JP2019148586A - Position measurement device, position correction method, and position information acquisition system - Google Patents

Abstract

To provide technique capable of maintaining the accuracy of a locus even though opportunities for acquiring absolute position information are reduced.SOLUTION: A position measurement device includes: a movement information generation unit (118) for generating movement information including a movement distance and a movement direction of an object apparatus with reference to a sensor value; and a reliability generation unit (115) for generating reliability information showing the reliability of the movement information. The position measurement device determines the distance correction amount and an angle correction amount for each number of predetermined steps with reference to the reliability information and the movement information, and corrects a distance and an angle in each number of predetermined steps with the latest corrected position information as a starting point.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position measurement device, a position correction method, and a position information acquisition system.

  2. Description of the Related Art Conventionally, a mobile terminal device such as a mobile phone generally employs a technique for performing position measurement using a GPS (Global Positioning System) function. However, the positioning by the GPS function consumes high power and consumes a battery.

  Thus, a technique has been proposed in which the GPS function is intermittently operated by estimating the user's walking route or moving route using autonomous navigation, and the power consumption is kept relatively low (see, for example, Patent Document 1 or 2). .

  In addition, a method using a walking trajectory interpolation technique using a spring model has been proposed in order to improve the accuracy of movement path estimation while minimizing the use of the GPS function in order to reduce power consumption (for example, patents). Reference 3).

International Publication WO2014 / 156385 (Published February 10, 2014) JP2012-233731 (released on November 29, 2012) JP2012-122892 (released on June 28, 2012)

  Incidentally, rotation and enlargement / reduction processes are generally performed as means for correcting the travel route estimated using autonomous navigation using the absolute position information acquired by the GPS function. However, when the GPS function is operated intermittently in order to reduce power consumption, there is a problem that the conventional correction method cannot obtain sufficient accuracy.

  An object of one embodiment of the present invention is to realize a technique capable of maintaining the accuracy of a trajectory even if the opportunity to acquire absolute position information is reduced.

  In order to solve the above-described problem, a position measurement device according to one aspect of the present invention refers to a sensor value acquired by a sensor, a position estimation unit that estimates the position of the target device, and an absolute value of the target device. An absolute coordinate measuring unit that measures coordinates, a correction processing unit that corrects the position of the target device estimated by the position estimating unit with reference to the absolute coordinates of the target device measured by the absolute coordinate measuring unit, and The position estimation unit refers to the sensor value, generates a posture information of the target device, refers to the posture information, moves the target device, and A movement information generation unit that generates movement information including a movement direction of the target device, and a reliability generation unit that generates reliability information indicating the reliability of the movement information with reference to the sensor value, The correction processing unit The distance correction amount for each predetermined number of steps and the angle correction amount for each predetermined number of steps are determined with reference to the recording reliability information and the movement information, and the latest corrected position information of the target device is determined. As a starting point, the moving distance for each predetermined number of steps and the moving direction for each predetermined number of steps are corrected.

  In order to solve the above problem, a position correction method according to an aspect of the present invention includes a position estimation step of estimating a position of a target device with reference to a sensor value acquired by a sensor, and an absolute value of the target device. An absolute coordinate measuring step for measuring coordinates, and a correction processing step for correcting the estimated position of the target device with reference to the absolute coordinates of the target device. Referring to the posture information generation step for generating the posture information of the target device, and the movement for generating the movement information including the movement distance of the target device and the movement direction of the target device with reference to the posture information. An information generation step and a reliability generation step of generating reliability information indicating the reliability of the movement information with reference to the sensor value, and the correction processing step includes the reliability The distance correction amount for each predetermined number of steps and the angle correction amount for each predetermined number of steps are determined with reference to the information and the movement information, and the latest corrected position information of the target device is used as a starting point. This is a method including a step of correcting the moving distance for each predetermined number of steps and the moving direction for each predetermined number of steps.

  According to one embodiment of the present invention, the accuracy of a trajectory can be maintained even if the opportunity to acquire absolute position information is reduced.

It is a block diagram which shows an example of the principal part structure of the position measuring device which concerns on Embodiment 1 of this invention. It is a figure which shows the example of mounting | wearing of the position measuring device which concerns on Embodiment 1 of this invention. It is a figure which shows the inclination | tilt angle and azimuth | direction angle which are used by the attitude | position calculation which concerns on Embodiment 1 of this invention. It is a figure which shows the movement vector used with the relative coordinate calculating part which concerns on Embodiment 1 of this invention. It is a figure which shows the magnitude | size of each component of the principal component analysis used in order to calculate the angle reliability of the reliability production | generation part which concerns on Embodiment 1 of this invention. It is a figure used for description of the variable used with the locus | trajectory correction part which concerns on Embodiment 1 of this invention. It is the figure on which the movement path | route including the gyro sensor abnormality used by description of the usefulness of this invention based on Embodiment 1 of this invention was drawn. FIG. 8 is a diagram illustrating a movement path after a general trajectory correction process with respect to FIG. 7 used in the description of the usefulness of the present invention according to Embodiment 1 of the present invention. It is the figure which drawn the movement path | route after the locus | trajectory correction process of this invention with respect to FIG. 7 used by description of the usefulness of this invention which concerns on Embodiment 1 of this invention. It is the figure on which the movement path | route containing the magnetic abnormality used by description of the usefulness of this invention based on Embodiment 1 of this invention was drawn. It is the figure which drew the movement path | route after a general locus | trajectory correction process with respect to FIG. 10 used by description of the usefulness of this invention which concerns on Embodiment 1 of this invention. It is the figure which drawn the movement path | route after the locus | trajectory correction process of this invention with respect to FIG. 10 used by description of the usefulness of this invention which concerns on Embodiment 1 of this invention. It is a flowchart which shows the flow of the process which calculates the reliability of a position measuring device. It is a figure which shows the calculation method of the reliability regarding an angle. It is a figure which shows the reliability regarding an angle. It is a flowchart which shows the flow of the process which calculates the corrected amount of a position measuring device. It is a block diagram which shows an example of the principal part structure of the position measurement portable apparatus which concerns on Embodiment 2 of this invention. It is a block diagram which shows an example of a principal part structure of the position measurement portable apparatus which concerns on Embodiment 3 of this invention. It is a block diagram which shows an example of a principal part structure of the position measurement portable apparatus which concerns on Embodiment 4 of this invention. It is a figure which shows an example of behavior of the gyro sensor during the walk which concerns on Embodiment 6 of this invention. It is a figure which shows an example of the positional information acquisition system which concerns on embodiment of this invention. It is a figure which shows an example of the positional information acquisition system which concerns on embodiment of this invention.

Embodiment 1
Hereinafter, the position measuring apparatus 1 according to the first embodiment of the present invention will be described in detail. The position measuring device 1 is, for example, a portable navigation device or a device that measures the position of a target device that can be carried and carried by a user, such as a smartphone, and accurately maintains the trajectory of the movement route according to the user's movement. is there.

  In the following description, the position measurement device 1 is described as an example of a configuration in which the position measurement device 1 is provided integrally with the target device for measuring the position, that is, the target device itself is the position measurement device 1. The measuring device 1 is not limited to this. For example, the position measurement device 1 may be provided on a server that receives a sensor value from a sensor provided in the target device, and may be configured to be able to transmit information on the measured position of the target device to the target device.

  FIG. 2 is a diagram illustrating an example of mounting the position measurement device 1. In the configuration in which the position measuring device 1 is provided integrally with the target device for measuring the position, as shown in FIG. 2, the position measuring device 1 is positioned above the base of the user's foot, such as the user's waist. It is desirable to be mounted and used. The position measuring device 1 acquires information related to the posture of the position measuring device 1 according to the user's movement, and measures the position of the own device.

[Schematic Configuration of Position Measuring Device 1]
FIG. 1 is a block diagram illustrating a schematic configuration of a position measurement apparatus 1 according to the first embodiment.

  The position measurement apparatus 1 includes a position estimation unit 11, an absolute coordinate measurement unit 12, and a correction processing unit 13.

(Configuration of the position estimation unit 11)
The position estimation unit 11 has a function of estimating the position of the position measurement device 1 using, for example, self-contained navigation, and includes a sensor group 111 having a plurality of sensors. The position estimation unit 11 estimates the position of the position measurement device 1 with reference to sensor values acquired by the sensors included in the sensor group 111.

  The sensor group 111 includes an acceleration sensor 1111, a geomagnetic sensor 1112, a gyro sensor 1113, and an atmospheric pressure sensor 1114.

  The acceleration sensor 1111 is always affected by gravitational acceleration. For this reason, even when the acceleration sensor 1111 is not operating, the gravitational acceleration affects the vertical direction. By using this and referring to the sensor value acquired by the acceleration sensor 1111, the position estimation unit 11 can obtain the mounting posture of the position measurement device 1.

  The sensor value acquired by the acceleration sensor 1111 changes according to the user's movement. The sensor value acquired by the acceleration sensor 1111 can be integrated to obtain information on the speed of movement of the position measuring device 1. Further, by further integrating the sensor value acquired by the integrated acceleration sensor 1111, it is possible to obtain information related to the movement distance of the position measuring device 1.

  The geomagnetic sensor 1112 is a sensor that measures the magnetic flux density. The position estimation unit 11 can obtain the magnetic north direction by referring to the sensor value acquired by the geomagnetic sensor 1112. It is known that the geomagnetic sensor 1112 is affected by the magnetic field when an object that generates a ground exists in the vicinity.

