JP2008039619A - Route guidance system and portable telephone for pedestrian - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guidance system for pedestrian capable of performing highly accurate route guidance, in the route guidance system for pedestrian by autonomous navigation. <P>SOLUTION: The route guidance device 1 for the pedestrian comprises: three magnetism sensing means 62 for measuring mutually perpendicular 3 axis directional magnetic field intensity; three acceleration sensing means 63 for measuring the three axis directional acceleration; the vertical direction detection means 22 for detecting the vertical direction; the first acceleration detecting means 231 for detecting the vertical acceleration generated in the vertical direction; the second acceleration detection means 232 for detecting forward acceleration; the azimuth detection means 21 for detecting the walk progression azimuth; and the route information calculation means 29 for calculating the route information. The route information calculation means 29 calculates the relative progressing direction referring to the walk progressing azimuth. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a route guidance device for pedestrians that provides route guidance to pedestrians.

  Conventionally, as a route guidance device that performs route guidance (navigation) to a destination, for example, an in-vehicle car navigation device, a mobile phone having a route guidance function, a PDA portable terminal, and the like are known. As such a route guidance apparatus, there exists a thing which measures a present location using GPS (Global Positioning System: Global radio side position system), for example. However, in the route guidance device using GPS, there is a possibility that the current position cannot be detected in a place where it is difficult to receive GPS satellite GPS signals such as in a subway yard or inside a building.

  As a technique for detecting a moving direction and a moving distance without using a GPS satellite or the like, an autonomous navigation technique is known. As an autonomous navigation technology for in-vehicle devices, for example, there is a technology using a geomagnetic sensor and a vehicle speed sensor (see, for example, Patent Document 1). In this autonomous navigation technology, the traveling direction of the vehicle is detected using a geomagnetic sensor fixed so as to substantially coincide with the traveling axis of the vehicle, and the moving distance is detected using a vehicle speed sensor.

  On the other hand, in the case of a route guidance device that a pedestrian holds by hand or is carried in a pocket, unlike a vehicle or the like, it is difficult to specify the posture of the route guidance device itself when it is carried. Therefore, as an autonomous navigation technique applied to a device for pedestrians, for example, a moving direction based on a three-axis acceleration detected by a three-dimensional acceleration sensor and a three-axis geomagnetism detected by a three-dimensional geomagnetic sensor. There are some which calculate the movement distance (see, for example, Patent Document 2). In this autonomous navigation technology, for example, the moving speed and the moving distance are calculated by integrating the detected acceleration, and the moving direction is calculated based on the detected geomagnetism.

  However, the conventional route guidance device using autonomous navigation for pedestrians has the following problems. That is, there is a possibility that an error may be amplified when integrating the acceleration to obtain the speed and distance, and there is a problem that it is not possible to implement highly accurate route guidance.

JP-A-8-327377 JP-A-2005-283386

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a route guidance device capable of performing highly accurate route guidance in a route guidance device for pedestrians by autonomous navigation. .

1st invention is the route guidance apparatus for pedestrians which carries out the route guidance from the departure point to the target arrival point,
Target location setting means for setting DST location information that can specify the azimuth and distance from the departure location as location information of the target location,
Three magnetic sensing means for measuring magnetic field strength in the first three axial directions orthogonal to each other;
Three acceleration sensing means for measuring acceleration in a second three-axis direction orthogonal to each other and having a known relative relationship with the first three-axis;
Vertical direction detection means for detecting a vertical direction based on the acceleration detected by each of the acceleration sensing means;
An azimuth detecting means for detecting an absolute azimuth centered on the route guidance device based on the magnetic field intensity detected by the magnetic sensing means and the vertical direction detected by the vertical direction detecting means;
First acceleration detecting means for detecting vertical acceleration generated in the vertical direction based on the acceleration detected by each of the acceleration sensing means;
Based on the acceleration detected by each of the acceleration sensing means, among the accelerations generated in an arbitrary direction belonging to a horizontal plane orthogonal to the vertical direction, the vertical acceleration and the fluctuation period substantially coincide with each other and are set in advance. Second acceleration detecting means for detecting forward acceleration that fluctuates while maintaining a phase delay within the predetermined range;
A traveling direction detecting means for detecting a walking traveling direction representing a direction of the forward acceleration in the absolute direction;
Step number detecting means for detecting, as the number of steps per unit time, the number of fluctuating cycles per unit time, which is the reciprocal of the fluctuating period common to the vertical acceleration and the forward acceleration;
Walking speed calculating means for calculating a walking speed by multiplying the pedestrian's stride data by the number of steps per unit time;
POS position that can specify the azimuth and distance from the departure point as the position information of the current point reached by the pedestrian by accumulating the walking speed and the walking direction that occurred after leaving the departure point A current location positioning means for calculating information;
Route information calculating means for calculating route information;
Route guidance means for guiding a route to the target destination based on the route information,
The route information calculation means calculates an azimuth from the current location to the target arrival point based on the POS location information and the DST location information, and compares the azimuth with the walking progression orientation at the current location. In accordance with the present invention, there is provided a route guidance device for a pedestrian characterized in that a relative course direction based on the walking direction is calculated as the route information (Claim 1). .

  The route guidance device for a pedestrian according to the first invention includes three magnetic sensing means for measuring the magnetic field strength in the first three-axis direction and three sensors for measuring the acceleration in the second three-axis direction. Acceleration sensing means. Furthermore, the route guidance device for pedestrians includes the vertical direction detecting means for detecting the vertical direction based on the acceleration measured by the acceleration sensing means. According to the vertical direction detecting means, the vertical direction with respect to the route guidance device can be detected. Further, according to the azimuth detecting means, the absolute azimuth centered on the route guidance device is detected based on the magnetic field strength by the magnetic sensing means and the vertical direction detected by the upper air vertical direction detecting means. Can do. Here, the absolute azimuth means an absolute azimuth based on geomagnetism, such as east, west, south, and north.

  In addition, the route guide device for pedestrian includes the first acceleration detecting means for detecting the vertical acceleration generated in the vertical direction, and the vertical acceleration among the accelerations generated in a horizontal plane orthogonal to the vertical direction. And a second acceleration detecting means for detecting forward acceleration that has substantially the same fluctuation period and fluctuates with a phase delay within a predetermined range. The second acceleration detecting means is configured based on new findings found through research activities such as experiments and analysis of experimental data by the inventors over a long period of time. This new knowledge has a high correlation between the acceleration in the vertical direction and the acceleration in the front-rear direction generated when a human walks, and the phase difference between the acceleration in the vertical direction and the acceleration in the forward direction is a predetermined value. It is within the range. According to the second acceleration detecting means configured based on this new knowledge, the forward acceleration can be detected with high accuracy based on the vertical acceleration. And according to the said advancing direction detection means, the said walking advancing direction showing the generation | occurrence | production direction of the said forward acceleration in the said absolute azimuth | direction can be detected.

  Further, the route guidance device for the pedestrian is configured to multiply the step count per unit time by the step number calculating means for calculating the number of steps the pedestrian has walked per unit time and the step data per unit time. Walking speed calculation means for calculating the walking speed. The number-of-steps calculation means is configured based on a new finding that a fluctuation cycle common between the vertical acceleration and the forward acceleration coincides with a cycle in which the pedestrian steps on the foot during walking. Based on the number of steps per unit time, the walking speed, which is the walking distance per unit time, can be calculated by multiplying with the stride data. The walking speed calculated in this way does not require any integral operation or the like in the calculation process. Therefore, according to the walking speed calculation means, it is possible to calculate the walking speed with high accuracy while avoiding errors that may occur due to the integral calculation.

