JP2015184011A - Position collation device, position collation method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly specify a movement path even when not moved in the extension direction of the road.SOLUTION: A position collation device 100 includes: a change direction detection part 4a which sequentially detects the change direction of a position where a device main body exists; a movement direction estimation part 4b in which the direction obtained by integrating the change directions detected within a prescribed time range is used as the movement direction of the device main body within the prescribed time range; and a position collation part 5 in which, based on this movement direction, the position where the device main body exists is specified and collated on the road in a map.

Description

  The present invention relates to a position matching apparatus, a position matching method, and a program.

  2. Description of the Related Art Conventionally, a technique is known in which a position is measured using a predetermined positioning means during movement, a position where the positioning is performed and a moving direction are calculated, and sequentially verified with candidate links (see, for example, Patent Document 1). ).

JP 2009-9443 A

  However, if the user moves zigzag on the road, the direction of the user's movement differs from the direction in which the road extends, and it is erroneously determined that the movement path is off the road even though the user is moving on the road. There was a case. Further, when the user's moving direction is the same as the road extending direction, it may be determined that the road is different from the actual moving path.

  Accordingly, an object of the present invention is to provide a position verification device, a position verification method, and a program capable of appropriately specifying a movement route even when the vehicle does not move along the road extending direction.

In order to solve the above-described problem, a position matching device according to the present invention includes:
The storage means for storing the map including the road, the first detection means for sequentially detecting the change direction of the position of the apparatus main body, and the change direction detected by the first detection means within the predetermined time range are integrated. Estimating means for setting the obtained direction as the moving direction of the apparatus main body within the predetermined time range, and specifying the position of the apparatus main body based on the moving direction, and the map stored in the storage means And a matching means for matching on the road.

Further, the position matching method according to the present invention includes:
A position collation method using a position collation device that stores a map including a road, which integrates processing for sequentially detecting a change direction of a position of the device main body and a change direction detected within a predetermined time range. Including a process of setting the obtained direction as a moving direction within a predetermined time range of the apparatus main body, and a process of identifying a position where the apparatus main body exists based on the moving direction and collating on the road of the map. It is characterized by.

The program according to the present invention is
The computer of the position verification device that stores the map including the road, the detection means for sequentially detecting the change direction of the position of the device main body, the direction obtained by integrating the change direction detected within the predetermined time range It is characterized by functioning as an estimation means for determining a movement direction within a predetermined time range, and a collation means for identifying the position of the apparatus main body based on the movement direction and collating on the road of the map.

  According to the present invention, even when the vehicle does not move along the extending direction of the road, it is possible to appropriately specify the moving route.

It is a block diagram which shows schematic structure of the position collation apparatus of one Embodiment to which this invention is applied. It is a flowchart which shows an example of the operation | movement which concerns on the position collation process by the position collation apparatus of FIG.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.
The position verification device 100 of the present embodiment is carried by a user (for example, worn on an arm), and uses both GPS positioning (GPS positioning) and positioning using an autonomous navigation sensor (autonomous navigation positioning). A series of position data representing the locus of the user's movement route is sequentially stored. In addition, the position matching device 100 matches the position data of the measured location on the map road.

FIG. 1 is a block diagram showing a schematic configuration of a position matching apparatus 100 according to an embodiment to which the present invention is applied.
As shown in FIG. 1, the position verification device 100 includes a central control unit 1, a GPS processing unit 2, a sensor unit 3, an autonomous navigation control processing unit 4, a position verification unit 5, a data storage unit 6, A display unit 7 and an operation input unit 8 are provided.
The central control unit 1, the GPS processing unit 2, the sensor unit 3, the autonomous navigation control processing unit 4, the position matching unit 5, the data storage unit 6, and the display unit 7 are connected via a bus line 9.

The central control unit 1 comprehensively controls each unit of the position verification device 100. Specifically, the central control unit 1 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, although not shown. Then, the central control unit 1 performs various control operations in accordance with various processing programs for the position matching device 100 and causes the display unit 7 to display the results of the control operations as necessary. At that time, the CPU stores various processing results in a storage area in the RAM, and displays the processing results on the display unit 7 as necessary.
The RAM includes, for example, a program storage area for expanding a processing program executed by the CPU, a data storage area for storing input data, a processing result generated when the processing program is executed, and the like.
The ROM stores a program stored in the form of computer-readable program code, specifically, a system program that can be executed by the position verification apparatus 100, various processing programs that can be executed by the system program, and these various processing programs. Data used for execution is stored. For example, the ROM stores a positioning processing program for acquiring position data of each point on the moving route by autonomous navigation positioning and GPS positioning.