  The gyro sensor 1113 is a sensor that measures an angular velocity generated during a rotational motion. The position estimation unit 11 can obtain the rotation angle by integrating the sensor value generated by the gyro sensor 1113 and generated during the rotational movement. Further, by specifying the direction (initial angle) before the rotational motion to the gyro sensor 1113, the magnetic north can be recognized, and the rotation angle with respect to the magnetic north is obtained by referring to the sensor value acquired by the gyro sensor 1113. be able to.

  The atmospheric pressure sensor 1114 is a sensor that measures the atmospheric pressure of the surrounding environment. By referring to the sensor value acquired by the atmospheric pressure sensor 1114, the position estimation unit 11 calculates the movement distance in the vertical direction of the position measurement device 1 using the fact that the atmospheric pressure changes with the altitude change. Can do. Note that it is known that the sensor value of the atmospheric pressure sensor 1114 changes even when the environment such as the weather changes or when entering or leaving the sealed space.

  The position estimation unit 11 further includes a posture information generation unit 112 that generates posture information of the position measurement device 1 with reference to sensor values from the sensors 1111, 1112, 1113, and 1114 of the sensor group 111. Further, the position estimation unit 11 includes a movement information generation unit 118 that generates movement information including the movement distance and the movement direction of the position measurement device 1 with reference to the posture information generated by the posture information generation unit 112. ing. In addition, the position estimation unit 11 refers to the sensor values from the sensors 1111, 1112, 1113, and 1114 of the sensor group 111 and the posture information generated by the posture information generation unit 112, and the movement information generation unit 118. Is provided with a reliability generation unit 115 that generates reliability information indicating the reliability of the movement information generated by. In addition, the position estimation unit 11 includes a relative coordinate calculation unit 116 that refers to the movement information generated by the movement information generation unit 118 and calculates a relative position indicating the position of the position measurement device 1 by latitude and longitude. .

  The posture information generation unit 112 generates posture information of the position measurement device 1 with reference to a sensor value from at least one of the acceleration sensor 1111, the geomagnetic sensor 1112, and the gyro sensor 1113.

  FIG. 3 is a diagram showing the posture of the position measuring device 1 and the relationship between the tilt angle and the azimuth angle that express it. As illustrated in FIG. 3, for example, the posture information generation unit 112 refers to the sensor value of the acceleration sensor 1111 and calculates the inclination angle of the posture of the position measurement device 1 from the zenith direction. The position measuring device 1 calculates an azimuth angle that is an angle around an axis with the zenith direction as an axis with reference to sensor values from the gyro sensor 1113 and the geomagnetic sensor 1112 that specify the initial angle.

  The posture information generation unit 112 refers to the sensor values from the acceleration sensor 1111, the geomagnetic sensor 1112, and the gyro sensor 1113, so that the position measurement device 1 is in any posture, the inclination angle from the zenith direction, Using the azimuth angle, posture information expressing all postures can be generated.

  Incidentally, the gyro sensor 1113 and the geomagnetic sensor 1112 have sensor-specific offset values. In addition, the geomagnetic sensor 1112 may be affected by the local area as described above. The posture information generation unit 112 calculates the posture of the position measurement device 1 using the sensor value acquired by the acceleration sensor 1111 and the sensor value acquired by the geomagnetic sensor 1112. Further, the posture information generation unit 112 calculates the posture of the position measurement device 1 using the sensor value of the gyro sensor 1113. The posture information generation unit 112 obtains an optimum single angle using a Kalman filter or the like in order to narrow down one posture from the two calculated postures.

  The posture information generation unit 112 converts the calculated posture from the sensor axis coordinate system to the absolute coordinate system by performing affine transformation on the tilt angle and the azimuth angle from the zenith direction of the position measuring device 1. The coordinate information is converted to generate posture information. The posture information generation unit 112 provides the generated posture information to the movement information generation unit 118 and the reliability generation unit 115.

  The movement information generation unit 118 includes a movement direction calculation unit 113 that calculates the movement direction of the position measurement device 1 and a movement distance calculation unit 114 that calculates the movement distance of the position measurement device 1.

The movement direction calculation unit 113 performs principal component analysis on the horizontal component acceleration in the posture information generated by the posture information generation unit 112, and generates information with the direction indicated by the first principal component as the movement direction. To do.
In general, when an object moves, the acceleration changes only in the moving direction. However, in the movement by human walking, the body sways left and right by alternately moving the left and right feet. For this reason, the acceleration also changes for a component in a direction different from the traveling direction. However, since the amount of change in acceleration with respect to the moving direction is larger than the amount of change in acceleration with respect to a direction different from the traveling direction, the moving direction can be specified by performing principal component analysis of the acceleration in the horizontal direction. The movement direction calculation unit 113 provides information on the movement direction to the relative coordinate calculation unit 116.

  On the other hand, for example, in a peculiar walking form in which the body is greatly shaken from side to side, an error is likely to occur in the determination of the moving direction, which causes a decrease in the accuracy of the movement locus. Therefore, in the present embodiment, information related to the movement direction calculated by the movement direction calculation unit 113 is provided to the reliability generation unit 115, and reliability information indicating the reliability of the information related to the movement direction is generated.

  The movement distance calculation unit 114 calculates the user's stride using the amount of change in acceleration in the vertical direction from the posture information generated by the posture information generation unit 112, thereby calculating the movement distance of each step of the user. get. Note that the moving distance calculation unit 114 may be configured to calculate the moving distance from the acceleration information using any known technique. The movement distance calculation unit 114 provides information regarding the calculated movement distance to the relative coordinate calculation unit 116 and the reliability generation unit 115.

  The relative coordinate calculation unit 116 refers to the movement vector expressed by the movement information including the movement direction and the movement distance calculated by the movement direction calculation unit 113 and the movement distance calculation unit 114, and the position measurement device The relative position of 1 is calculated. FIG. 4 is a diagram showing movement vectors used in the relative coordinate calculation unit 116. As shown in FIG. 4, the relative coordinate calculation unit 116 vector-decomposes the movement vector in the north direction and the east direction, and uses a known calculation formula (for example, the Geographical Survey Institute homepage: http: //www.gsi.go. jp / index.html) to convert to latitude / longitude. The relative coordinate calculation unit 116 provides the calculated relative position of the position measurement device 1 to the correction processing unit 13.

(Reliability generation unit 115)
The reliability generation unit 115 refers to the posture information generated by the posture information generation unit 112 and the movement information generated by the movement information generation unit 118, and the reliability indicating the reliability of the posture information and the movement information. Generate degree information. The reliability is, for example, an error caused by an environment for acquiring sensor values from each of the sensors 1111, 1112, 1113, and 1114 of the sensor group 111, and when calculating posture information and movement information with reference to these sensor values. It is calculated from the error that occurs.

  The reliability generation unit 115 calculates the angle reliability, which is the degree of error related to the angle generated when the user calculates the direction of travel for each step, and the error related to the distance generated when the user calculates the distance for each step. The distance reliability, which is a degree, is estimated. The reliability generation unit 115 estimates the reliability between the angle for each step of the user and the distance for each step of the user, and this reliability is used for locus correction described later. Thereby, the correction | amendment of a local locus | trajectory is attained. The distance for each step of the user is the same as the user's step, and in the following description, each step corresponds to the distance for each step of the user.

  In the following description, the reliability generation unit 115 describes a configuration for estimating the angle reliability for each step of the user and the distance reliability for each step of the user. Is not limited to one step, and may be configured to estimate the angle reliability for each of a predetermined number of steps and the distance reliability for each of a predetermined number of steps.

  The reliability generation unit 115 includes an angle reliability generation unit 1151 and a distance reliability generation unit 1152.

  The angle reliability generation unit 1151 refers to the posture information generated by the posture information generation unit 112 and the information about the movement direction of each step of the user calculated by the movement direction calculation unit 113, and determines the angle reliability. Generate.

  The angle reliability generation unit 1151 refers to the posture information generated by referring to the combination of the sensor value from the acceleration sensor 1111 and the sensor value from the geomagnetic sensor 1112, and the sensor value from the gyro sensor 1113. The angle reliability in the posture information is generated by obtaining the difference between the azimuth angles and the posture information generated by the above. For example, the angle reliability generation unit 1151 calculates the difference between the azimuth angle degG calculated with reference to the sensor value from the gyro sensor 1113 and the azimuth angle degM calculated with reference to the sensor value from the geomagnetic sensor 1112. The angle reliability in the posture information may be 1 / | degG-degM |.

  FIG. 5 is a diagram illustrating the magnitude of each component of the acceleration of the horizontal component used for generating the angle reliability. The angle reliability generation unit 1151 uses the ratio of the second principal component to the first principal component of the acceleration of the horizontal component calculated by the movement direction calculation unit 113, and the angle reliability in the movement direction for each step of the user. Is generated. For example, as shown in FIG. 5, the angle reliability generation unit 1151 sets the first principal component size S <b> 1 and the second principal component size S <b> 2 of the acceleration of the horizontal component as the moving direction for each step of the user. The angle reliability may be S1 / S2.

The angle reliability generation unit 1151 generates the angle reliability in the user position information with reference to the angle reliability in the posture information and the angle reliability in the movement direction for each step of the user. The angle reliability generation unit 1151 sets the angle reliability α in the position information of the user as the angle reliability α _A in the posture information, and the angle reliability α _{B in} the movement direction of each step of the user as α = (α _A * Α _B ) / (α _A + α _B )

  The distance reliability generation unit 1152 generates distance reliability with reference to the information regarding the movement distance for each step of the user calculated by the movement distance calculation unit 114.

