determined whether this difference is greater than or less than a predetermined threshold (step S17). In the determination processing in step S17, it is highly likely that the cause of the increase in the correction amount of the movement trajectory is an offset deviation of the triaxial geomagnetic sensor 15, or the offset deviation is small, and there are other causes. This is for determining whether the possibility is high. Therefore, the above threshold value is set to a value suitable for such determination.

  If it is determined in step S17 that the offset difference (correction amount from the previous time) is equal to or greater than the threshold value, the calibration process is completed and the process returns to step S4. On the other hand, if the difference in offset is less than the threshold value, it is determined that there is a high possibility that the amount of correction of the movement trajectory is large due to the deviation of the stride data, and the process proceeds to correct the stride data.

  When proceeding, first, the CPU 10 takes in the sensor output of the triaxial acceleration sensor 16 and determines whether or not a walking motion is detected within a certain time (step S18). If no walking motion is detected within a certain period of time, it can be determined that it is difficult to calculate accurate stride data. Therefore, the current stride data correction process is omitted, and the process returns to step S4.

  On the other hand, if a walking motion is detected within a certain time, the CPU 10 executes a stride data correction process (step S19: calibration means). In this stride length data correction process, the CPU 10 performs positioning by receiving GPS satellite signals at two points separated from each other. Further, during the movement between the two points, the sampling data of the sensor outputs of the three-axis geomagnetic sensor 15 and the three-axis acceleration sensor 16 are sent to the autonomous navigation control processing unit 20, and the step count is linearly measured between the two points. A confirmation process is performed to determine whether the movement has been performed.

  When it is confirmed that the distance between the two points exceeds a predetermined distance (for example, 500 m) appropriate for obtaining the stride data and is moving linearly between the two points, the CPU 10 uses GPS. The distance between the two points is calculated based on the positioning result at the two points. Further, the count value of the number of steps in between is acquired from the autonomous navigation control processing unit 20, and the stride data representing the stride is calculated by dividing the distance between the two points by the count value of the number of steps. Next, the stride length data is stored in the stride length data storage area 11b of the RAM 11, and the stride length data correction process is terminated.

  On the other hand, if the distance between the two points does not reach a predetermined distance suitable for obtaining the stride data, it can be determined that highly accurate stride data cannot be obtained. The stride length data correction process is terminated.

  When the step data correction process in step S19 is completed, the process returns to step S4 again to continue the positioning process.

  As described above, according to the positioning device 1 of this embodiment, when the movement locus composed of a series of position data obtained by the autonomous navigation positioning is corrected based on the GPS positioning result, the correction amount of the movement locus is corrected. Is determined to be over a predetermined range, and based on the determination result, the execution time of the calibration process related to the positioning of the autonomous navigation is determined. Therefore, it is not necessary to perform a process with a large load only to determine the execution time of the calibration process, and this calibration process can be performed at an appropriate time.

  Further, according to the positioning device 1 of this embodiment, the process of correcting the series of position data is performed by uniformly expanding / contracting and rotating the movement locus to change the position of each point of the movement locus after the change of the series of position data. Data is corrected, and the execution timing of the calibration process is controlled based on the expansion / contraction amount (expansion / contraction magnification) and rotation amount of the movement locus in the correction process. Therefore, it is possible to easily and appropriately determine whether the calibration process is necessary.

  Specifically, the positioning of the autonomous navigation is based on the sensor output of the triaxial acceleration sensor 16 by calculating the moving direction mainly based on the sensor output of the triaxial geomagnetic sensor 15 and the output fluctuation pattern of the triaxial acceleration sensor 16. The number of steps is counted, and the amount of movement is calculated by multiplying the step length data and the number of steps. Furthermore, in the calibration process described above, the offset of the sensor output of the triaxial geomagnetic sensor 15 and the stride data can be corrected. Therefore, when a relatively large deviation occurs in the offset or stride data, a uniform error occurs in the positioning result of autonomous navigation, and the occurrence of this deviation can be determined relatively accurately from the correction amount of the correction process. can do. Therefore, the calibration process can be executed at an optimal time by controlling the execution time of the calibration process based on this determination.

  In the positioning device 1 of the above embodiment, in the calibration process, first, the offset of the triaxial geomagnetic sensor 15 is corrected, and when the correction amount is less than the threshold, it is determined that the stride data is shifted. Then, the stride data correction process is executed. Accordingly, when only the offset of the three-axis geomagnetic sensor 15 is greatly deviated and the stride data is not largely deviated, the calibration process is completed by correcting only the former, so that it is possible to reduce power consumption by omitting useless processes. .

  The present invention is not limited to the above-described embodiment, and various modifications can be made. For example, in the above-described embodiment, a configuration is shown in which GPS positioning is intermittently performed at regular time intervals, and autonomous navigation positioning is continuously performed during that time. However, for example, in a situation where GPS satellite signals can be received, The present invention can be similarly applied to a configuration in which positioning is performed continuously, and positioning of autonomous navigation is performed when a GPS satellite signal cannot be received.

  In the above embodiment, as a method of correcting a series of position data obtained by positioning by autonomous navigation, a method of correcting by changing the movement trajectory with a similar shape is exemplified, but other correction methods are used. However, the present invention can be similarly applied by controlling the execution time of the calibration process based on the correction amount of the series of position data. In addition, the details shown in the embodiments can be appropriately changed without departing from the spirit of the invention.