The GPS processing unit 2 receives a signal transmitted from a GPS (Global Positioning System) satellite S and measures the position of the apparatus body.
That is, the GPS processing unit 2 receives data transmitted from the GPS satellite S via the receiving antenna 2a. Specifically, the receiving antenna 2a is a GPS signal (for example, almanac (rough orbit information)) transmitted from a plurality of GPS satellites (positioning satellites; only one is shown in FIG. 1) launched into a low earth orbit. And ephemeris (detailed trajectory information) are received at a predetermined timing. Then, the receiving antenna 2a outputs the received GPS signal to the GPS processing unit 2.

  The GPS processing unit 2 obtains various transmission data of the GPS satellite S by performing demodulation processing of the GPS signal received via the receiving antenna 2a. Then, the GPS processing unit 2 performs a predetermined positioning calculation based on the acquired transmission data, thereby positioning the absolute two-dimensional current position (latitude, longitude) of the apparatus main body to the position. Such position data (for example, coordinate information of latitude and longitude) is acquired as a positioning result.

  The sensor unit 3 includes a triaxial geomagnetic sensor 3a, a triaxial acceleration sensor 3b, and an atmospheric pressure sensor 3c as autonomous navigation sensors.

The triaxial geomagnetic sensor 3a detects the magnitudes of geomagnetism in the triaxial directions orthogonal to each other. Then, the triaxial geomagnetic sensor 3a outputs the detected detection signal of each axis to the autonomous navigation control processing unit 4.
The triaxial acceleration sensor 3b is an autonomous navigation sensor and detects accelerations in three axial directions orthogonal to each other. The triaxial acceleration sensor 3b samples the detected signals of the respective axes at a predetermined frequency and outputs the sampled signals to the autonomous navigation control processing unit 4.
The atmospheric pressure sensor 3c is a sensor that detects atmospheric pressure in order to obtain a height difference. Further, the atmospheric pressure sensor 3 c outputs a detection signal of the detected atmospheric pressure to the autonomous navigation control processing unit 4.

The autonomous navigation control processing unit 4 continuously performs positioning calculation of autonomous navigation based on detection data detected by the triaxial geomagnetic sensor 3a, the triaxial acceleration sensor 3b, the atmospheric pressure sensor 3c, and the like.
That is, the autonomous navigation control processing unit 4 acquires, for example, detection data detected by the triaxial geomagnetic sensor 3a and the triaxial acceleration sensor 3b at a predetermined sampling period, and the movement of the position matching device 100 from these detection data. The direction and amount of movement are calculated.
Specifically, the autonomous navigation control processing unit 4 includes a change direction detection unit 4a, a movement direction estimation unit 4b, and a movement amount detection unit 4c.

The change direction detection unit (first detection means) 4a sequentially detects the change direction of the position where the apparatus main body exists.
Specifically, the change direction detection unit 4a detects the change direction of the position where the apparatus main body exists every unit time (for example, 1 second). For example, the change direction detection unit 4a extracts a specific output fluctuation pattern that appears in the output of the triaxial geomagnetic sensor 3a, and the position of the apparatus main body after a unit time changes with respect to the position of the apparatus main body at the reference time. The detected direction is detected as a change direction vector.
Note that the change direction detection method described above is an example and is not limited to this, and can be arbitrarily changed as appropriate. For example, a result of GPS positioning may be used. Further, a time measuring unit (not shown) may be used for time measurement.