  The current location measuring means of the route guidance device for the pedestrian calculates the current location by accumulating the time series data of the past walking speed and the walking progression direction. Then, the route information calculation means calculates the route information including the course direction based on a comparison between an azimuth to be advanced to reach the target arrival point from the current location and the walking progression azimuth at the current location. calculate.

  According to the route guidance device for a pedestrian of the first invention, the walking speed when the pedestrian walks and the walking progression direction that is the direction can be detected. Based on the past time-series data of the walking speed and the walking direction, the current point can be calculated without depending on positioning means such as GPS. The relative course direction can be calculated based on the walking direction when the current point is reached. Here, the walking direction can be detected as an absolute direction in the absolute direction with the route guidance device as the center. Therefore, according to the route guidance device, the route direction is guided regardless of whether the pedestrian has the route guidance device in his / her hand, puts it in a pocket, or its orientation or posture. It is possible.

  As described above, the route guidance device for pedestrians according to the first aspect of the invention enables autonomous navigation based on the magnetic field strength in the first three-axis direction and the acceleration in the second axis direction. Since this route guidance device does not assume acceleration integral calculation, route guidance can be implemented with high stability. Furthermore, in this route guidance device, the walking advance direction can be calculated as an absolute direction. Therefore, according to this route guidance device, it is possible to guide the route direction with high stability regardless of the method by which the pedestrian carries the route guidance device, the direction and posture when carrying the route guidance device, and the like.

The second invention is a route guidance device for pedestrians that performs route guidance from a departure point to a target destination point,
Target location setting means for setting DST location information that can specify the azimuth and distance from the departure location as location information of the target location,
Three magnetic sensing means for measuring magnetic field strength in the first three axial directions orthogonal to each other;
Three acceleration sensing means for measuring acceleration in a second three-axis direction orthogonal to each other and having a known relative relationship with the first three-axis;
Vertical direction detection means for detecting a vertical direction based on the acceleration detected by each of the acceleration sensing means;
An azimuth detecting means for detecting an absolute azimuth centered on the route guidance device based on the magnetic field intensity detected by the magnetic sensing means and the vertical direction detected by the vertical direction detecting means;
First acceleration detecting means for detecting vertical acceleration generated in the vertical direction based on the acceleration detected by each of the acceleration sensing means;
Based on the acceleration detected by each of the acceleration sensing means, among the accelerations generated in an arbitrary direction belonging to a horizontal plane orthogonal to the vertical direction, the vertical acceleration and the fluctuation period substantially coincide with each other and are set in advance. Second acceleration detecting means for detecting forward acceleration that fluctuates while maintaining a phase delay within the predetermined range;
A traveling direction detecting means for detecting a walking traveling direction representing a direction of the forward acceleration in the absolute direction;
Based on GPS signals received from GPS satellites, current position positioning means for calculating POS position information that can specify the azimuth and distance from the departure point, as position information of the current position reached by the pedestrian,
Route information calculating means for calculating route information;
Route guidance means for guiding a route for reaching the target destination based on the route information,
The route information calculation means calculates an azimuth from the current location to the target arrival point based on the POS location information and the DST location information, and compares the azimuth with the walking progression orientation at the current location. In accordance with the present invention, there is provided a route guidance device for a pedestrian characterized in that a relative course direction based on the walking direction is calculated as the route information (Claim 3). .

  The route guidance device for a pedestrian of the second invention is configured to measure the current location using the GPS signal instead of the current location measurement means in the route guidance device of the first invention. It has the current location positioning means. According to the current position positioning means, the current position can be measured with high accuracy using the GPS signal.

  In general, the walking speed is very low compared to the speed of a car. Therefore, it is difficult to detect the magnitude and direction of walking speed with high accuracy using GPS signals. According to the route guidance device for pedestrians of the second invention, the walking speed and the walking direction can be detected with high accuracy by autonomous navigation, as in the first invention.

  Therefore, according to the route guidance device for pedestrians of the second invention, the method of carrying the route guidance device by the pedestrian, the orientation and posture when carrying the route guidance device, as in the first invention. Regardless, guidance in the direction of the route is possible.

A third invention is a mobile phone that can be connected to a public telephone line via wireless communication,
A cellular phone characterized in that a wireless communication means is incorporated in the route guide device for a pedestrian according to the first or second invention (claim 14).

  The mobile phone according to the third aspect of the invention is one in which the wireless communication means is incorporated into the route guide device for pedestrians according to the first or second aspect of the invention. According to this mobile phone, route guidance can be performed with high accuracy while the user is walking. In particular, in the mobile phone, as in the first or second invention, the route direction guidance can be performed regardless of the method by which the user carries the mobile phone and the orientation and posture of the mobile phone. Is possible. Therefore, according to the mobile phone of the third aspect of the invention, for example, route guidance can be performed with high stability even when the pedestrian is not in front of the body. That is, with this mobile phone, route guidance can be performed regardless of the relative positional relationship between the mobile phone and the user.

  In the first to third aspects of the present invention, it is preferable that the magnetic sensing means and the acceleration sensing means are arranged so that the first three axes and the second three axes coincide. In this case, the arithmetic processing in each of the above means can be facilitated and the calculation burden can be reduced.

  The magnetic sensing means can be constituted by a Hall sensor, MR sensor, fluxgate sensor, MI sensor, or the like. The acceleration sensing means can be constituted by a piezoresistive type, a capacitance type, a magnetic method, a thermal detection method, or the like.

  Further, the phase delay within the predetermined range between the vertical acceleration and the forward acceleration includes a phase difference of zero, that is, a state where no phase delay exists. According to the inventors' long-term accumulation of experimental data and analysis efforts, there are individual differences in the phase delay amount of the forward acceleration with respect to the vertical acceleration. Some people have almost no phase lag of the forward acceleration difference with respect to the vertical acceleration, and others have a substantially constant phase lag. However, the forward acceleration fluctuates following the fluctuation of the vertical acceleration, and there is almost no case where the phase of the forward acceleration is advanced with respect to the vertical acceleration. Such a fact can be found in the human walking method of moving forward by alternately moving the lifted foot forward with the left and right feet.

In the second aspect of the invention, the number of steps detecting means for detecting, as the number of steps per unit time, the number of fluctuation cycles per unit time that is the reciprocal of the variation period common to the vertical acceleration and the forward acceleration;
Walking speed calculation means for calculating a walking speed by multiplying the pedestrian's step data by the number of steps per unit time,
It is preferable that the present point calculation means is configured to use the walking speed and the walking direction that have occurred after the departure of the departure point when calculating the POS position information (claim 4).
In this case, the accuracy of the current location measured based on the GPS signal can be increased using the walking speed and the walking direction.

The route guidance device for pedestrians according to the first or second invention preferably includes stride learning means configured to learn the stride data (claims 2 and 5).
In this case, the accuracy of the stride data can be improved as the route guidance device is used for route guidance. As the learning data, for example, a deviation between the actual distance to the target arrival point and the distance calculated based on the walking speed can be used. When learning progresses and the stride data becomes close to the actual size, the calculation accuracy of the walking speed can be increased, and as a result, the accuracy of the route guidance can be improved.