  The distance reliability generation unit 1152 calculates the vertical movement distance calculated by referring to the sensor value from the atmospheric pressure sensor 1114 and the vertical movement distance calculated by referring to the sensor value from the acceleration sensor 1111. From the difference, the distance reliability related to the moving distance of each step of the user is generated.

For example, the distance reliability generation unit 1152 obtains the vertical distance La for each step of the user from the vertical acceleration calculated by the movement distance calculation unit 114.
In addition, the distance reliability generation unit 1152 obtains the distance change amount Lp from the change amount of the atmospheric pressure acquired by referring to the sensor value from the atmospheric pressure sensor 1114. The distance reliability generation unit 1152 sets the distance reliability to 1 / | La−Lp |.

  The angle reliability generation unit 1151 and the distance reliability generation unit 1152 provide the correction processing unit 13 with angle reliability and distance reliability that are reliability information indicating the reliability of the movement information.

  In the present embodiment, an example of generating two types of reliability, that is, the angle reliability generated by the angle reliability generation unit 1151 and the distance reliability generated by the distance reliability generation unit 1152 is used. However, it is not limited to this. For example, when one of the reliability of the angle reliability and the distance reliability is used, it is possible to use only one reliability by fixing the unused reliability value to 1. .

  Here, when the value of the distance reliability is fixed to 1, the correction of the local distance for each step of the user is not performed, and the correction is performed uniformly for the entire trajectory. A configuration in which local correction is performed for each step may be used.

(Configuration of absolute coordinate measuring unit 12)
The absolute coordinate measurement unit 12 includes a GPS sensor 121 that receives a GPS signal, and measures the current position of the position measurement device 1 from the signal received by the GPS sensor 121. Thus, the absolute coordinate measuring unit 12 acquires the GPS signal by the GPS sensor 121, thereby measuring the absolute coordinate indicating the current position of the position measuring device 1 by the latitude and the longitude. The absolute coordinate measuring unit 12 provides the measured absolute coordinates of the position measuring device 1 to the correction processing unit 13.

  The absolute coordinate measuring unit 12 is not limited to a configuration that receives a GPS signal and measures absolute coordinates. FIGS. 17-19 is a figure which shows the absolute coordinate measuring part 12 of other embodiment.

  For example, as shown in FIG. 17, the absolute coordinate measuring unit 12 includes a Beacon receiver 122 and receives radio waves or infrared rays transmitted from a Beacon installed on a road, thereby measuring absolute coordinates. Good. The absolute coordinate measuring unit 12 may acquire the installation coordinates of Beacon as absolute coordinates when the intensity of radio waves or infrared rays received from the Beacon exceeds a predetermined threshold by the Beacon receiver 122.

  Further, as shown in FIG. 18, the absolute coordinate measuring unit 12 may include a Wi-Fi receiver 123 and may measure absolute coordinates by receiving Wi-Fi radio waves. The absolute coordinate measuring unit 12 receives a plurality of Wi-Fi (registered trademark) radio waves by the Wi-Fi receiver 123, and refers to the coordinate information of each base station and the radio wave intensity information, The coordinate information of the current location may be calculated in the manner of surveying and used as absolute coordinates.

Moreover, the absolute coordinate measurement part 12 may measure an absolute coordinate by acquiring an image marker. For example, as shown in FIG. 19, the absolute coordinate measurement unit 12 may include a camera 124, acquire an image marker by analyzing a captured image of the camera 124, and acquire the installation coordinates of the image marker as absolute coordinates.
The camera 124 may be provided in the position measurement device 1 and configured to be able to automatically capture surrounding images while the position measurement device 1 is moving. The absolute coordinate measurement unit 12 finds the pattern of the installed image marker displayed in the captured image of the camera 124, and when the size of the recognized image marker in the image exceeds a certain size, the absolute coordinate measurement unit 12 sets the image marker position. Considering that they are approaching, the installation coordinates of the image marker may be used as absolute coordinates.

  The absolute coordinate measurement unit 12, the GPS sensor 121, the Beacon receiver 122, the Wi-Fi receiver 123, the camera 124, or a combination thereof may be used to measure absolute coordinates.

  FIG. 21 and FIG. 22 are diagrams illustrating an example of a position information acquisition system including the position measurement device 1. As shown in FIGS. 21 and 22, the position measuring device 1 functions as a position information acquisition system used with the installation terminal 2 having installation coordinate information such as Beacon, Wi-Fi (registered trademark), and image markers. The absolute coordinates of the position measuring device 1 may be acquired by acquiring information related to the installation coordinates of the installation terminal 2 from the installation terminal 2 described above.

  FIG. 21 is a diagram illustrating an example of a position information acquisition system when the installation terminal 2 is the above-described Beacon, image marker, or the like. For example, the installation terminal 2 is installed in each of stores A, B, and C. When the user wearing the position measurement device 1 approaches the vicinity of the store where the installation terminal 2 is installed, the position measurement device 1 receives the absolute coordinates of the installation terminal 2 installed in the store. Thereby, the position measuring device 1 can detect that the user walked near the store.

  A range indicated by a dotted line in FIG. 21 indicates a range of radio waves or infrared rays transmitted from the installation terminal 2. For example, when the user wearing the position measuring device 1 walks in the range of radio waves and infrared rays transmitted from the installation terminal 2 installed in the store A, the position measurement device 1 is installed in the installation terminal 2 installed in the store A. Receive absolute coordinates sent from. In addition to receiving absolute coordinates from the installation terminal 2, the position measuring device 1 may also receive, for example, an advertisement for the store A.

  In addition, the position measurement device 1 may be configured to output information on the locus of the user's movement route to the installation terminal 2 in conjunction with receiving absolute coordinates from the installation terminal 2. In this way, by configuring the configuration so that the user's travel route trajectory information is output to the installation terminal 2, for example, by referring to the trajectory information, the route the user visited the store through Can be obtained.

  For example, as indicated by an arrow in FIG. 21, information on a route from the store C to the store A through the store B is transmitted from the installation terminal 2 installed in the store A by the user. When walking in the range of radio waves and infrared rays, it may be possible to output to the installation terminal 2 installed in the store A.

  Further, when the installation terminal 2 is an image marker, the position measurement apparatus 1 is within a range where the size of the image marker of the installation terminal 2 recognized by the camera 124 included in the position measurement apparatus 1 exceeds a certain size. The absolute coordinates of the installation terminal 2 are received.

  FIG. 22 is a diagram illustrating an example of a position information acquisition system when the installation terminal 2 is a terminal that transmits Wi-Fi radio waves. For example, installation terminals 2 that transmit Wi-Fi radio waves are installed in stores A, B, and C, respectively. When the user wearing the position measuring device 1 walks in the vicinity of the store A, the position measuring device 1 transmits the Wi-Fi radio wave transmitted from the installation terminal 2 installed in the store A to the Wi-Fi receiver 123. Receive at. The position measuring device 1 also receives Wi-Fi radio waves transmitted from the installation terminal 2 installed in the store B or the store C. As described above, the l-position measuring apparatus 1 receives a plurality of Wi-Fi radio waves, refers to the coordinate information of each base station, and the radio wave intensity information, and coordinates the current location in the manner of three-point surveying. It may be possible to calculate absolute coordinates by calculating information.

  As described above, the position measurement device 1 may function as a position information acquisition system used together with the installation terminal 2 having installation coordinate information such as Beacon, Wi-Fi, and image markers. Thereby, the position information of the user at the time of obtaining absolute coordinates from the installation terminal 2 of the position measuring device 1 and the information of the trajectory of the movement route according to the user's movement can be appropriately utilized.

  In addition, the structure which measures an absolute coordinate by the absolute coordinate measurement part 12 and the other well-known method of acquiring an absolute coordinate may be sufficient.

(Configuration of the correction processing unit 13)
The correction processing unit 13 includes a storage unit 131 and a trajectory correction calculation unit 133. The correction processing unit 13 includes an absolute coordinate acquisition unit 132 that acquires absolute coordinates from the absolute coordinate measurement unit 12.

  The correction processing unit 13 has a function of correcting the position of the position measuring device 1 estimated by the position estimating unit 11 with reference to the absolute coordinates of the position measuring device 1 measured by the absolute coordinate measuring unit 12. Further, the correction processing unit 13 includes reliability information indicating reliability regarding the moving direction for each predetermined number of steps of the user and the moving distance for each predetermined number of steps generated by the reliability generating unit 115, and a movement information generating unit. Referring to the movement information including the movement direction for each predetermined number of steps of the user and the movement distance for each predetermined number of steps generated by 118, the distance correction amount for each predetermined number of steps of the user and the predetermined number of steps of the user The angle correction amount for each is determined. Then, the correction processing unit 13 uses the latest corrected position information as a starting point according to the determined distance correction amount for each predetermined number of steps of the user and the angle correction amount for each predetermined number of steps of the user. Each time, the movement distance and the movement direction are corrected.

  The storage unit 131 is a storage that stores various data used in the correction processing unit 13. The storage unit 131 may store various programs for executing the functions of the position measurement device 1. The storage unit 131 is realized by, for example, any one of EPROM, EEPROM (registered trademark), HDD, flash memory, etc., which is a rewritable nonvolatile memory, or a combination of one or more thereof. .

  The storage unit 131 includes a position information storage unit 1311 that stores the corrected position information corrected by the correction processing unit 13. The position information storage unit 1311 stores the relative position of the position measurement device 1 calculated by the relative coordinate calculation unit 116 of the position estimation unit 11. The position information storage unit 1311 stores corrected position information of the i-th step of the user indicated by coordinates (xpi, ypi).