The movement direction estimation unit (estimating means) 4b estimates the movement direction of the apparatus main body based on the change directions sequentially detected by the change direction detection unit 4a.
Specifically, the movement direction estimation unit 4b integrates a predetermined number (for example, five) of change directions detected within a predetermined time range (for example, five seconds) by the change direction detection unit 4a. Estimate the direction of movement of the device body. For example, when estimating the movement direction of the apparatus main body at the time point t, the movement direction estimation unit 4b uses each of the predetermined number of change direction vectors detected by the change direction detection unit 4a within a predetermined time range with respect to the time point t. A unit vector is calculated, and a combined vector (unit vector) of the calculated predetermined number of unit vectors is estimated as the movement direction of the apparatus main body at time t.
Here, the predetermined time range with respect to the time point t includes, for example, a predetermined time range up to the time point t, a predetermined time range from the time point t, and a predetermined time range between which the time point t is sandwiched. A predetermined time range may be mentioned.
The moving direction estimation method described above is an example and is not limited to this, and can be arbitrarily changed as appropriate. For example, a result of GPS positioning may be used.

Further, the 5 seconds exemplified as the predetermined time range is an example and is not limited to this, and can be arbitrarily changed in consideration of the topography of the road on which the apparatus main body moves.
That is, for example, when moving on a road with a slope, the user may move in a zigzag manner using a large road width in order to reduce the load without moving along the extending direction of the road. Therefore, for example, the number of change direction vectors used for estimating the moving direction may be increased or decreased by adjusting the length of the predetermined time range based on the atmospheric pressure detected by the atmospheric pressure sensor 3c.

The movement amount detection unit (second detection means) 4c sequentially detects the movement amount of the apparatus main body.
That is, the movement amount detection unit 4c calculates the movement amount of the apparatus main body based on, for example, a detection result by the triaxial acceleration sensor 3b. Specifically, the movement amount detection unit 4c specifies an acceleration component related to the arm swing of the arm to which the apparatus main body is attached from the output of the triaxial acceleration sensor 3b, and determines the number of arm swings based on the change of the acceleration component. And the amount of movement of the apparatus main body is calculated by multiplying the calculated number of steps by preset step length data.
The movement amount detection unit 4c may calculate the movement amount in the height direction from the change in the output value of the atmospheric pressure sensor 3c.

  Furthermore, the autonomous navigation control processing unit 4 uses the calculated moving direction and moving amount as the relative position data of the position of the apparatus main body immediately before the detection data is acquired (for example, a GPS-based reference point). Temporary position data, which is a positioning result of autonomous navigation, is calculated by adding simple vector data. That is, the autonomous navigation control processing unit 4 continuously detects the movement direction and movement amount of the apparatus main body, and for example, moves the movement direction and movement of the apparatus main body to the position data of a predetermined point previously measured by the GPS processing unit 2. By integrating the amounts, provisional position data of each point where the apparatus main body exists is calculated.

The position collation unit 5 collates the position of the apparatus main body on the road of the map database 6c.
That is, the position verification unit (verification unit) 5 is based on the position data obtained from the GPS processing unit 2 or the autonomous navigation control processing unit 4 and the movement direction of the apparatus body estimated by the movement direction estimation unit 4b. The position where the apparatus main body exists is specified, and collation is performed on the road of the map stored in the data storage unit 5.
Specifically, the position matching unit 5 includes a moving direction determination unit 5a and a position specifying unit 5b.

The movement direction determination unit (determination means) 5a determines whether or not the movement direction of the apparatus main body estimated by the movement direction estimation unit 4b is within a predetermined angle range based on the road extending direction.
Specifically, the position collation unit 5 collates the position data of the point where the apparatus main body exists at the time t obtained from the GPS processing unit 2 or the autonomous navigation control processing unit 4 on the road of the map database 6c, for example. The temporary point where the apparatus main body exists at the time point t and the extending direction of the road including the temporary point are specified. The movement direction determination unit 5a then forms an angle between the movement direction (unit vector) of the apparatus main body at the time point t estimated by the movement direction estimation unit 4b and the road extending direction including the temporary point of the apparatus main body at the time point t. Is calculated, and it is determined whether or not the calculated angle is within a predetermined angle range.