In the first to third inventions, the second acceleration detecting means is configured to detect an acceleration having a phase delay of 0% or more and 15% or less as the forward acceleration with respect to the vertical acceleration. (Claim 6).
In this case, the forward acceleration can be detected with high accuracy based on the vertical acceleration. This is because in many cases the phase delay is in the range of 0% to 15%. It can be considered that the phase delay is less than 0%, that is, the phase of the forward acceleration is more advanced than the vertical acceleration in view of the human walking method. On the other hand, in the reverse direction of the walking progression direction, a change in acceleration that reverses the sign of the forward acceleration may occur. This variation in acceleration approximates a signal waveform that is 180 degrees out of phase with respect to the forward acceleration. Therefore, if the phase delay exceeding 15% is excluded, it is possible to suppress the possibility of erroneously detecting the variation in acceleration that occurs in the reverse direction of the above-mentioned walking direction.

A point input unit that is a user I / F for inputting an original departure point and a final destination point; and a route calculation unit that calculates a via point located in the route from the original departure point to the final destination point. Have
The target destination setting means sets the via point or the original starting point immediately after passing as the starting point, and sets the next via point or the final destination point in the route as the target reaching point. It is preferable to be configured as described above (claim 7).

  In this case, for example, a corner or a landmark to be passed from the original departure point to the final destination point can be set as the waypoint. If these transit points are sequentially set as the departure point or the target arrival point, route guidance that is easy to understand can be implemented according to the actual road structure.

The route guidance means is preferably configured to provide voice guidance to the route to the target arrival point (claim 8).
In this case, the route guidance can be used without looking at the display screen of the route guidance device. Therefore, according to the route guidance device, it is possible to carry out route guidance even in a bag or pocket. Therefore, in this case, the effect of the first to third aspects of the invention that the route guidance can be performed regardless of the direction and orientation of the route guidance device is particularly effective.

Further, it has map data storage means for storing map data, and map display means for displaying a map based on the map data,
Preferably, the route guidance means is configured to display the current location on the map displayed by the map display means (claims 9 and 10).
In this case, the current location can be confirmed on the map displayed by the map display means. A pedestrian can suppress anxiety that may be felt when walking on an unguided route by checking the current location using the map.

Moreover, it is preferable that the said map display means is comprised so that the said map may be displayed so that the said walk advance direction may be located above (Claim 11).
In this case, the map can be presented by a so-called heading-up function of displaying the map with the traveling direction up. According to the map displayed in the heading-up, the pedestrian can more easily check the route or the turning direction. In particular, according to the route guidance device for pedestrians, since the absolute walking direction can be detected, the heading-up display as described above can be realized regardless of the direction and posture of the route guidance device. .

A third acceleration detecting means for detecting an excitation operation input to the route guidance device by the player based on an acceleration detected by each of the acceleration sensing means; and the third acceleration detecting means detected by the third acceleration detecting means. Operation conversion means for converting the vibration operation into a control signal;
It is preferable that a predetermined operation is performed in accordance with the control signal.

  In this case, the route guidance device can be operated by the excitation operation. Therefore, for example, the route guidance device can be operated while the route guidance device is placed in a jacket pocket or a bag. Examples of the operation command by the vibration operation include a voice guidance request command, a route recalculation, and a route guidance pause / end command. Furthermore, when a plurality of operation commands are set, it is preferable to distinguish each operation command by using, for example, the intensity of the vibration operation, the number of times, the rhythm, and the like.

Further, the magnetic sensing means is configured to measure the magnetic field strength using a magneto-impedance element,
The acceleration sensing means is a combination of a magnet body displacement unit including a magnet body that is displaced according to an acting acceleration, and a magnetic detection head including a magneto-impedance element for measuring the magnetic field strength generated by the magnet body. It is preferable that it is a thing (Claim 13).

  In this case, the magnetic field strength and the acceleration can be detected with high accuracy using the magneto-impedance element capable of measuring magnetism with high accuracy. Based on the magnetic field strength and the acceleration detected with high accuracy, the walking speed or the walking direction can be calculated with higher accuracy. Based on a highly accurate walking speed and walking direction, route guidance can be implemented with higher accuracy.

(Example 1)
This example is an example related to the route guidance device 1 for pedestrians. The contents will be described with reference to FIGS.
The route guidance device 1 of this example is a device for pedestrians that performs route guidance from a departure point to a target arrival point, as shown in FIGS.
The route guidance apparatus 1 includes a target destination setting unit 27, three magnetic sensing units 62 that measure magnetic field strengths in three axial directions orthogonal to each other, and three acceleration sensing units that measure the accelerations in the three axial directions. Means 63; vertical direction detecting means 22 for detecting the vertical direction; azimuth detecting means 21 for detecting an absolute azimuth centered on the route guidance device 1; and first acceleration detection for detecting vertical acceleration generated in the vertical direction. Means 231, second acceleration detecting means 232 for detecting forward acceleration, traveling direction detecting means 24 for detecting the walking direction, step count detecting means 26 for detecting the number of steps per unit time, and walking speed are calculated. A walking speed calculation means 25, a current position positioning means 28, a route information calculation means 29 for calculating route information, and a route guidance means 20 for guiding a route are provided.
The route information calculation means 29 calculates the direction from the current point to the target arrival point, and based on the comparison between the direction and the walking direction at the current point, the relative route direction based on the walking direction Is configured to calculate
Hereinafter, this content will be described in detail.

  As shown in FIGS. 2 and 3, the route guidance device 1 of this example includes wireless communication means for connecting to a public telephone line network via wireless communication in addition to the above configuration. That is, the route guidance device 1 of this example is a mobile phone that can be connected to a public telephone line network via wireless communication. In the following description, the mobile phone 1 is referred to instead of the route guidance device 1.

  As shown in FIGS. 2 and 3, the mobile phone 1 of this example is a foldable type in which the liquid crystal display 14 and the operation unit 15 are accommodated inside when folded. The cellular phone 1 includes an antenna for data communication, and performs data communication and the like with a transmission / reception unit 111 that performs modulation / demodulation of data, a communication control unit 11 that controls transmission / reception of data, a liquid crystal display 14 for display, and the like. CPU 2 for performing various calculations necessary for the above, and memory units 31 and 32 for storing various data (hereinafter referred to as ROM 31 and RAM 32 as appropriate). The user I / F includes an operation unit 15 including a numeric keypad 150, a voice call microphone and speaker 16, an incoming call notification speaker 12 and a vibrator 13, and the like.

  As shown in FIGS. 1 to 3, the cellular phone 1 of this example is configured to implement route guidance (navigation function) as described above, as described above, the target destination setting means 27 and the three magnetic sensing means 62. Three acceleration sensing means 63, vertical direction detecting means 22, azimuth detecting means 21, first and second acceleration detecting means 231, 232, traveling direction detecting means 24, and step count detecting means 26 The walking speed calculating means 25, the current position positioning means 28, the route information calculating means 29, and the route guiding means 20 are provided. Furthermore, the cellular phone 1 of this example includes a map data storage unit (ROM 31 in this example) that stores map data, and a map display unit (in this example, a liquid crystal display 14) that displays a map based on the map data. ).