  The storage unit 131 also stores the angle reliability storage unit 1312 that stores the angle reliability estimated by the angle reliability generation unit 1151 of the position estimation unit 11 and the distance reliability estimated by the distance reliability generation unit 1152. A distance reliability storage unit 1313 for storing.

  The storage unit 131 also includes a corrected flag storage unit 1314 that stores information indicating whether or not the position information of the user's i-th step has been corrected.

  The trajectory correction calculation unit 133 refers to the position information, the angle reliability, the distance reliability, and the corrected flag stored in the storage unit 131 and the absolute coordinates measured by the absolute coordinate measurement unit 12, The trajectory of movement of the position measuring device 1 is corrected.

(Example of position measurement using gyro sensor and geomagnetic sensor)
Here, an example of position measurement using a gyro sensor 1113 and a geomagnetic sensor 1112 will be described as a specific example.

  The position measuring device 1 corrects the trajectory by correcting the advancing direction (posture) when outputting the trajectory of movement of the own device that is the target device for measuring the position. The position measuring apparatus 1 measures the moving direction after measuring the posture using the gyro sensor 1113 and the geomagnetic sensor 1112.

  The movement direction calculation unit 113 of the movement information generation unit 118 generates information related to the movement direction by integrating the sensor values acquired from the gyro sensor 1113.

  If there is a difference between the azimuth angle based on the sensor value of the gyro sensor 1113 (the angle around the axis with the zenith direction as an axis) and the azimuth angle based on the sensor value of the geomagnetic sensor 1112, There is a difference between the trajectory of the movement path estimated by the position estimation unit 11 and the trajectory of the correct movement path.

  The reliability generation unit 115 calculates the difference between the information regarding the moving direction obtained by integrating the values acquired from the gyro sensor 1113 and the information regarding the moving direction acquired from the geomagnetic sensor 1112, thereby calculating the reliability regarding the angle. Is generated.

  The trajectory correction calculation unit 133 performs trajectory correction to be described later using the reliability related to the angle based on this difference. As described above, the reliability indicating the difference between the azimuth angle based on the sensor value of the gyro sensor 1113 and the azimuth angle based on the sensor value of the geomagnetic sensor 1112 is locally distorted by using the reliability in the trajectory correction. An appropriate correction process is performed for each location and a location where the shape of the trajectory is correct.

  In the present embodiment, the posture information of the position measurement device 1 calculated using the gyro sensor 1113 and the geomagnetic sensor 1112 is subjected to coordinate conversion (coordinate axis conversion) processing by the posture information generation unit 112, and the relative information is obtained. Location information is generated. The relative position information generated by the posture information generation unit 112 is stored in the storage unit 131 for each step of the user together with the reliability. A known Kalman filter or the like can be used for the coordinate conversion processing by the posture information generation unit 112.

  The trajectory of the movement path is corrected using the absolute coordinate measuring unit 12 as a trigger when the absolute coordinates of the position measuring device 1 are measured. The movement path trajectory is corrected for all uncorrected position information and reliability stored in the storage unit 131. The trajectory of the movement path is corrected at once for the correction target section with the absolute coordinate measurement interval as the correction target section. Further, the correction of the trajectory of the movement route is performed using the reliability corresponding to the position information for each step with respect to the position information for each step in the correction target section. Thereby, local correction | amendment is attained.

(Track correction method)
The correction processing unit 13 performs position measurement from the absolute coordinate measurement unit 12 in a state where the uncorrected position information and the angle reliability and the distance reliability corresponding to the uncorrected position information are stored in the storage unit 131. When the absolute coordinates of the device 1 are acquired via the absolute coordinate acquisition unit 132, the uncorrected position information is corrected and the trajectory of the movement path of the position measuring device 1 is corrected.

FIG. 6 is a diagram illustrating variables used in the trajectory correction calculation unit 133. FIG. 7 is a diagram illustrating a deviation between the movement trajectory based on the position estimated by the position estimation unit 11 and the actual movement trajectory. As shown in FIGS. 6 and 7, the coordinates indicating the position of the i-th step of the user estimated by the position estimation unit 11 and stored in the storage unit 131 of the correction processing unit 13 are (x _pi , y _pi ). . The j-th absolute coordinate measured by the absolute coordinate measuring unit 12 and stored in the storage unit 131 of the correction processing unit 13 is _defined as (x _qj , y _qj ).

Here, it is defined that the coordinates of the latest corrected position information at the time of obtaining the j-th absolute coordinate stored in the position information storage unit 1311 are n _j steps, and the m-th and m + 1-th absolute coordinates are defined. acquired during, consider the case of correcting the n _{m + 1} step th track from n _m-th step of coordinates stored in the position information.

Position information of the i-th step of the i = n _m which is stored in the position information storage unit 1311, the trajectory correction is applied when the m-th absolute coordinate acquisition. Therefore, the range for applying the trajectory correction is i = n _m +1 to n _{m + 1} . All the data in the range of i = n _m +1 to n _{m + 1 in} the corrected flag storage unit 1314 is in an uncorrected state with no corrected flag.

  The trajectory correction calculation unit 133 calculates the sum of angle reliability for each step of the uncorrected position information estimated by the position estimation unit 11 and the sum of distance reliability for each step before the trajectory correction process. Ask for.

  Thereafter, the trajectory correction calculation unit 133 obtains the difference between the distance and the angle from the absolute coordinate measured by the absolute coordinate measurement unit 12 using the latest corrected position information as a starting point. In addition, the trajectory correction calculation unit 133 obtains the difference between the distance and the angle of the latest estimated position information estimated by the position estimation unit 11 with respect to the latest corrected position information.

The trajectory correction calculation unit 133 calculates the m-th to m + 1-th moving distance L _{qm + 1} in absolute coordinates using Equation 1 below.

Further, the trajectory correction calculation unit 133 calculates the movement distance L _{pnm + 1} by the position estimation unit 11 at this time using the following equation 2.

  The trajectory correction calculation unit 133 calculates the total distance reliability β based on the sum of the distance reliability using the following Equation 3.

The trajectory correction calculation unit 133 calculates the (m + 1) th distance correction coefficient Δβ _{m + 1} using the following formula 4 using these formulas 1 to 3.

Further, the trajectory correction calculation unit 133 calculates the inclination angle θ _{qm + 1} of the straight line connecting the m-th and m + 1-th coordinates of the absolute coordinates using the following Equation 5.

The trajectory correction calculation unit 133 calculates the inclination angle θ _{pnm + 1} of the straight line connecting the n _{m + 1} step of the position information and the coordinates of n _m using the following Equation 6.

  The trajectory correction calculation unit 133 calculates the total angle reliability α based on the sum of the angle reliability using Expression 7 below.

The trajectory correction calculation unit 133 calculates the (m + 1) th angle correction coefficient Δα _{m + 1} using Equation 8 below.

The trajectory correction calculation unit 133 corrects i = n _m +1 to n _{m + 1} step position information using the distance correction coefficient Δβ _{m + 1} calculated using Expression 4 and the angle correction coefficient Δα _{m + 1} calculated using Expression 8. Process.

(Distance correction first stage)
In addition, the locus correction calculation unit 133 adds a component obtained by multiplying each moving distance by the distance reliability and Δβ. The trajectory correction calculation unit 133 calculates the coordinate x component in the position information of the i-th step as x _i and the corrected component as x ′ _i using the following Expression 9 and Expression 10.

Further, the trajectory correction calculation unit 133 is calculated using the following formula 11 and formula 12 components after correction as well as a y _'i with respect to i is a y-component of the coordinates of the position information of the th step y _i.

(Angle correction)
Trajectory correction calculation unit 133, the coordinate after the first stage of the distance correction _{(x'pi, y'pi)} performs correction angle by using the the angle reliability with respect to [Delta] [alpha]. At this time, the trajectory correction calculation unit 133 uses a parameter V different from Δα. Trajectory correction calculation unit 133, using Equation 13 to 15 below, the coordinate after the first stage of the distance correction _{(x'pi, y'pi)} performs correction angle to.

Further, the trajectory correction calculation unit 133, using Equation 16 below, to calculate the _{n m-th} step and _{n m + 1} step th tilt angle θ'' _{pnm + 1.}

The locus correction calculation unit 133 compares the calculated inclination angle θ ″ _{pnm + 1} with the m-th absolute coordinate and the m + 1-th inclination angle θ _{qm + 1} (Equation 5), and calculates V that minimizes this difference. Find and use. A Newton method or the like can be used as a method for calculating V.

(Distance correction second stage)
When the calculation method of the movement distance is perfect, the position of the ( _{m + 1) th} step and the position of the (m + 1) th absolute coordinate are overlapped by the distance correction first step and the angle correction. However, in practice there are cases where the position of the n _{m + 1} step th coordinates and the m + 1 th absolute coordinates for calculation methods are not perfect do not overlap. Therefore, the trajectory correction calculation unit 133, overlap the n _{m + 1} step th and the m + 1 th absolute coordinates by enlarging / reducing the movement path after the angle correction.

The trajectory correction calculation unit 133 calculates L ″ _{pnm + 1} and L _{qm + 1} (Equation 1) and calculates the processing magnification γ using the following equations 17 and 18, as in the first stage of distance correction.

The trajectory correction calculation unit 133 corrects the coordinates of (x ″ _pi , y ″ _pi ) (i = n _m +1 to n _{m + 1} ) using this γ, and uses the following formulas 19 to 22: , (X ″ ″ _pi , y ″ ″ _pi ).