The position specifying unit (specifying unit) 5b specifies a position where the apparatus main body exists based on the movement direction of the apparatus main body estimated by the movement direction estimating unit 4b.
In other words, the position specifying unit 5b is estimated by the movement direction estimation unit 4b when the movement direction determination unit 5a determines that the movement direction of the apparatus main body is within a predetermined angle range based on the road extending direction. Based on the movement direction of the device main body, the position where the device main body exists is specified. Specifically, the position specifying unit 5b determines the position of the apparatus main body based on the movement direction of the apparatus main body estimated by the movement direction estimation unit 4b and the movement amount of the apparatus main body detected by the movement amount detection unit 4c. Is identified.
For example, the position specifying unit 5b calculates the distance between the position of the temporary location where the apparatus main body exists at the time t and the position where the apparatus main body exists after a unit time has elapsed from the time t (for example, time t + 1 (s)). Then, based on the calculated distance and the movement direction (unit vector) of the apparatus main body at the time t estimated by the movement direction estimation section 4b, the position specifying unit 5b determines the position of the apparatus main body after the unit time has elapsed from the time t. Identify the existing location.

  And the position collation part 5 collates the position where the apparatus main body exists after unit time progress from the time t specified by the position specific | specification part 5b on the road of the map database 6c, and corrects the position where an apparatus main body exists. Specifically, for example, the position matching unit 5 calculates a point that is the shortest distance from the position of the apparatus main body at the time point t + 1 (s) on the road of the map database 6c, and calculates the calculated point at the time point t + 1 (s ) Is specified as the position of the apparatus main body.

The data storage unit 6 is composed of, for example, a non-volatile memory and stores control data 6a for position measurement, movement history data 6b, a map database 6c, and the like.
Is remembered.

  The control data 6a is position measurement data necessary for the positioning process for acquiring the position data of each point on the moving route. That is, as the control data 6a, for example, the position data obtained by GPS positioning or the autonomous navigation positioning from the reference point (for example, the start point Ps) where the latest GPS positioning was performed to the current position are obtained. Examples include a total movement amount and stride data representing an average stride preset and input by the user.

In the movement history data 6b, a series of position data acquired by the positioning process when the apparatus main body is moved is sequentially registered. That is, in the positioning processing, the position data of each point measured by GPS positioning or autonomous navigation positioning is acquired, and the movement history data 6b is formed by collating on the road of the map database 6c by the position collation unit 5.
The movement history data 6b includes, for example, an index number “No.” indicating the acquisition order of position data, time data indicating the time when the position data is acquired, and the like, accompanying the series of position data. It is supposed to be registered.

In the map database 6c, for example, map data for displaying a map within a predetermined range on the display unit 7 is stored in association with the position coordinates. That is, the map database 6c includes address information such as administrative divisions and addresses such as prefectures and municipalities, map data representing information on buildings, facilities, stores, parks, railways, topographic information, road information, etc., latitude, longitude Are associated with coordinate information such as altitude.
The map database 6c described above is an example and is not limited to this, and the contents of information stored in the database can be arbitrarily changed as appropriate.
As described above, the data storage unit 6 constitutes a storage unit that stores a map including a road.

  The display unit 7 is a liquid crystal display panel, for example, and reads image data for display such as various types of information and images and displays them on the display screen.

  The operation input unit 8 inputs various instructions to the position verification apparatus 100 main body based on a predetermined operation by the user. Specifically, the operation input unit 8 includes, for example, a power button, up / down / left / right cursor buttons, a determination button (all not shown), and the like.

<Positioning process>
Next, position collation processing by the position collation apparatus 100 of the present embodiment will be described with reference to FIG.
FIG. 2 is a flowchart illustrating an example of an operation related to the position matching process.
In the position matching process described below, autonomous navigation positioning by the autonomous navigation control processing unit 4 is always performed when the apparatus body moves, while GPS positioning by the GPS processing unit 2 is performed at predetermined time intervals. To be done.

  As shown in FIG. 2, first, the autonomous navigation control processing unit 4 continuously detects the movement direction and amount of movement of the apparatus main body, and the position data of the predetermined position determined by the GPS processing unit 2 is stored in the position data of the apparatus main body. By integrating the moving direction and the moving amount, temporary position data of each point where the apparatus main body exists is calculated by the autonomous navigation positioning process and the GPS positioning process (step S1).

Then, the change direction detection unit 4a of the autonomous navigation control processing unit 4 extracts, for example, a specific output fluctuation pattern that appears in the output of the triaxial geomagnetic sensor 3a, and unit time with respect to the position where the apparatus main body exists at the reference time point. The direction in which the position of the apparatus main body after the change has changed is detected as a change direction vector (step S2).
Next, the movement direction estimation unit 4b determines whether a predetermined number (for example, five) of change direction vectors corresponding to a predetermined time range (for example, five seconds) is detected by the change direction detection unit 4a. (Step S3). If it is determined that a predetermined number of change direction vectors corresponding to the predetermined time range have not been detected (step S3; NO), the CPU of the central control unit 1 returns the process to step S2, and Similarly, the change direction detector 4a detects the change direction vector every unit time (for example, 1 second) (step S2).