  First, the map data storage means and the map display means will be described. The map data in this example is a combination of drawing data for drawing a map and latitude / longitude data as position information. According to this map data, the latitude and longitude data can be referred to for each position on the map based on the drawing data. The map data storage means (ROM 31) is means for storing this map data.

  The map display means (liquid crystal display 14) is a means for displaying a visually recognizable map based on map data (drawing data) as shown in FIGS. The map display means reads the map data stored in the map data storage means (ROM 31) and displays a map based on the map data. The map display means is configured to overlay display (overlapping display) the cross cursor 140 at a position substantially in the center of the map. If the cross cursor 140 is operated to move in the map, the map can be scrolled on the liquid crystal display 14. Furthermore, by selecting a position on the map where the cross cursor 140 is located, it is possible to input a specific point such as a target arrival point. As described above, the point input unit of this example is a unit configured to input a point by selecting a specific point on the map using the cross cursor 140. In addition, a point input means can also be comprised so that a user may input the latitude longitude data of a target arrival point directly. Furthermore, the target destination point may be input by inputting an address, a telephone number, or the like. In this case, it is preferable to store in the ROM 31 link data for associating address numbers, telephone numbers, facility names, and the like with location information such as latitude and longitude data.

  The target destination setting means 27 is means for setting DST position information, which is the position information of the target destination that is the target of route guidance, as shown in FIGS. As described above, the user of the mobile phone 1 of the present example can input the target arrival point by the operation of selecting the cross-shaped cursor 140 at the point to be input as the target arrival point. The target arrival point setting means 27 refers to the latitude and longitude data of the point on the map where the cross cursor 140 is located, and sets it as DST position information.

  As shown in FIGS. 1 and 3, the vertical direction detection means 22 is a means for detecting the vertical direction of the mobile phone 1 based on the acceleration measured by the three acceleration sensing means 63. In detecting the vertical direction, the vertical direction detecting means 22 of this example applies a frequency analysis to the measured acceleration to extract the DC component. The direct current component of acceleration is caused by static acting acceleration such as gravitational acceleration. Therefore, based on the DC component of acceleration, the vertical direction of the mobile phone 1 can be detected with high accuracy regardless of dynamically generated acceleration such as forward acceleration.

  The azimuth detecting means 21 is a means for detecting an absolute azimuth centered on the mobile phone 1 as shown in FIGS. The absolute azimuth is an absolute azimuth based on the generation direction of geomagnetism. The azimuth detecting means 21 specifies a horizontal plane orthogonal to the vertical direction based on the vertical direction detected by the vertical direction detecting means 22. Then, based on the magnetic field strengths in the three axial directions by the three magnetic sensing means 62, a distribution of the magnetic field strengths in each direction belonging to the horizontal plane is obtained, and an absolute direction is calculated based on the distributions.

  As shown in FIGS. 1 and 3, the first acceleration detecting means 231 is means for detecting acceleration acting in the vertical direction. Specifically, based on the acceleration components in the triaxial direction measured by the three acceleration sensing means 63, the acceleration component in the vertical direction is obtained, and this is used as the vertical acceleration. The first acceleration detecting means 231 stores the vertical acceleration time series data sampled in the past predetermined time interval in the RAM 32.

  As shown in FIGS. 1 and 3, the second acceleration detection means 232 is means for detecting forward acceleration acting in the traveling direction of the pedestrian. The second acceleration detection means 232 is configured to specify a horizontal plane perpendicular to the vertical direction detected by the vertical direction detection means 22. The second acceleration detecting means 232 detects an azimuth in which a peak value of acceleration exceeding a predetermined threshold value is detected among the azimuths belonging to the horizontal plane, and time series data of acceleration in the azimuth is detected. Store in the RAM 32. Further, the second acceleration detection means 232 has a phase delay within 0 to 15% of the fluctuation cycle, in the time series data of the acceleration for each direction, the vertical acceleration and the fluctuation period substantially coincide with each other. Detects time-series data that fluctuates while maintaining. And it is comprised so that the acceleration which arises in the azimuth | direction of the time series data which can be detected will be detected as a forward acceleration of the forward direction generate | occur | produced with a walk.

As shown in FIGS. 1 and 3, the traveling direction detection unit 24 is a unit that detects the direction in which the forward acceleration has occurred. The traveling direction detection means 24 detects a walking traveling direction that is an absolute direction in which forward acceleration is generated with respect to the geomagnetism.
The step count detection means 26 is a means for detecting the number of steps per unit time. The step count detection means 26 calculates the reciprocal of the fluctuation period common to the vertical acceleration detected by the first acceleration detection means 231 and the forward acceleration detected by the second acceleration detection means 232, thereby calculating the unit time. Calculate the number of fluctuation cycles per unit. Then, the step count detecting means 26 detects the number of fluctuation cycles per unit time as the number of steps per unit time.

  The walking speed calculation means 25 is a means for calculating a walking distance per unit time, that is, a walking speed, as shown in FIGS. The walking speed calculation unit 25 calculates the walking speed by multiplying the number of steps per unit time detected by the step number detection unit 26 with the pedestrian's step data stored in advance. In this example, the stride preset by the user is used as the stride data.

  It is also possible to provide stride learning means for learning stride data. For example, when performing route guidance, learning the stride data so that the deviation between the actual distance and the movement distance calculated based on the stride data is reduced, the stride data is brought close to the actual stride size. Can do. If the stride length data is learned, the walking speed or walking distance can be calculated with higher accuracy.

  As shown in FIGS. 1 to 3, the current position positioning means 28 is a means for calculating POS position information that is position information of the current position by selectively switching between positioning by autonomous navigation and positioning by GPS. In this example, position information based on latitude and longitude data is calculated as POS position information. The current position positioning means 28 measures the current position by autonomous navigation in situations where it is difficult to receive GPS transmission radio waves, such as indoors, and measures the current position by GPS in situations where GPS transmission radio waves can be received satisfactorily. It is configured.

  The GPS positioning means 5 has a GPS antenna 51 and a GPS positioning unit 52 as shown in FIGS. The GPS positioning unit 52 measures the current location using the principle of three-point surveying. The GPS positioning unit 52 receives, for example, GPS signals of four or more GPS satellites via the GPS antenna 51, and measures the distance to each GPS satellite. Then, the GPS positioning unit 52 calculates POS position information, which is position information of the current location, based on the distance to each GPS satellite.

  On the other hand, the positioning of the current location by autonomous navigation is performed based on the time-series data of the walking speed and walking direction in the process of reaching the current location. For example, when entering a tunnel where positioning by GPS is difficult, the movement direction and distance after entering the tunnel are calculated by accumulating the time series data of walking speed and walking direction that occurred after entering the tunnel. obtain. Based on the latitude and longitude data of the tunnel entrance, the POS position information, which is the position information of the current point, can be calculated with high accuracy based on the moving direction and moving distance.

  As shown in FIG. 1, the route information calculation means 29 is based on a comparison between the azimuth from the current point to the target arrival point and the gait direction at the current point. It is configured to calculate the direction. The route information calculation means 29 of this example is further configured to calculate a route distance that is a distance from the current point to the target destination point.