Trajectory correction calculation unit 133, position information stored in the storage unit 1311 the _n m position information from +1 step th to _{n m + 1} step th _{(x''' pi, y''' pi) (} i = n m +1 ˜n _{m + 1} ). Further, the trajectory correction calculation unit 133 corrects the information of the correction flag from n _m +1 step th stored in the correction flag storage unit 1314 to n _{m + 1} step th to corrected. Thereby, the locus correction calculation unit 133 completes the locus correction process.

(Effects of this embodiment)
When the movement trajectory is corrected by correcting the rotation and enlargement as in the prior art, as shown in FIG. 8, the arrival points coincide, but the correct trajectory can be restored with respect to the intermediate route. Can not. On the other hand, when the correction method of the present embodiment is applied, as shown in FIG. 9, the path varies by changing the angle correction coefficient V, and the correct path is obtained by using the optimum coefficient. It is possible to restore the trajectory of movement so as to indicate the closest path (in FIG. 9, V = 0.5Δα is the path closest to the correct answer).

  In addition, as shown in FIG. 10, the locus of the position estimated by the position estimation unit 11 may be distorted due to a geomagnetic abnormality. In such a case, the correct trajectory cannot be restored as shown in FIG. On the other hand, when the correction method of the present embodiment is applied, it is possible to restore a route close to the correct locus as shown in FIG.

In addition, the various structures of this embodiment are not necessarily limited to the form mentioned above, The recombination of a suitable structure and a change are possible. For example, an installation terminal 2 such as a Beacon or an image marker may be installed in an area where position information is desired to be acquired, and thereby the position information of the user who owns the position measuring device 1 may be acquired in the area. .
According to this embodiment, since the interval of acquisition of position information by absolute coordinates can be extended, the interval of installation of the installation terminal 2 can be extended accordingly, and the number of installation terminals 2 can be reduced. Is possible.

  As described above, according to the present embodiment, by using the reliability corresponding to the position information for each step, it is possible to appropriately correct each partial portion of the trajectory. Therefore, the accuracy of the trajectory can be maintained even if the opportunity for receiving GPS signals is reduced.

(Regarding the processing of the position estimation unit 11)
FIG. 13 is a flowchart showing a process flow of the position estimation unit 11.

(Step S21)
The position estimation unit 11 acquires a sensor value by each sensor of the sensor group 111.

(Step S22)
The position estimation unit 11 calculates the posture of the target device using the function of the posture information generation unit 112. The posture information generation unit 112 trusts information related to the posture obtained by combining the sensor value of the acceleration sensor 1111 and the sensor value of the geomagnetic sensor 1112, and information related to the posture obtained using the sensor value of the gyro sensor 1113. Provided to the degree generator 115.

(Step S23)
The position estimation unit 11 uses the function of the posture information generation unit 112 to convert the coordinate axis of the calculated posture of the target device and generate posture information. The posture information generation unit 112 provides the generated posture information to the movement information generation unit 118 and the reliability generation unit 115.

(Step S24)
The movement information generation unit 118 refers to the posture information generated by the posture information generation unit 112 by the function of the movement direction calculation unit 113 and performs principal component analysis on the acceleration of the horizontal component of the posture information. The direction indicated by the component is the moving direction. The movement information generation unit 118 provides the reliability generation unit 115 with the result of the principal component analysis.

(Step S25)
The movement information generation unit 118 uses the function of the movement distance calculation unit 114 to generate information related to the movement distance from the amount of change in the vertical direction of the sensor value acquired by the acceleration sensor 1111. The movement information generation unit 118 calculates the stride based on the posture information generated by the posture information generation unit 112 and the amount of change in acceleration in the vertical direction by the function of the movement distance calculation unit 114, and calculates the step length as the movement distance. It is good also as information about.

(Step S26)
Further, the movement information generation unit 118 generates information on the movement distance in the vertical direction from the fluctuation amount of the sensor value acquired by the atmospheric pressure sensor 1114 by the function of the movement distance calculation unit 114. The movement information generation unit 118 provides information related to the generated movement distance to the reliability generation unit 115.

(Step S27)
The relative coordinate calculation unit 116 calculates a relative position (relative coordinates) with reference to the stride calculated by the movement distance calculation unit 114 and the movement direction calculated by the movement direction calculation unit 113, and performs a correction process. Provided to part 13.

(Step S28)
The movement distance calculation unit 114 calculates the movement distance with reference to the calculated stride and the amount of change in acceleration based on the sensor value acquired by the acceleration sensor 1111. The movement distance calculation unit 114 provides the reliability generation unit 115 with a movement distance based on the calculated amount of change in acceleration.

(Step S29)
The reliability generation unit 115 calculates η with reference to the difference between the movement distance calculated in step S26 and the movement distance calculated in step S28. If the distance obtained from the pressure sensor _{L M,} the distance obtained from the acceleration sensor and _{L A,} be a _{η = L A / abs (L} M -L A).

(Step S30)
The reliability generation unit 115 includes information related to the posture obtained from the combination of the sensor value of the acceleration sensor 1111 calculated in step S22 and the sensor value of the geomagnetic sensor 1112 and information related to the posture obtained from the sensor value of the gyro sensor 1113. And the difference in azimuth angle θ _A between them. In addition, the reliability generation unit 115 obtains θ _B using the first principal component and the second principal component from the result of the principal component analysis in step S24. The reliability generation unit 115 generates reliability information indicating the reliability of the movement information using θ _A , θ _B, and η calculated in step S29. The reliability generation unit 115 provides the generated reliability information to the correction processing unit 13.

(Step S31)
The correction processing unit 13 stores the relative position information calculated in step S27 and the reliability information generated in step S30 in the storage unit 131.

In step S <b> 30, the reliability generation unit 115 uses the information about the posture calculated using the sensor values of the acceleration sensor 1111 and the geomagnetic sensor 1112 calculated in step S <b> 22 and the sensor value of the gyro sensor 1113. The reliability information indicating only the reliability related to the angle of the posture is generated using the calculated information related to the posture and the azimuth angle difference θ _A, and the reliability related to the distance is fixed to a predetermined value, for example, 1. Good.

In step S30, the reliability generation unit 115 obtains θ _B from the first principal component and the second principal component based on the result of the principal component analysis in step S24, and relates to the angle in the moving direction using θ _B. The reliability information indicating only the reliability may be generated, and the reliability related to the distance may be fixed to a predetermined value, for example, 1.

Figure 14 is a diagram showing a method of calculating the theta _B. The size of the first main component is Lb, and the size of the second main component is La. Here, since it is ideal that La = 0, θ _B = tan ⁻¹ (La / Lb). Then, La = 0 can be obtained by rotating the direction of the first principal component by θ _B.

Figure 15 (a) is a diagram showing the results of principal component analysis, FIG. 15 (b) is a diagram obtained by rotating by an amount first principal component of theta _B. FIG. 15 (a), the as shown in (b), by performing the correction to rotate the first principal component by the amount of theta _B, may be La = 0.

  In step S30, the reliability generation unit 115 generates reliability information indicating only the reliability related to the distance using η calculated in step S29, and the reliability related to the angle is fixed to a predetermined value, for example, 1. May be.

(Regarding the processing of the correction processing unit 13)
FIG. 16 is a flowchart showing a processing flow of the correction processing unit 13.

(Step S41)
The correction processing unit 13 receives information on absolute coordinates indicating the position of the position measuring device 1 from the absolute coordinate measuring unit 12. The correction processing unit 13 updates the absolute coordinate information stored in the storage unit 131.

(Step S42)
The correction processing unit 13 refers to the corrected flag stored in the corrected flag storage unit 1314 of the storage unit 131 and determines the angle with respect to the uncorrected N pieces of position information stored in the position information storage unit 1311. A total sum α of reliability regarding the distance and a total sum β of reliability regarding the distance are calculated. The total reliability α related to the angle is calculated using the above-described equation 7, and the total reliability β related to the distance is calculated using the above-described equation 3.

(Step S43)
The correction processing unit 13 uses the function of the trajectory correction calculation unit 133 to calculate the distance L1 and the angle θ1 from the latest relative coordinate calculated by the relative coordinate calculation unit 116, starting from the latest corrected position information. calculate. The distance L1 is calculated using the above equation 2, and the angle θ1 is calculated using the above equation 6. Further, the correction processing unit 13 uses the function of the trajectory correction calculation unit 133 to start from the latest corrected position information as a starting point, the distance L2 from the absolute coordinates indicating the position of the position measurement device 1 received in step S41, and the angle θ2 is calculated. The distance L2 is calculated using the above equation 1, and the angle θ2 is calculated using the above equation 5.

  The trajectory correction calculation unit 133 executes the processes of steps S41 to S43 as correction preparation processes.

(Step S44)
The correction processing unit 13 calculates the distance correction coefficient Δβ by the function of the locus correction calculation unit 133. Δβ can be calculated by Δβ = (L2−L1) × β. In the process of step S44, the above-described Expression 4 is used.

(Step S45)
The correction processing unit 13 uses the function of the locus correction calculation unit 133 to multiply the uncorrected N pieces of position information by the reliability value related to Δβ × distance by the distance for each step. In step S45, the above-described formulas 9 to 12 are used.

The trajectory correction calculation unit 133 executes the processing of steps S44 and S45 as the first step of distance correction, and the value obtained by multiplying the value of Δβ calculated in step S44 by the reliability value for distance is used as the correction amount. deal with. Here, coordinate group after correction becomes _{(x'pi, y'pi).}

  Here, the distance for each step is the same as each step length, and the step length from the i-th step to the (i + 1) -th step can be obtained from Equation 23 below.