  On the other hand, when it is determined in step S3 that a predetermined number of change direction vectors corresponding to the predetermined time range have been detected (step S3; YES), the moving direction estimation unit 4b uses, for example, the time point t as a reference. Each unit vector of a predetermined number of change direction vectors detected by the change direction detection unit 4a within a predetermined time range is calculated, and the combined vector (unit vector) is estimated as the movement direction of the apparatus main body at time t (step) S4).

  Next, the movement direction determination unit 5a of the position matching unit 5 determines whether or not the movement direction of the apparatus body estimated by the movement direction estimation unit 4b is within a predetermined angle range with reference to the road extending direction. Is determined (step S5). Specifically, for example, the position matching unit 5 determines, based on the temporary position data of the point where the apparatus main body exists at the time t, the extension of the road including the temporary point where the apparatus main body exists at the time t and the temporary point. Identify the direction. Thereafter, the movement direction determination unit 5a makes an angle between the movement direction (unit vector) of the apparatus main body at the time t estimated by the movement direction estimation unit 4b and the extending direction of the road including the temporary point of the apparatus main body at the time t. Is within a predetermined angle range.

When it is determined in step S5 that the moving direction of the apparatus main body is within a predetermined angle range based on the extending direction of the road (step S5; YES), the position specifying unit 5b of the position matching unit 5 Based on the movement direction of the apparatus main body estimated by the movement direction estimation unit 4b, the position of the apparatus main body after the unit time has elapsed from time t is specified (step S6).
And the position collation part 5 collates the position where the apparatus main body exists after unit time progress from the time t specified by the position specific | specification part 5b on the road (for example, road) of the map database 6c, and the apparatus main body exists. The position is corrected (step S7).
The corrected position data of the position of the apparatus main body is output to the data storage unit 6 and registered in the movement history data 6b.

  On the other hand, when it is determined in step S5 that the moving direction of the apparatus main body does not exist within a predetermined angle range based on the extending direction of the road (step S5; NO), the CPU of the central control unit 1 The process is returned to step S1, and the temporary position data of each point where the apparatus main body exists is calculated by the autonomous navigation positioning process and the GPS positioning process in the same manner as described above (step S1).

  By repeatedly executing each of the above processes when the apparatus main body is moved, the position of the apparatus main body is associated with the road in the map database 6c.

As described above, according to the position verification apparatus 100 of the present embodiment, the direction of change of the position where the apparatus body exists is sequentially detected, and the movement direction of the apparatus body is estimated based on the predetermined number of detected change directions. Therefore, even when the user moves zigzag without moving along the extending direction of the road, it is possible to appropriately estimate the moving direction of the apparatus body using the predetermined number of change directions detected sequentially. It can be carried out. That is, in order to prevent the map database 6c from having a large capacity, if the road width of the road information in the map database 6c is narrower (thinner) than the actual road width, the user (device) If the main body) moves in a zigzag manner using a wide road width, the position of the apparatus main body may be off the road. Therefore, the movement direction of the apparatus main body can be grasped globally using a predetermined number of change directions detected sequentially, so that the movement direction can be estimated appropriately. Specifically, the change direction of the position where the apparatus main body exists can be detected every unit time, and the movement direction of the apparatus main body can be appropriately estimated based on the change direction detected within a predetermined time range.
Then, based on the estimated movement direction of the apparatus main body, the position where the apparatus main body exists can be specified appropriately. At this time, when it is determined that the movement direction of the apparatus main body is within a predetermined angle range based on the extending direction of the road, the position of the apparatus main body is specified based on the estimated movement direction. By using the determination result of whether or not the moving direction of the apparatus main body is within a predetermined angle range with respect to the extending direction of the road, the position where the apparatus main body exists can be properly specified. . In addition to the estimated movement direction of the apparatus main body, the position of the apparatus main body can be specified more appropriately by using the amount of movement of the apparatus main body that is sequentially detected.
The movement path of the apparatus main body can be appropriately specified by checking the position of the apparatus main body thus identified on the road of the map database 6c and correcting the position of the apparatus main body.