  Note that the direction from the current point to the target arrival point can be calculated based on the POS position information and the DST position information. That is, this azimuth is obtained as arctan ((POS longitude-DST longitude) / (POS latitude-DST latitude)). Here, POS latitude and POS longitude are latitude data and longitude data in the POS position information, and DST latitude and DST longitude are latitude data and longitude data in the DST position information.

  As shown in FIGS. 1 and 2, the route guidance unit 20 is a unit that provides voice guidance of route information using the rear speaker 12. According to the route guidance means 20, route guidance can be used while the mobile phone 1 is in a pocket or a bag. As route guidance by voice, route guidance such as “Please turn left” or “Directly 100 m ahead” is conceivable.

Next, the 6D sensor 6 that measures magnetic field strength and acceleration in three axial directions orthogonal to each other will be described with reference to FIGS. 2, 3, and 5. The 6D sensor 6 is obtained by integrally modularizing the three acceleration sensing means 63 and the three magnetic sensing means 62.
Each magnetic sensing means 62 includes a magnetic detection element 64 that detects the earth's magnetism, which is the earth's magnetism, and a magnetic field generated by the earth's magnetism.
Each acceleration sensing means 63 includes a magnet body displacement unit 630 configured such that the magnet body 631 is displaced according to acceleration, and a magnetic detection head 635 that detects the displacement of the magnet body 631. The magnetic detection head 635 includes a magnetic detection element 64 having the same specifications as the magnetic sensing means 62.

  As shown in FIGS. 3 and 5, the 6D sensor 6 includes three magnetic sensing means 62, three acceleration sensing means 63, and one magnetic detection element 64 included in these means. A control circuit 612 (control IC chip) is mounted on a common substrate 613. In this example, the X axis and the Y axis are defined along two orthogonal sides forming the outer edge of the common substrate 613, and the Z axis is defined along the normal direction of the substrate 613.

  As shown in FIGS. 3 and 5, the magnetic sensing means 62 includes a magnetic sensing means 62X that measures the magnetic field strength in the X-axis direction, a magnetic sensing means 62Y that measures the magnetic field strength in the Y-axis direction, There are three units with magnetic sensing means 62Z for measuring the magnetic field strength. Each magnetic sensing means 62 is configured using a magnetic detection element 64. The magnetic detection element 64 of this example is a magneto-impedance element (MI element). The principle of magnetic measurement of the MI element will be described later.

  As shown in FIGS. 3 and 5, the acceleration sensing means 63 includes acceleration sensing means 63X that measures acceleration in the X-axis direction, acceleration sensing means 63Y that measures acceleration in the Y-axis direction, and acceleration in the Z-axis direction. There are three units with acceleration sensing means 63Z for measuring. Each acceleration sensing means 63 is a combination of a magnet body displacement unit 630 configured such that the magnet body 631 is displaced according to the acting acceleration and a magnetic detection head 635. Here, like the magnetic sensing means 62, the magnetic detection head 635 is configured using a magnetic detection element 64 made of an MI element.

  As shown in FIG. 5, the magnet body displacement unit 630 includes a support post 633 fixed to a common substrate 613, and a cantilever 634 that is supported at one end by the support post 633 and holds the magnet body 631 at the other end. And more. The cantilever 634 has a substantially rectangular plate shape made of the material Ni-P. The cantilever 634 of this example has one end fixed to the support post 633 and can be elastically deformed so as to rotate about the support post 633. In the cantilever 634 of this example, a long hole 634H is provided from the base portion on the support post 633 side to a position before the free end so that a large amount of displacement of the magnet body 631 with respect to acceleration can be secured.

  As shown in FIGS. 3 and 5, the cantilever 634 is configured to bend according to the acceleration acting in the thickness direction of a substantially rectangular plate shape. The cantilever 634 of the acceleration sensing means 63X that detects the acceleration in the X-axis direction is bent in the X-axis direction. The cantilever 634 of the acceleration sensing means 63Y that detects the acceleration in the Y-axis direction is bent in the Y-axis direction. The cantilever 634 of the acceleration sensing means 63Z that detects the acceleration in the Z-axis direction is bent in the Z-axis direction.

  As shown in FIG. 5, the magnet body 631 is disposed at the end of the cantilever 634 on the free end side. The magnet body 631 of this example is formed by magnetizing the magnet body paint applied to the surface of the cantilever 634 after drying and curing. The magnet body 631 is displaced according to the bending of the cantilever 634. It should be noted that the bending of the cantilever 634 and the displacement of the free end are very small. For example, the displacement of the free end of the cantilever 634 is about 1/10 or less of the length of the cantilever 634.

  As shown in FIG. 5, the magnetic detection head 635 is disposed so as to face the front end surface of the cantilever 634 on the free end side. The magnetic detection head 635 includes a magnetic detection element 64 having the same specifications as the magnetic sensing means 62. In this example, as described above, a magneto-impedance element is used as the magnetic detection element 64.

  Here, the magneto-impedance element will be described. As shown in FIG. 5, the magneto-impedance element is a combination of a magnetic sensitive body 644 made of an amorphous wire and a substantially cylindrical detection coil 645 arranged so as to be extrapolated to the magnetic sensitive body 644. This magneto-impedance element utilizes the MI (Magneto-impedance) phenomenon exhibited by the magnetosensitive body 644 made of an amorphous wire, in which the impedance changes according to the strength of the peripheral magnetic field. The MI phenomenon is a phenomenon that occurs in the magnetic sensitive body 644 made of a magnetic material having an electron spin arrangement in the circumferential direction with respect to the direction of current to be supplied.

  The magnetic sensing element 64 of this example comprising a magneto-impedance element has a change in internal magnetization, impedance, etc. of the magnetosensitive body in accordance with a change in the electron spin direction when the energizing current of the magnetosensitive body 644 made of amorphous wire is suddenly changed. Is converted into a voltage (induced voltage) generated at both ends of the detection coil 645. This magnetic detection element 64 has magnetic detection sensitivity in the longitudinal direction of the amorphous wire which is the magnetic sensitive body 644.

  In addition to the magneto-impedance element of the present example, the magnetic detection element 64 may employ various principles such as a Hall element, a fluxgate sensor, an MR sensor, and a pickup coil type.

  The control circuit 612 is a circuit configured to control the six magnetic detection elements 64 as shown in FIGS. The control circuit 612 includes a signal generator 601 that generates a pulse current input to the magnetic sensitive body 644 and a signal processing unit 602 that outputs a measurement signal corresponding to the induced voltage of the detection coil 645. The signal generator 601 generates a predetermined pulse current and outputs a trigger signal synchronized with the falling edge of the pulse current toward the analog switch 602a of the signal processing unit 602.

  As shown in FIG. 6, the signal processing unit 602 is a combination of a synchronous detection circuit functioning as a so-called peak hold circuit and an amplifier 602b. The synchronous detection circuit includes an analog switch 602a for turning on / off the electrical connection between the detection coil 645 and the signal processing unit 601 in synchronization with the trigger signal, and a capacitor connected to the detection coil 645 via the analog switch 602a. This is a circuit configured by using 602c.

  The control circuit 612 is provided with an electronic switch 608 that switches between an electrical path between the signal generator 601 and each magnetic body 644 and an electrical path between the signal processing unit 602 and each detection coil 645. As a result, three magnetic detection elements 64 (magnetic sensing means 62) for measuring the strength of the magnetic field along each of the X, Y, and Z axes (see FIG. 1), and the X, Y, and Z axes. The control circuit 612 can be shared in a time-sharing manner by switching at predetermined intervals for a total of six magnetic detection elements 64 of the three magnetic detection elements 64 (magnetic detection heads 635) that measure the acceleration along each axis. Yes.