1 Positioning device 10 CPU
11 RAM
11a Offset storage area 11b Step length data storage area 12 ROM
13 GPS receiving antenna 14 GPS receiving unit 15 3-axis geomagnetic sensor (geomagnetic sensor)
16 3-axis acceleration sensor (acceleration sensor)
17 Operation unit 18 Display unit 19 Power source 20 Autonomous navigation control processing unit 21 Autonomous navigation error correction processing unit 22 Location data storage unit 24 Map database A point B point T1 movement route T2 movement locus T3 movement locus after correction

Claims (8)

First positioning means for receiving a signal from a positioning satellite and performing positioning;
A second positioning means for performing positioning by measuring position data of a reference point and relative moving direction and moving amount;
When the position data of each point in an arbitrary movement process is acquired by continuous positioning by the second positioning means, and then positioning is performed by the first positioning means, the positioning result of the first positioning means is displayed. Correction means for correcting the position data of each point of the movement process acquired by the positioning of the second positioning means based on;
Calibration means for performing calibration processing of the second positioning means;
Calibration timing control means for controlling the execution timing of the calibration process by the calibration means based on the correction amount of the position data by the correction means;
A positioning device comprising: The correction means includes
During the movement process from the first point to the second point, intermittent positioning is performed between the first point and the second point by the first positioning unit, and the first point is determined by the positioning of the second positioning unit. When a series of position data is acquired through a moving process from the first point to the second point,
One end of the movement locus overlaps with a point corresponding to the positioning result of the first point by the first positioning means so that the movement locus corresponding to the series of position data has a similar shape before and after the change, By rotating and expanding and contracting uniformly so that the other end of the movement trajectory overlaps with the position corresponding to the positioning result of the second point by the first positioning means, the series of position data Correct to the location data of each point,
The calibration time control means includes
When the amount of rotation of the movement trajectory by the correction unit, the amount of expansion / contraction of the movement trajectory, or the combined amount of the amount of rotation and the amount of expansion / contraction exceeds a predetermined range, the calibration processing by the calibration unit is started. The positioning device according to claim 1, wherein: The second positioning means includes
A geomagnetic sensor for detecting the direction of geomagnetism,
An acceleration sensor for detecting acceleration;
Have
The movement direction is measured based on the direction of geomagnetism detected by the geomagnetic sensor and the output fluctuation pattern of the acceleration sensor, and the movement is performed based on the number of steps counted from the detection output of the acceleration sensor and preset stride data. Measure the amount,
The calibration means includes
The positioning device according to claim 1, wherein a process for correcting an offset of the geomagnetic sensor or a process for correcting the stride data is performed. The calibration means includes
4. The positioning device according to claim 3, wherein after performing the process of correcting the offset of the geomagnetic sensor, the process of correcting the stride data is executed when the correction amount of the offset is less than a predetermined amount. . Adjustment of a positioning device provided with first positioning means for receiving a signal from a positioning satellite and performing positioning by measuring position data of a reference point and relative movement direction and amount of movement A method,
When the position data of each point in an arbitrary movement process is acquired by continuous positioning by the second positioning means, and then positioning is performed by the first positioning means, the positioning result of the first positioning means is displayed. A correction step of correcting the position data of each point in the movement process acquired by the positioning of the second positioning means based on;
A calibration step for performing a calibration process of the second positioning means;
A calibration timing control step for controlling the execution timing of the calibration process by the calibration step based on the correction amount of the position data by the correction step;
A positioning apparatus adjustment method comprising: The correction step includes
During the movement process from the first point to the second point, intermittent positioning is performed between the first point and the second point by the first positioning unit, and the first point is determined by the positioning of the second positioning unit. When a series of position data is acquired through a moving process from the first point to the second point,
One end of the movement locus overlaps with a point corresponding to the positioning result of the first point by the first positioning means so that the movement locus corresponding to the series of position data has a similar shape before and after the change, By rotating and expanding and contracting uniformly so that the other end of the movement trajectory overlaps with the position corresponding to the positioning result of the second point by the first positioning means, the series of position data Correct to the location data of each point,
The calibration time control step includes:
When the amount of rotation of the movement trajectory by the correction step, the amount of expansion / contraction of the movement trajectory, or the combined amount of the rotation amount and the amount of expansion / contraction exceeds a predetermined range, the calibration processing by the calibration step is started. 6. The positioning apparatus adjustment method according to claim 5, wherein the positioning apparatus is adjusted. Computer capable of communicating with first positioning means for receiving a signal from a positioning satellite and performing positioning by measuring position data of a reference point and relative moving direction and moving amount. In addition,
When the position data of each point in an arbitrary movement process is acquired by continuous positioning by the second positioning means, and then positioning is performed by the first positioning means, the positioning result of the first positioning means is displayed. A correction function for correcting the position data of each point in the movement process acquired by the positioning of the second positioning means based on;
A calibration function for performing calibration processing of the second positioning means;
A calibration timing control function for controlling the execution timing of the calibration process by the calibration function based on the correction amount of the position data by the correction function;
A program that realizes The correction function is
During the movement process from the first point to the second point, intermittent positioning is performed between the first point and the second point by the first positioning unit, and the first point is determined by the positioning of the second positioning unit. When a series of position data is acquired through a moving process from the first point to the second point,
One end of the movement locus overlaps with a point corresponding to the positioning result of the first point by the first positioning means so that the movement locus corresponding to the series of position data has a similar shape before and after the change, By rotating and expanding and contracting uniformly so that the other end of the movement trajectory overlaps with the position corresponding to the positioning result of the second point by the first positioning means, the series of position data Correct to the location data of each point,
The calibration time control function is:
When the amount of rotation of the movement trajectory by the correction function, the amount of expansion / contraction of the movement trajectory, or the combined amount of the rotation amount and the amount of expansion / contraction exceeds a predetermined range, the calibration processing by the calibration function is started. The program according to claim 7, wherein:

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