The present invention is not limited to the above-described embodiment, and various improvements and design changes may be made without departing from the spirit of the present invention.
For example, in the above-described embodiment, it is determined whether or not the moving direction of the apparatus main body is within a predetermined angle range based on the extending direction of the road. It is not necessary to perform the above, and whether or not the moving direction determination unit 5a is provided can be arbitrarily changed as appropriate.

  Further, in the above embodiment, the movement amount of the apparatus main body is used for specifying the position where the apparatus main body exists. However, the movement amount of the apparatus main body is not necessarily used, and is not necessarily used. Whether or not the amount detection unit 4c is provided can be arbitrarily changed as appropriate.

  Further, the movement amount detection unit 4c is configured to detect the movement amount in the height direction. For example, when climbing a steep slope, the movement amount detection unit 4c is likely to move in a zigzag manner. If the amount of movement is greater than or equal to a predetermined value, the position of the device body is corrected on the road, while if the amount of movement in the height direction is less than or equal to the predetermined value, it is outside the predetermined range from the road. If there is, it may be determined to be free space.

  Furthermore, the configuration of the position verification device 100 is only an example of the configuration described in the above embodiment, and is not limited thereto. For example, only the GPS positioning may be performed by the GPS processing unit 2 without the autonomous navigation control processing unit 4, and conversely, the autonomous navigation positioning processing by the autonomous navigation control processing unit 4 without the GPS processing unit 2. You may make it perform only.

In addition, in the above embodiment, the functions as the detection unit, the estimation unit, and the collation unit are controlled under the control of the CPU of the central control unit 1, the change direction detection unit 4 a, the movement direction estimation unit 4 b, and the position collation. Although the configuration realized by driving the unit 5 is not limited thereto, the configuration may be realized by executing a predetermined program or the like by the central control unit 1.
That is, a program including a detection processing routine, an estimation processing routine, and a collation processing routine is stored in a program memory (not shown) that stores the program. Then, the CPU of the central control unit 1 may be caused to function as means for sequentially detecting the change direction of the position of the apparatus main body by the detection processing routine. Further, the CPU of the central control unit 1 is caused to function as means for setting the direction obtained by integrating the change directions detected within the predetermined time range as the moving direction within the predetermined time range of the apparatus main body by the estimation processing routine. May be. Further, the CPU of the central control unit 1 may be made to function as means for collating on the road of the map by specifying the position where the apparatus main body exists based on the moving direction by the collation processing routine.

  Similarly, the determination unit, the identification unit, and the second detection unit may be realized by executing a predetermined program or the like by the CPU of the central control unit 1.

  Furthermore, as a computer-readable medium storing a program for executing each of the above processes, a non-volatile memory such as a flash memory or a portable recording medium such as a CD-ROM is applied in addition to a ROM or a hard disk. Is also possible. A carrier wave is also used as a medium for providing program data via a predetermined communication line.