(Step S46)
The correction processing unit 13 calculates the angle correction coefficient Δα by the function of the locus correction calculation unit 133. Δα can be calculated by Δα = (θ2−θ1) × α using the angle θ1 and the angle θ2 calculated in step S43. In the process of step S46, the above equation 8 is used.

(Step S47)
The locus correction calculation unit 133 determines whether θ1−θ2≈0. If the locus correction calculation unit 133 determines that θ1−θ2≈0 (Yes in step S47), the locus correction calculation unit 133 performs processing using the above-described equations 14 to 16, and sets the corrected coordinate group to (x ″ _pi , y ″ _pi ), and the process proceeds to step S50. If the trajectory correction calculation unit 133 determines that θ1−θ2≈0 is not satisfied (No in step S47), the process proceeds to step S48.

(Step S48)
The trajectory correction calculation unit 133 rotates the moving direction for each step with respect to the uncorrected N pieces of position information, using the reliability value related to Δα × angle as an angle correction amount, and this correction amount.

  Here, the moving direction from the i-th step to the (i + 1) -th step can be obtained from Equation 24 below.

(Step S49)
The trajectory correction calculation unit 133 recalculates the angle θ1 with respect to the latest corrected relative coordinates, updates the value of Δα according to the value of θ1-θ2, and returns to step S47. The above-described equation 13 is used for recalculation of the angle θ1.
The locus correction calculation unit 133 updates the value of Δα according to the value of θ1−θ2 using a known method such as Newton's method.

  The trajectory correction calculation unit 133 executes the processes of steps S46 to S49 as the angle correction process, and determines the angle correction amount so that θ1−θ2≈0.

(Step S50)
The trajectory correction calculation unit 133 recalculates the distance L1 with respect to the latest corrected relative coordinates. For calculating the distance L1, the above equation 17 is used.

(Step S51)
The locus correction calculation unit 133 calculates a distance correction magnification γ for the recalculated distance L1. γ can be calculated from γ = L2 / L1. Expression 18 described above corresponds to the process of step S51.

(Step S52)
The trajectory correction calculation unit 133 uses the above equations 19 to 22 to multiply the uncorrected N pieces of position information by γ by the distance for each step, and completes the correction process. The corrected coordinate group is (x ″ ″ _pi , y ″ ″ _pi ).

  The trajectory correction calculation unit 133 executes the processes of steps S50 to S52 as the second stage process of distance correction.

  The correction processing unit 13 may be configured to correct the movement distance and the movement direction for each of a predetermined number of multiple steps, not limited to one step, for the uncorrected N pieces of position information. .

[Embodiment 2]
Embodiment 2 of the present invention will be described below. For convenience of explanation, members having the same functions as those described in the first embodiment are given the same reference numerals, and the description thereof will not be repeated.

  In the position measurement apparatus 1 according to the second embodiment, the variation value of the magnitude of the three-axis composite vector of the geomagnetic sensor 1112 is added to the element for calculating the angle reliability by the angle reliability generation unit 1151 shown in FIG. It is done.

  The movement direction calculation unit 113 of the movement information generation unit 118 generates information related to the movement direction of the position measuring device 1 from the three-axis combined vector based on the sensor value of the geomagnetic sensor 1112. Since the geomagnetic sensor 1112 senses the local area if there is a local area nearby, the magnitude of the three-axis combined vector varies. The angle reliability generation unit 1151 generates the reliability regarding the angle by calculating the fluctuation value of the information regarding the moving direction obtained from the magnitude of the three-axis combined vector based on the sensor value of the geomagnetic sensor 1112. More specifically, the angle reliability generation unit 1151 considers that the error is smaller as the fluctuation amount of the magnitude of the three-axis composite vector based on the sensor value of the geomagnetic sensor 1112 is smaller. The angle reliability generation unit 1151 uses the sum of the fluctuation values of the three-axis composite vector of the geomagnetic sensor 1112 for each step as the denominator and uses the value at which the numerator is 1 as the reliability. The position measurement device 1 is the same as that of the first embodiment except that the angle reliability generation unit 1151 adds a variation value of the magnitude of the three-axis composite vector of the geomagnetic sensor 1112 to an element for calculating the angle reliability. The same processing is performed.

[Embodiment 3]
Embodiment 3 of the present invention will be described below. For convenience of explanation, members having the same functions as those described in the first embodiment are given the same reference numerals, and the description thereof will not be repeated.

  In the position measurement apparatus 1 of the third embodiment, the variation value of the dip angle indicated by the geomagnetic sensor 1112 is added to the element for the angle reliability generation unit 1151 of FIG. 1 to calculate the angle reliability. The movement direction calculation unit 113 of the movement information generation unit 118 generates information related to the movement direction from the dip angle of the position measurement device 1 based on the sensor value of the geomagnetic sensor 1112.

  The geomagnetic sensor 1112 displays an orientation different from that of magnetic north because the direction of magnetism is distorted if there is a non-magnetic material nearby. As a result, although depending on the latitude and longitude, there is a case where a deviation occurs with respect to the dip angle which hardly changes even if it is originally moved by several hundred meters. Therefore, the angle reliability generation unit 1151 generates the reliability regarding the angle by calculating the fluctuation value of the information regarding the moving direction obtained from the dip angle of the position measuring device 1 based on the sensor value of the geomagnetic sensor 1112.

  More specifically, the angle reliability generation unit 1151 considers that the error is smaller as the variation amount of the depression angle indicated by the geomagnetic sensor 1112 is smaller. The angle reliability generation unit 1151 uses a sum of fluctuation values of the dip angle of the geomagnetic sensor 1112 for each step as a denominator and uses a value at which the numerator is 1 as the reliability. Note that the position measurement apparatus 1 performs the same processing as in the first embodiment except that the variation value of the dip angle indicated by the geomagnetic sensor 1112 is added to the element for the angle reliability generation unit 1151 to calculate the angle reliability.

[Embodiment 4]
Embodiment 4 of the present invention will be described below. For convenience of explanation, members having the same functions as those described in the first embodiment are given the same reference numerals, and the description thereof will not be repeated.

  In the position measurement apparatus 1 of the fourth embodiment, the variation value of the differential value of the sensor value of the gyro sensor 1113 is added to the element for the angle reliability generation unit 1151 of FIG. 1 to calculate the angle reliability. The movement information generation unit 118 generates information related to the movement direction from the differential value of the sensor value of the gyro sensor 1113.

  Since humans move left and right feet alternately while walking, they move while rotating left and right. When a sudden impact such as sudden movement of the body such as area A1 or area A2 in FIG. 20A occurs during ideal hip rotation as shown in FIG. 20, FIG. As shown in FIG. 20B and FIG. 20C, a change is observed in the sensor value of the gyro sensor 1113 and the fluctuation value of the sensor value of the gyro sensor 1113.

  Such a change in the sensor value of the gyro sensor 1113 or the fluctuation value of the sensor value of the gyro sensor 1113 causes a decrease in the accuracy of position measurement. Note that the fluctuation due to the sudden impact becomes more pronounced when the fluctuation value of the sensor value of the gyro sensor 1113 is used than when the sensor value of the gyro sensor 1113 is used. Therefore, in this embodiment, the angle reliability generation unit 1151 The fluctuation value of the gyro sensor value is used as an element for calculating the angle reliability.

  The angle reliability generation unit 1151 generates a differential value for the three axes of the sensor value of the gyro sensor 1113 and calculates a variation value of information regarding the moving direction obtained from the differential value, thereby generating a reliability regarding the angle. More specifically, the angle reliability generation unit 1151 considers that the smaller the fluctuation value of the sensor value of the gyro sensor 1113 is, the smaller the error is. The angle reliability generation unit 1151 uses the sum of the absolute values of the fluctuation values of the gyro sensor 1113 for each step as the denominator and uses a value at which the numerator is 1 as the reliability. Note that the position measurement apparatus 1 performs the same processing as that of the first embodiment except that the fluctuation value of the sensor value of the gyro sensor 1113 is used as an element for the angle reliability generation unit 1151 to calculate the angle reliability.

[Embodiment 5]
Embodiment 5 of the present invention will be described below. For convenience of explanation, members having the same functions as those described in the first embodiment are given the same reference numerals, and the description thereof will not be repeated.

  In the position measurement apparatus 1 according to the fifth embodiment, the angle reliability generation unit 1151 in FIG. 1 calculates each of the elements for calculating the angle reliability from the sensor value of the acceleration sensor 1111 and the sensor value of the geomagnetic sensor 1112. The difference in the angle of posture is added. Focusing only on the gravitational acceleration component, the rotation angle around the coordinate axis perpendicular to the vertical direction can be obtained from the sensor value of the acceleration sensor 1111. The rotation angle around the coordinate axis orthogonal to the vertical direction is called a pitch angle or a roll angle in airplane control or the like. The same pitch angle and roll angle can also be obtained from the sensor value of the geomagnetic sensor 1112.

  The posture information generation unit 112 obtains a rotation angle around the coordinate axis perpendicular to the vertical direction according to the sensor value of the acceleration sensor 1111 and the sensor value of the geomagnetic sensor 1112, and uses this rotation angle. Attitude information is generated.

  The angle reliability generation unit 1151 generates a reliability related to an angle from a difference in angle between posture information corresponding to the sensor value of the acceleration sensor 1111 and posture information corresponding to the sensor value of the geomagnetic sensor 1112. Specifically, the angle reliability generation unit 1151 has a smaller error as the difference between the posture angle obtained from the sensor value of the acceleration sensor 1111 and the posture angle obtained from the sensor value of the geomagnetic sensor 1112 is smaller. I reckon. The angle reliability generation unit 1151 uses the sum of the absolute value of the pitch angle difference for each step and the absolute value of the roll angle difference as a denominator and uses a value at which the numerator is 1 as the reliability. The angle reliability generator 1151 calculates the angle reliability except that the difference in the angle of each posture calculated from the sensor value of the acceleration sensor 1111 and the sensor value of the geomagnetic sensor 1112 is added. The position measurement apparatus 1 performs the same processing as that of the first embodiment.