Here, a magnetic detection method using the magnetic detection element 64 of this example will be briefly described. The magnetic detection method of this example measures an induced voltage generated in the detection coil 645 when the pulse current supplied to the magnetic sensitive body 644 falls. At the moment when the pulse current applied to the magnetic body 644 placed in the magnetic field is cut off, an induced voltage having a magnitude proportional to the longitudinal component of the magnetic body 644 is generated at both ends of the detection coil 645. In the control circuit 612 of this example, the induced voltage of the detection coil 645 is accumulated in the capacitor 602c via the analog switch 602a turned on by the trigger signal, and further amplified by the amplifier 602b and output from the output terminal 605. The
As described above, each magnetic detection element 64 of this example outputs an output signal corresponding to the strength of the magnetic field acting in the longitudinal direction of the magnetic sensitive body 644 to the outside via the control circuit 612.

  Next, an operation procedure for using the route guidance of the mobile phone 1 of this example and a route guidance operation will be described with reference to FIGS. FIG. 7 is a flowchart showing the flow of route guidance processing by the mobile phone 1. FIG. 8 is a flowchart showing a procedure for calculating the walking speed and the like. FIG. 9 shows the flow of processing for detecting the walking direction. FIG. 11 is a flowchart showing a flow of positioning processing of the current point by autonomous navigation.

  First, in step S101, a map for inputting a target destination point is displayed on the liquid crystal display 14. Specifically, the map data is read from the ROM 31 and displayed on the liquid crystal display 14. As in step SU101, the user scrolls the map on the liquid crystal display 14 so that the cross cursor 140 (see FIG. 4) displayed on the liquid crystal display 14 as an overlay coincides with the target arrival point. Then, the target destination point can be input by selecting the target destination point on the map with the cross cursor 140.

  In subsequent step S102, the latitude / longitude data in the map data is referenced to obtain DST position information which is position information of the target destination point. In step S103, the DST position information is stored in the RAM 32.

  In step S104, it is determined whether positioning by GPS is possible. If positioning by GPS is possible, position information of the current location is calculated by positioning by GPS as in step S115. When positioning by GPS is impossible, as in step S105, position information of the current point is calculated by positioning by autonomous navigation. Note that the positioning procedure by autonomous navigation will be described later with reference to the flowchart shown in FIG.

  In step S106, POS position information, which is position information of the current point by GPS or autonomous navigation positioning, is captured. In step S107, the walking traveling direction, which is the direction of the pedestrian (user) in the forward direction, is detected. The procedure for calculating the walking direction will be described later with reference to the flowchart shown in FIG. In step S108, as a route information for reaching the target arrival point, a relative route direction based on the walking traveling direction and a route distance to the target arrival point are calculated. In step S109, route guidance is performed based on the route information calculated in step S108.

  Next, the procedure for calculating the walking speed and the like will be described with reference to FIG. Here, first, as in step S201, the vertical direction of the mobile phone 1 is detected based on the acceleration measured by the 6D sensor 6. In step S202, the vertical acceleration that is the acceleration in the vertical direction is detected. In step S203, a horizontal plane orthogonal to the vertical direction is specified.

  Subsequently, as in step S204 and step S205, the forward acceleration of the pedestrian (user) is detected and the walking traveling direction is detected. In step S206, the number of steps per unit time is calculated based on the forward acceleration, and the walking speed is calculated by multiplying the number of steps per unit time by the stride data.

Here, as in step S204, the procedure for detecting the walking advance direction will be described with reference to FIGS.
In generating the walking direction, first, as in step S301, the direction in the horizontal plane perpendicular to the vertical direction is changed and time series data of acceleration in the direction is generated. In this example, it is possible to generate time-series data of acceleration in any azimuth direction in the horizontal plane based on the acceleration in the three-axis directions stored over a predetermined past time interval.

  In subsequent step S302, it was determined whether or not the peak value of the time series data of acceleration exceeds a predetermined threshold value. In this example, acceleration time-series data including a peak value exceeding a preset threshold value is used as a candidate, and in other cases, the azimuth is changed and set to generate time-series data of the next acceleration ( Step S301). In addition, as said threshold value, it is good also as setting the optimal threshold value for every user calculated | required by learning.

  In step S303, the cross-correlation coefficient and the phase delay amount that maximizes the cross-correlation coefficient are calculated for the acceleration time-series data and the vertical acceleration time-series data. And like step S304, the above process steps were implemented over the perimeter in the said horizontal surface. In this example, as shown in step S305, the direction in which the phase delay amount is within 0 to 15% of the fluctuation period and the cross-correlation coefficient is maximum is detected as the walking progress direction.

  The basis of this detection method can be explained using the graph of FIG. FIG. 6A is a graph showing time-series fluctuations in the vertical acceleration Av and the forward acceleration Af. FIG. 5B is a graph showing, as a reference, the vertical acceleration Av and the acceleration Ab having a direction shifted by 180 degrees from the walking traveling direction. In FIG. 10, the time is defined on the horizontal axis, and the measurement value of the acceleration sensing means 63 exhibiting a proportional relationship with the acceleration is defined on the vertical axis.

  As can be seen from FIG. 5A, the forward acceleration Af fluctuates at the same fluctuation cycle as the vertical acceleration Av while maintaining a phase delay within a predetermined range with respect to the vertical acceleration Av. Based on the experimental data accumulated by the inventors over a long period of time, the phase lag of the forward acceleration Af with respect to the vertical acceleration Av belongs to the range of 0% to 15% of the fluctuation period for the majority of samples. Yes. On the other hand, in the direction shifted by 180 degrees from the walking direction, that is, in the opposite direction, the acceleration Ab in which the polarity is reversed is generated. This acceleration fluctuation waveform approximates a waveform obtained by shifting the phase of the vertical acceleration Av by 180 degrees. Therefore, if an attempt is made to detect the walking direction only with a high cross-correlation coefficient, there is a risk of erroneously detecting the opposite direction. Therefore, in this example, it is set as a detection condition of the walking advance direction that an acceleration having a phase difference from the vertical acceleration Av within 0 to 15% of the fluctuation cycle occurs.

  Next, a process of calculating POS position information by positioning by autonomous navigation will be described with reference to FIG. This flowchart shows a procedure for calculating the POS position information by calculating the moving distance and moving direction after passing through the reference point by autonomous navigation based on the reference point having known latitude and longitude data.

  Here, first, as in step S401, after passing through the reference point, each data is taken in order from the oldest based on the time series data of the walking direction and walking speed up to the present. Then, as in step S <b> 402, the moving direction and moving distance are cumulatively calculated based on the captured walking progress direction and walking speed. The above processing is performed for all data belonging to the time series data as in step S403, and the moving direction and moving distance after passing through the reference point are calculated.

  Based on the latitude / longitude data of the reference point acquired in step S404, POS position information, which is position information of the current point, is calculated as in step S405. Here, based on the reference point, the point moved by the moving distance in the moving direction calculated in step S402 is set as the current point, and the latitude / longitude data of this point is calculated as the POS position information.