Although several embodiments of the present invention have been described, the scope of the present invention is not limited to the above-described embodiments, but includes the scope of the invention described in the claims and equivalents thereof.
The invention described in the scope of claims attached to the application of this application will be added below. The item numbers of the claims described in the appendix are as set forth in the claims attached to the application of this application.
[Appendix]
<Claim 1>
Storage means for storing a map including a road;
First detection means for sequentially detecting the direction of change of the position of the apparatus body;
An estimation unit that sets a direction obtained by integrating the change directions detected by the first detection unit within a predetermined time range as a moving direction of the apparatus main body within the predetermined time range;
Based on the moving direction, the position where the device main body exists is specified, and collation means for collating on the road of the map stored in the storage means;
A position matching device comprising:
<Claim 2>
The first detection means further detects the direction of change of the position of the apparatus main body for each unit time,
The estimation means further uses a direction obtained by integrating the change directions detected within a predetermined time range by the first detection means as a moving direction of the apparatus main body within the predetermined time range. The position verification apparatus according to claim 1.
<Claim 3>
Determining means for determining whether or not the moving direction is within a predetermined angle range based on the extending direction of the road;
Specifying means for specifying a position of the apparatus main body based on the movement direction when the determination means determines that the movement direction of the apparatus main body is within the predetermined angle range. The position collation apparatus according to claim 1 or 2, characterized in that:
<Claim 4>
A second detecting means for sequentially detecting the movement amount of the apparatus main body;
The specifying means is:
The position collation apparatus according to claim 3, wherein a position where the apparatus main body exists is specified based on the movement direction and the movement amount detected by the second detection unit.
<Claim 5>
The second detection means further detects the amount of movement in the height direction of the apparatus body sequentially,
The collating unit specifies a position of the apparatus main body based on the moving direction when the moving amount in the height direction within the predetermined time range is equal to or greater than a predetermined value, and is stored in the storage unit. The position collation apparatus according to claim 4, wherein collation is performed on a road of a map.
<Claim 6>
A position matching method using a position matching device that stores a map including a road,
A process of sequentially detecting the direction of change of the position of the device body;
A process in which a direction obtained by integrating the change directions detected within a predetermined time range is set as a moving direction of the apparatus main body within the predetermined time range;
Based on this moving direction, the position where the device main body exists is specified, and the verification on the road of the map;
A position matching method comprising:
<Claim 7>
A computer of a location verification device that stores a map including a road,
Detecting means for sequentially detecting the direction of change of the position of the apparatus body;
An estimation unit that sets a direction obtained by integrating change directions detected within a predetermined time range as a moving direction of the apparatus main body within the predetermined time range;
Based on the moving direction, a collation means for identifying the position of the apparatus main body and collating on the road of the map;
A program characterized by functioning as

DESCRIPTION OF SYMBOLS 100 Position collation apparatus 1 Central control part 2 GPS processing part 3 Sensor part 4 Autonomous navigation control processing part 4a Change direction detection part 4b Movement direction estimation part 4c Movement amount detection part 5 Position collation part 5a Movement direction determination part 5b Position specification part 6 Data storage unit 6c Map database

Claims (7)

Storage means for storing a map including a road;
First detection means for sequentially detecting the direction of change of the position of the apparatus body;
An estimation unit that sets a direction obtained by integrating the change directions detected by the first detection unit within a predetermined time range as a moving direction of the apparatus main body within the predetermined time range;
Based on the moving direction, the position where the device main body exists is specified, and collation means for collating on the road of the map stored in the storage means;
A position matching device comprising: The first detection means further detects the direction of change of the position of the apparatus main body for each unit time,
The estimation means further uses a direction obtained by integrating the change directions detected within a predetermined time range by the first detection means as a moving direction of the apparatus main body within the predetermined time range. The position verification apparatus according to claim 1. Determining means for determining whether or not the moving direction is within a predetermined angle range based on the extending direction of the road;
Specifying means for specifying a position of the apparatus main body based on the movement direction when the determination means determines that the movement direction of the apparatus main body is within the predetermined angle range. The position collation apparatus according to claim 1 or 2, characterized in that: A second detecting means for sequentially detecting the movement amount of the apparatus main body;
The specifying means is:
The position collation apparatus according to claim 3, wherein a position where the apparatus main body exists is specified based on the movement direction and the movement amount detected by the second detection unit. The second detection means further detects the amount of movement in the height direction of the apparatus body sequentially,
The collating unit specifies a position of the apparatus main body based on the moving direction when the moving amount in the height direction within the predetermined time range is equal to or greater than a predetermined value, and is stored in the storage unit. The position collation apparatus according to claim 4, wherein collation is performed on a road of a map. A position matching method using a position matching device that stores a map including a road,
A process of sequentially detecting the direction of change of the position of the device body;
A process in which a direction obtained by integrating the change directions detected within a predetermined time range is set as a moving direction of the apparatus main body within the predetermined time range;
Based on this moving direction, the position where the device main body exists is specified, and the verification on the road of the map;
A position matching method comprising: A computer of a location verification device that stores a map including a road,
Detecting means for sequentially detecting the direction of change of the position of the apparatus body;
An estimation unit that sets a direction obtained by integrating change directions detected within a predetermined time range as a moving direction of the apparatus main body within the predetermined time range;
Based on the moving direction, a collation means for identifying the position of the apparatus main body and collating on the road of the map;
A program characterized by functioning as

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