[Embodiment 6]
Embodiment 6 of the present invention will be described below. For convenience of explanation, members having the same functions as those described in the first embodiment are given the same reference numerals, and the description thereof will not be repeated.

  In the position measurement apparatus 1 according to the sixth embodiment, the distance that the distance reliability generation unit 1152 in FIG. 1 calculates the distance reliability is calculated by using the movement distance obtained from the sensor value of the acceleration sensor 1111 for each predetermined number of steps (for example, one step). The difference in the amount of change in speed divided by the time required for each) is added.

  The movement distance calculation unit 114 of the movement information generation unit 118 generates information related to the movement distance from the amount of change in speed obtained by dividing the sensor value of the acceleration sensor 1111 by the movement time required for each predetermined number of steps of the user.

  When conditions such as the state of the ground and the inclination are constant, the human walking speed is substantially constant. Therefore, the distance reliability generation unit 1152 considers that the error is smaller as the difference between the average speed and the speed of each step is smaller. The distance reliability generation unit 1152 includes information on the movement distance obtained from the amount of change in speed obtained by dividing the sensor value of the acceleration sensor 1111 by the movement time required for each predetermined number of steps of the user, and the average speed of the user's movement time. A reliability related to the distance is generated from the difference. For example, the distance reliability generation unit 1152 uses the denominator as the difference between the average speed of the user's travel time and the speed of the user for each predetermined number of steps, and uses a value at which the numerator is 1 as the reliability. In addition, the distance reliability generation unit 1152 calculates the distance reliability except that a difference in speed change obtained by dividing the movement distance by the time required for one step is added from the sensor value of the acceleration sensor 1111. The position measurement apparatus 1 performs the same processing as that of the first embodiment.

[Modification]
In addition, you may comprise the position measuring device 1 combining the various component of Embodiment 1-6 mentioned above. In detail, the angle reliability generation unit 1151 of the position measurement apparatus 1 described in the first embodiment calculates the angle reliability, and the fluctuation value of the three-axis composite vector of the geomagnetic sensor 1112, the geomagnetism A variation value of the dip angle indicated by the sensor 1112, a variation value of the differential value of the sensor value of the gyro sensor 1113, and a difference in angle of each posture calculated from the sensor value of the acceleration sensor 1111 and the sensor value of the geomagnetic sensor 1112, At least one of the above may be added. Furthermore, the distance calculated by the distance reliability generation unit 1152 of the position measurement device 1 described in the first embodiment calculates the distance reliability based on the sensor distance of the acceleration sensor 1111 for each predetermined number of steps (for example, one step). A difference in the amount of change in speed divided by the time required for each) may be added.

  That is, the sensor group 111 of the position measuring device 1 includes at least one of a gyro sensor 1113, a geomagnetic sensor 1112, an acceleration sensor 1111, and an atmospheric pressure sensor 1114. And the reliability generation part 115 is the process which produces | generates the reliability regarding an angle from the ratio of the 1st main component of the information regarding a moving direction, and the 2nd main component, the moving direction obtained by integrating the value acquired from the gyro sensor 1113. The process of generating the reliability regarding the angle by calculating the difference between the information regarding the information and the information regarding the moving direction acquired from the geomagnetic sensor 1112, the moving direction obtained from the magnitude of the three-axis composite vector of the geomagnetic sensor 1112 A process for generating a reliability related to the angle by calculating a variation value of the information related to the angle, a process for generating a reliability related to the angle by calculating a fluctuation value of the information related to the moving direction obtained from the depression angle of the geomagnetic sensor 1112; By calculating the fluctuation value of the information regarding the moving direction obtained from the triaxial differential value of the gyro sensor 1113, the angle A process for generating a reliability related to the angle, a process for generating a reliability related to an angle from an angle difference between the attitude information corresponding to the sensor value of the acceleration sensor 1111 and the attitude information corresponding to the sensor value of the geomagnetic sensor 1112, A process for generating reliability related to the distance from the difference between the movement distance obtained from the variation amount of the sensor 1114 and the movement distance obtained from the variation amount of the acceleration sensor 1111, and the value of the acceleration sensor 1111 for each predetermined number of steps of the user Combining multiple processes among the processes for generating the reliability related to the distance from the information about the moving distance obtained from the amount of change in speed divided by the moving time required for the user and the average speed of the user's moving time Process.

[Example of software implementation]
The control blocks (particularly the posture information generation unit 112, the reliability generation unit 115, and the trajectory correction calculation unit 133) of the position measurement device 1 are realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. Alternatively, it may be realized by software.

  In the latter case, the position measurement apparatus 1 includes a computer that executes instructions of a program that is software for realizing each function. The computer includes, for example, at least one processor (control device) and at least one computer-readable recording medium storing the program. In the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a “non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the program may be further provided. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. Note that one embodiment of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[Summary]
The position measurement device (1) according to aspect 1 of the present invention refers to a sensor value acquired by a sensor, and measures a position estimation unit (11) that estimates the position of the target device and the absolute coordinates of the target device. The position of the target device estimated by the absolute coordinate measuring unit (12) and the position estimating unit (11) is referred to the absolute coordinates of the target device measured by the absolute coordinate measuring unit (12). A correction processing unit (13) for correcting, the position estimation unit (11) refers to the sensor value, and generates a posture information generation unit (112) that generates posture information of the target device, and the posture A movement information generation unit (118) that generates movement information including a movement distance and a movement direction of the target device with reference to the information, and a reliability indicating the reliability of the movement information with reference to the sensor value. Confidence generation to generate degree information (115), and the correction processing unit (13) determines a distance correction amount and an angle correction amount for each predetermined number of steps with reference to the reliability information and the movement information. The configuration is such that the distance and angle are corrected for each predetermined number of steps starting from the latest corrected position information of the target device.

  According to said structure, even if the opportunity to acquire an absolute coordinate is reduced, distance and an angle can be correct | amended for every predetermined step number, and the precision of a locus | trajectory can be maintained.

  In the position measurement device (1) according to aspect 2 of the present invention, in the aspect 1, the movement information generation unit (118) includes the information on the movement direction by principal component analysis on the acceleration of the horizontal component of the posture information. The reliability generation unit (115) may generate the reliability related to the angle from the ratio of the first principal component and the second principal component of the information related to the moving direction.

  In the position measuring device (1) according to aspect 3 of the present invention, in the above aspect 1, the sensor includes a gyro sensor (1113) and a geomagnetic sensor (1112), and the movement information generation unit (118) includes The value obtained from the gyro sensor (1113) is integrated to generate information on the moving direction, and the reliability generation unit (115) integrates the value obtained from the gyro sensor (1113). It is good also as a structure which produces | generates the reliability regarding an angle by calculating the difference of the information regarding the said moving direction acquired, and the information regarding the said moving direction acquired from the said geomagnetic sensor (1112).

  The position measuring device (1) according to aspect 4 of the present invention is the above-described aspect 1, wherein the sensor includes a geomagnetic sensor (1112), and the movement information generation unit (118) includes the geomagnetic sensor (1112). The information on the moving direction is generated from the three-axis combined vector, and the reliability generation unit (115) changes the information on the moving direction obtained from the magnitude of the three-axis combined vector of the geomagnetic sensor (1112). It is good also as a structure which produces | generates the reliability regarding an angle by calculating a value.

  A position measuring device (1) according to aspect 5 of the present invention is the above-described aspect 1, wherein the sensor includes a geomagnetic sensor (1112), and the movement information generation unit (118) includes the geomagnetic sensor (1112). The information on the moving direction is generated from the dip angle, and the reliability generation unit (115) calculates the variation value of the information on the moving direction obtained from the dip angle of the geomagnetic sensor (1112) to thereby determine the reliability on the angle. It is good also as a structure which produces | generates.

  The position measurement apparatus (1) according to aspect 6 of the present invention is the above-described aspect 1, wherein the sensor includes a gyro sensor (1113), and the movement information generation unit (118) includes the gyro sensor (1113). By generating information on the moving direction from the differential value, the reliability generation unit (115) calculates a variation value of the information on the moving direction obtained from the three-axis differential value of the gyro sensor (1113). A configuration may be adopted in which the reliability related to the angle is generated.

  The position measurement device (1) according to aspect 7 of the present invention is the above aspect 1, wherein the sensor includes an acceleration sensor (1111) and a geomagnetic sensor (1112), and the posture information generation unit (112). Generates posture information corresponding to the sensor values of the acceleration sensor (1111) and the geomagnetic sensor (1112), and the reliability generation unit (115) is a sensor of the acceleration sensor (1111). It is good also as a structure which produces | generates the reliability regarding an angle from the angle difference of the attitude | position information according to a value, and the attitude | position information according to the sensor value of the said geomagnetic sensor (1112).

  A position measurement device (1) according to an aspect 8 of the present invention is the above-described aspect 1, wherein the sensor includes an acceleration sensor (1111), a geomagnetic sensor (1112), and a gyro sensor (1113). The information generation (112) generates posture information using a combination of the acceleration sensor (1111) and the geomagnetic sensor (1112) and the gyro sensor (1113), and the reliability generation unit (115 ) Is the reliability related to the angle from the difference in azimuth between the posture information obtained by the combination of the acceleration sensor (1111) and the geomagnetic sensor (1112) and the posture information obtained by the gyro sensor (1113). It is good also as a structure which produces | generates a degree.