  As described above, according to the mobile phone 1 of this example, the walking forward direction and the forward acceleration can be detected using the vertical acceleration, and the walking speed can be calculated based on the fluctuation period common to the vertical acceleration and the forward acceleration. . In the route guidance by the mobile phone 1, the integral calculation that may amplify the error is not performed in calculating the walking forward direction and the walking speed. Therefore, according to the mobile phone 1 of this example, highly accurate route guidance is possible by autonomous navigation.

In particular, according to the cellular phone 1 of this example, the absolute azimuth centered on the cellular phone 1 and the walking progression azimuth in the absolute azimuth can be detected regardless of the orientation and orientation. Therefore, according to the cellular phone 1, route guidance can be performed in any orientation and posture even when the cellular phone 1 is kept in the pocket.
Furthermore, according to the mobile phone 1 of this example, the user can receive route guidance while looking at the liquid crystal display 14 while holding the mobile phone 1. According to the mobile phone 1 of this example, since the walking advance direction can be detected, the map is displayed with the forward direction on the upper side of the liquid crystal display 14 regardless of the orientation of the mobile phone 1 that the user holds. A so-called heading-up display can be performed.

In addition, although this example is an example of the mobile phone 1 having positioning means by GPS, the positioning means by GPS can be omitted. According to the positioning means based on autonomous navigation described in this example, it is possible to position the current location by autonomous navigation and to perform route guidance.
Further, the function of displaying a map can be omitted based on the mobile phone 1 of the present example. According to route guidance by voice guidance, route guidance can be performed even for pedestrians (users) who have the mobile phone 1 stored in their pockets. In particular, the cellular phone 1 of the present example can correctly perform route guidance such as a turning direction and a traveling direction regardless of the orientation and posture when being formed by a pedestrian.

  Furthermore, the wireless communication function in the cellular phone 1 of this example can be omitted. The route guidance device 1 that does not have a wireless communication function may be used. If a function such as a scheduler is provided instead of the wireless communication function, it can be configured as a PDA terminal having a route guidance function. In addition, according to the cellular phone 1 of this example having a wireless communication function, it is also possible to download map data and latitude / longitude data of a point designated on the map from an external server.

(Example 2)
This example is an example in which route calculation means is added based on the mobile phone of the first embodiment. The contents will be described with reference to FIG.
In the cellular phone 1 of this example, when adding the route calculation means, the road connection data necessary for route calculation is stored in the ROM 31 (see FIG. 2), and the configuration of the target destination setting means is changed. And the point input means of this example is comprised so that the original departure point which starts route guidance, and the final destination point may be input.

The road connection data is data representing the connection relation of roads in the map data. For example, as road connection data relating to the A street, data representing connection relations with other roads such as intersection with the C street at the B intersection, intersection with the E street at the D intersection, and the like are set.
The route calculation means is means for calculating an optimum route from the original departure point to the final destination point using road connection data. The route calculation means calculates route point 1, route point 2, route point 3,... As necessary in the route from the original departure point to the final destination point. As the waypoint, for example, a corner such as a corner or a building or a structure that can be a landmark is set.

  And the route guidance means of this example implements route guidance in units of route sections sandwiched between adjacent waypoints. That is, the route guidance means of the present example performs route guidance similar to that of the first embodiment for each route section. The target destination setting means sets the waypoint immediately after passing or the original departure point as the starting point that is the starting point of the route section, and sets the next waypoint or final destination point in the route as the end point of the route section. It is configured to be set as

  In addition, as said route calculation means, it can also provide in the external server which can be connected in the state which can communicate using the radio | wireless communication function of the mobile telephone 1. FIG. For example, the latitude and longitude data of the departure point and the final destination point can be transmitted to the external server, and the route point data calculated by the route calculation means of the external server can be received.

  The cellular phone 1 of this example performs route guidance according to the flowchart of FIG. First, as in step S501, the original departure point and the final destination point are captured. In step S502, an optimum route to the final destination point is obtained by calculation. This route is defined by setting a waypoint to be routed from the original departure point to the final destination.

  In the subsequent step S503, the next waypoint is set as the target destination point, and the waypoint immediately after passing is set as the departure point. Then, route guidance is performed as in step S504 until the vehicle arrives at the target arrival point. This route guidance is for arriving at a route point set as a target destination point from a route point set as a departure point. When the target arrival point is reached as in step S505, the next waypoint is set as a new target point as in step S503, and the arrived waypoint is set as a new departure point. Here, when the last route point arrives, the final destination point is set as the target destination point. Thereafter, when the final destination point is reached as in step S506, the route guidance is terminated.

As described above, the cellular phone 1 of this example has a route guidance function for guiding an optimum route for reaching the final destination.
Other configurations and operational effects are the same as those in the first embodiment.

(Example 3)
In this example, a third acceleration detecting means and an operation converting means are added based on the mobile phone 1 of the first embodiment.
The third acceleration detecting means is means for detecting an acceleration generated by a vibration operation when the user taps the mobile phone 1 with a hand. When the mobile phone 1 is directly or indirectly struck by hand, an acceleration that rises sharply compared to an acceleration that occurs during walking or the like may occur. The third acceleration detecting means is configured to detect a sudden rise in acceleration. Specifically, a change in acceleration exceeding a predetermined frequency is detected.

  The operation converting means is means for converting into a control signal of the mobile phone 1 based on the user's vibration operation detected by the third acceleration detecting means. In this example, commands for executing voice guidance, temporarily stopping route guidance, and canceling route guidance are set as control signals of the mobile phone 1, that is, operation commands. The voice guidance execution command is associated with two vibration operations “Pon, Pon”. The command for pausing the route guidance is associated with three vibration operations of “Pon, Popon” in which the interval of the last two degrees is shortened. The command for canceling route guidance is associated with three vibration operations of “Pon, Pon, Pon” at substantially regular intervals. The operation conversion means determines the type of the vibration operation and converts it into an operation command that is a control signal.

As described above, according to the mobile phone 1 of the present example, an operation during route guidance can be performed with the mobile phone 1 in the pocket or bag.
Other configurations and operational effects are the same as those in the first embodiment.

1 is a block diagram illustrating a system configuration of a route guidance function for a mobile phone according to a first embodiment. 1 is a block diagram illustrating a system configuration of a mobile phone according to Embodiment 1. FIG. The perspective view which shows the specification state of the mobile telephone in Example 1 (partial sectional drawing). The front view which shows the map displayed on the liquid crystal display in Example 1. FIG. FIG. 3 is a perspective view showing a 6D sensor in the first embodiment. 2 is a circuit diagram illustrating a configuration of a control circuit in Embodiment 1. FIG. FIG. 3 is a flowchart for explaining a route guidance procedure according to the first embodiment. The flowchart explaining the calculation procedure of the step count and walking speed in Example 1. FIG. The flowchart which shows the detection procedure of the walk advance direction in Example 1. FIG. The graph which shows the time fluctuation | variation of the vertical acceleration and forward acceleration in Example 1. FIG. The flowchart explaining the positioning procedure of the present location by autonomous navigation in Example 1. FIG. FIG. 9 is a flowchart for explaining route guidance procedures according to the second embodiment.

Explanation of symbols

1 Route guidance device (mobile phone)
14 Liquid crystal display 2 CPU
DESCRIPTION OF SYMBOLS 20 Route guidance means 21 Direction detection means 22 Vertical direction detection means 231 1st acceleration detection means 232 2nd acceleration detection means 24 Travel direction detection means 25 Walking speed calculation means 26 Step count detection means 27 Target arrival point setting means 28 Current position Positioning means 29 Route information calculating means 5 GPS positioning means 52 GPS positioning section 6 6D sensor 62 Magnetic sensing means 63 Acceleration sensing means 64 Magnetic detection element 630 Magnet body displacement unit 635 Magnetic detection head

Claims (14)

A route guidance device for pedestrians that provides route guidance from a departure point to a target destination point,
Target location setting means for setting DST location information that can specify the azimuth and distance from the departure location as location information of the target location,
Three magnetic sensing means for measuring magnetic field strength in the first three axial directions orthogonal to each other;
Three acceleration sensing means for measuring acceleration in a second three-axis direction orthogonal to each other and having a known relative relationship with the first three-axis;
Vertical direction detection means for detecting a vertical direction based on the acceleration detected by each of the acceleration sensing means;
An azimuth detecting means for detecting an absolute azimuth centered on the route guidance device based on the magnetic field intensity detected by the magnetic sensing means and the vertical direction detected by the vertical direction detecting means;
First acceleration detecting means for detecting vertical acceleration generated in the vertical direction based on the acceleration detected by each of the acceleration sensing means;
Based on the acceleration detected by each of the acceleration sensing means, among the accelerations generated in an arbitrary direction belonging to a horizontal plane orthogonal to the vertical direction, the vertical acceleration and the fluctuation period substantially coincide with each other and are set in advance. Second acceleration detecting means for detecting forward acceleration that fluctuates while maintaining a phase delay within the predetermined range;
A traveling direction detecting means for detecting a walking traveling direction representing a direction of the forward acceleration in the absolute direction;
Step number detecting means for detecting, as the number of steps per unit time, the number of fluctuating cycles per unit time, which is the reciprocal of the fluctuating period common to the vertical acceleration and the forward acceleration;
Walking speed calculating means for calculating a walking speed by multiplying the pedestrian's stride data by the number of steps per unit time;
The POS position that can specify the azimuth and distance from the departure point as the position information of the current point reached by the pedestrian by accumulating the walking speed and the walking direction generated after leaving the departure point A current location positioning means for calculating information;
Route information calculating means for calculating route information;
Route guidance means for guiding a route to the target destination based on the route information,
The route information calculation means calculates an azimuth from the current location to the target arrival point based on the POS location information and the DST location information, and compares the azimuth with the walking progression orientation at the current location. The pedestrian route guidance device is configured to calculate a relative course direction based on the walking advance direction as the route information.   The route guidance device for a pedestrian according to claim 1, further comprising stride learning means configured to learn the stride data. A route guidance device for pedestrians that provides route guidance from a departure point to a target destination point,
Target location setting means for setting DST location information that can specify the azimuth and distance from the departure location as location information of the target location,
Three magnetic sensing means for measuring magnetic field strength in the first three axial directions orthogonal to each other;
Three acceleration sensing means for measuring acceleration in a second three-axis direction orthogonal to each other and having a known relative relationship with the first three-axis;
Vertical direction detection means for detecting a vertical direction based on the acceleration detected by each of the acceleration sensing means;
An azimuth detecting means for detecting an absolute azimuth centered on the route guidance device based on the magnetic field intensity detected by the magnetic sensing means and the vertical direction detected by the vertical direction detecting means;
First acceleration detecting means for detecting vertical acceleration generated in the vertical direction based on the acceleration detected by each of the acceleration sensing means;
Based on the acceleration detected by each of the acceleration sensing means, among the accelerations generated in an arbitrary direction belonging to a horizontal plane orthogonal to the vertical direction, the vertical acceleration and the fluctuation period substantially coincide with each other and are set in advance. Second acceleration detecting means for detecting forward acceleration that fluctuates while maintaining a phase delay within the predetermined range;
A traveling direction detecting means for detecting a walking traveling direction representing a direction of the forward acceleration in the absolute direction;
Based on GPS signals received from GPS satellites, current position positioning means for calculating POS position information that can specify the azimuth and distance from the departure point, as position information of the current position reached by the pedestrian,
Route information calculating means for calculating route information;
Route guidance means for guiding a route for reaching the target destination based on the route information,
The route information calculation means calculates an azimuth from the current location to the target arrival point based on the POS location information and the DST location information, and compares the azimuth with the walking progression orientation at the current location. The pedestrian route guidance device is configured to calculate a relative course direction based on the walking advance direction as the route information. In Claim 3, the number of steps detection means which detects the number of change cycles per unit time which is the reciprocal of the change cycle common to the vertical acceleration and the forward acceleration as the number of steps per unit time,
Walking speed calculation means for calculating a walking speed by multiplying the pedestrian's step data by the number of steps per unit time,
The current point calculation means is configured to use the walking speed and the walking direction generated after the departure of the departure point when calculating the POS position information. Route guidance device.   5. The route guidance device for a pedestrian according to claim 4, further comprising stride learning means configured to learn the stride data.   6. The method according to claim 1, wherein the second acceleration detecting means is configured to detect an acceleration having a phase delay of 0% or more and 15% or less as the forward acceleration with respect to the vertical acceleration. A route guide device for pedestrians. The position input means as a user I / F for inputting an original departure point and a final destination point, and a position in the route from the original departure point to the final destination point according to any one of claims 1 to 6. Route calculation means for calculating the waypoints to
The target destination setting means sets the via point or the original starting point immediately after passing as the starting point, and sets the next via point or the final destination point in the route as the target reaching point. A route guidance device characterized by being configured to do so.   8. The route guidance device for a pedestrian according to any one of claims 1 to 7, wherein the route guidance means is configured to provide voice guidance for a route to the target arrival point. In Claim 8, it has the map data storage means which memorize | stored map data, and the map display means which displays a map based on the said map data,
The route guidance device for a pedestrian, wherein the route guidance means is configured to display the current location on the map displayed by the map display means. In any one of Claims 1-7, it has the map data storage means which memorize | stored map data, and the map display means which displays a map based on the said map data,
The route guidance device for a pedestrian, wherein the route guidance means is configured to display the current location on the map displayed by the map display means.   11. The route guidance device for a pedestrian according to claim 9, wherein the map display means is configured to display the map so that the walking direction is located on the upper side. The third acceleration detecting means according to any one of claims 1 to 11, wherein the third acceleration detecting means detects the vibration operation input to the route guidance device by the player based on the acceleration detected by each of the acceleration sensing means. Operation conversion means for converting the excitation operation detected by the third acceleration detection means into a control signal;
A route guide device for pedestrians configured to perform a predetermined operation in response to the control signal. In any one of Claims 1-12, the said magnetic sensing means is comprised so that the said magnetic field intensity may be measured using a magneto impedance element,
The acceleration sensing means is a combination of a magnet body displacement unit including a magnet body that is displaced according to an acting acceleration, and a magnetic detection head including a magneto-impedance element for measuring the magnetic field strength generated by the magnet body. A route guide device for pedestrians characterized by being a thing. A mobile phone that can be connected to a public telephone line via wireless communication,
A cellular phone comprising a wireless communication means incorporated in the route guidance device for a pedestrian according to any one of claims 1 to 13.

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