  In the position measuring device (1) according to the ninth aspect of the present invention, in the first aspect, the sensor includes an acceleration sensor (1111) and an atmospheric pressure sensor (1114), and the movement information generation unit (118) includes The information on the moving distance is generated from the amount of change in the atmospheric pressure sensor and the amount of change in the acceleration sensor (1111) in the vertical direction, and the reliability generator generates the distance obtained by the atmospheric pressure sensor (1114). A configuration may be adopted in which the reliability related to the distance is generated from the difference from the distance obtained by the acceleration sensor (1111).

  The position measurement apparatus (1) according to aspect 10 of the present invention is the above aspect 1, wherein the sensor includes an acceleration sensor (1111), and the movement information generation unit (118) includes the acceleration sensor (1111). The information on the moving distance is generated from the amount of change in speed obtained by dividing the value by the moving time required for each predetermined number of steps of the user, and the reliability generation unit (115) determines the value of the acceleration sensor (1111) as It is good also as a structure which produces | generates the reliability regarding distance from the information regarding the said movement distance obtained from the variation | change_quantity of the speed divided by the movement time required for every predetermined step of a user, and the average speed of a user's movement time .

  In the position measurement device (1) according to the aspect 12 of the present invention, the absolute coordinate measurement unit (12) in the aspects 1 to 11 may be configured to measure the absolute coordinate by acquiring a GPS signal. Good.

  In the position measurement device (1) according to the aspect 13 of the present invention, in the aspects 1 to 11, the absolute coordinate measurement unit (12) is configured to measure the absolute coordinates by receiving a Beacon radio wave. Also good.

  In the position measurement device (1) according to the fourteenth aspect of the present invention, in the first to eleventh aspects, the absolute coordinate measuring unit (12) measures the absolute coordinates by receiving Wi-Fi radio waves. It is good also as a structure.

  In the position measurement device (1) according to the aspect 15 of the present invention, in the above aspects 1 to 11, the absolute coordinate measurement unit (12) may be configured to measure the absolute coordinate by acquiring an image marker. Good.

  The position measuring device 1 according to each aspect of the present invention may be realized by a computer. In this case, the position measuring device 1 is operated by operating the computer as each unit (software element) included in the position measuring device 1. A control program for the position measuring apparatus 1 that realizes the above in a computer and a computer-readable recording medium on which the control program is recorded also fall within the scope of the present invention.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

DESCRIPTION OF SYMBOLS 1 Position measuring device 2 Installation terminal 11 Position estimation part 12 Absolute coordinate measurement part 13 Correction processing part 112 Attitude information generation part 113 Movement direction calculation part 114 Movement distance calculation part 115 Reliability generation part 116 Relative coordinate calculation part 118 Movement information generation part 131 Storage Unit 133 Trajectory Correction Calculation Unit 1111 Acceleration Sensor 1112 Geomagnetic Sensor 1113 Gyro Sensor 1114 Barometric Pressure Sensor 1151 Angle Reliability Generation Unit 1152 Distance Reliability Generation Unit 1311 Position Information Storage Unit 1312 Angle Reliability Storage Unit 1313 Distance Reliability Storage Unit 1314 Corrected flag storage

Claims (17)

A position estimation unit that estimates the position of the target device with reference to the sensor value acquired by the sensor;
An absolute coordinate measuring unit for measuring the absolute coordinates of the target device, and
A correction processing unit that corrects the position of the target device estimated by the position estimation unit with reference to the absolute coordinates of the target device measured by the absolute coordinate measurement unit;
With
The position estimation unit is
With reference to the sensor value, an attitude information generation unit that generates attitude information of the target device;
A movement information generation unit that generates movement information including a movement distance of the target device and a movement direction of the target device with reference to the posture information;
A reliability generation unit that generates reliability information indicating the reliability of the movement information with reference to the sensor value;
The correction processing unit
Referring to the reliability information and the movement information, the distance correction amount for each predetermined number of steps and the angle correction amount for each predetermined number of steps are determined, and the latest corrected position information of the target device is determined. A position measuring apparatus that corrects a moving distance for each predetermined number of steps and a moving direction for each predetermined number of steps as a starting point. The movement information generation unit generates information related to the movement direction by principal component analysis related to acceleration of a horizontal component of the posture information,
The position measurement apparatus according to claim 1, wherein the reliability generation unit generates a reliability related to an angle from a ratio of a first principal component and a second principal component of information relating to the movement direction. The sensor includes a gyro sensor and a geomagnetic sensor,
The movement information generation unit generates information about the movement direction by integrating values acquired from the gyro sensor,
The reliability generation unit relates to an angle by calculating a difference between the information regarding the moving direction obtained by integrating the value acquired from the gyro sensor and the information regarding the moving direction acquired from the geomagnetic sensor. The position measuring device according to claim 1, wherein the reliability is generated. The sensor includes a geomagnetic sensor,
The movement information generation unit generates information on the movement direction from a three-axis composite vector of the geomagnetic sensor,
The said reliability generation part produces | generates the reliability regarding an angle by calculating the fluctuation value of the information regarding the said moving direction obtained from the magnitude | size of the three-axis synthetic vector of the said geomagnetic sensor, It is characterized by the above-mentioned. The position measuring apparatus according to 1. The sensor includes a geomagnetic sensor,
The movement information generation unit generates information on the movement direction from the dip angle of the geomagnetic sensor,
The position measurement device according to claim 1, wherein the reliability generation unit generates a reliability related to an angle by calculating a variation value of information related to the moving direction obtained from an inclination angle of the geomagnetic sensor. . The sensor includes a gyro sensor,
The movement information generation unit generates information on the movement direction from the differential value of the gyro sensor,
The said reliability production | generation part produces | generates the reliability regarding an angle by calculating the variation value of the information regarding the said moving direction obtained from the triaxial differential value of the said gyro sensor, The reliability regarding an angle is produced | generated. Position measuring device. The sensor includes an acceleration sensor and a geomagnetic sensor,
The posture information generation unit generates posture information corresponding to the sensor values of the acceleration sensor and the geomagnetic sensor,
The reliability generation unit generates a reliability related to an angle from an angle difference between attitude information corresponding to a sensor value of the acceleration sensor and attitude information corresponding to a sensor value of the geomagnetic sensor. The position measuring device according to claim 1. The sensor includes an acceleration sensor, a geomagnetic sensor, and a gyro sensor,
The posture information generation unit generates posture information using a combination of the acceleration sensor and the geomagnetic sensor and the gyro sensor,
The reliability generation unit generates reliability related to an angle from a difference in azimuth between posture information obtained by a combination of the acceleration sensor and the geomagnetic sensor and posture information obtained by the gyro sensor. The position measuring device according to claim 1. The sensor includes an acceleration sensor and an atmospheric pressure sensor,
The movement information generation unit generates information related to the movement distance from the variation amount of the atmospheric pressure sensor and the variation amount of the acceleration sensor in the vertical direction,
The position measurement apparatus according to claim 1, wherein the reliability generation unit generates a reliability related to a distance from a difference between a distance obtained by the atmospheric pressure sensor and a distance obtained by the acceleration sensor. The sensor includes an acceleration sensor,
The movement information generation unit generates information on the movement distance from the amount of change in speed obtained by dividing the value of the acceleration sensor by the movement time required for each predetermined number of steps of the user,
The reliability generation unit is a difference between the information on the moving distance obtained from the amount of change in speed obtained by dividing the value of the acceleration sensor by the moving time required for each predetermined number of steps of the user, and the average speed of the moving time of the user The position measurement apparatus according to claim 1, wherein a reliability related to a distance is generated from the information. The position measuring device according to at least one of claims 2 to 6,
The position measuring device according to claim 7 or 8,
The position measuring device according to claim 1, wherein the position measuring device is combined with the position measuring device according to claim 9.   The position measuring apparatus according to claim 1, wherein the absolute coordinate measuring unit measures the absolute coordinate by acquiring a GPS signal.   The position measuring apparatus according to claim 1, wherein the absolute coordinate measuring unit measures the absolute coordinates by receiving a Beacon radio wave.   The position measuring apparatus according to claim 1, wherein the absolute coordinate measuring unit measures the absolute coordinates by receiving a Wi-Fi radio wave.   The position measuring apparatus according to claim 1, wherein the absolute coordinate measuring unit measures the absolute coordinates by acquiring an image marker. A position estimation step for estimating the position of the target device with reference to the sensor value acquired by the sensor;
An absolute coordinate measuring step for measuring the absolute coordinates of the target device;
A correction processing step of correcting the estimated position of the target device with reference to the absolute coordinates of the target device;
Including
The position estimation step includes
A posture information generation step of generating posture information of the target device with reference to the sensor value;
A movement information generation step for generating movement information including a movement distance of the target device and a movement direction of the target device with reference to the posture information;
A reliability generation step for generating reliability information indicating the reliability of the movement information with reference to the sensor value;
The correction processing step includes
Referring to the reliability information and the movement information, the distance correction amount for each predetermined number of steps and the angle correction amount for each predetermined number of steps are determined, and the latest corrected position information of the target device is determined. A position correction method comprising a step of correcting, as a starting point, a moving distance for each predetermined number of steps and a moving direction for each predetermined number of steps. A position information acquisition system comprising the position measurement device according to claim 1 and an installation terminal having installation coordinate information,
The position measurement device is a position information acquisition system that acquires the absolute coordinates by acquiring the installation coordinate information from the installation terminal.

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