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WO2004011881A1 - Appareil d'estimation de la position d'un corps en deplacement, procede et programme d'estimation de la position - Google Patents

Appareil d'estimation de la position d'un corps en deplacement, procede et programme d'estimation de la position Download PDF

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Publication number
WO2004011881A1
WO2004011881A1 PCT/JP2002/007559 JP0207559W WO2004011881A1 WO 2004011881 A1 WO2004011881 A1 WO 2004011881A1 JP 0207559 W JP0207559 W JP 0207559W WO 2004011881 A1 WO2004011881 A1 WO 2004011881A1
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WIPO (PCT)
Prior art keywords
landmark
information
estimating
input
moving object
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2002/007559
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English (en)
Japanese (ja)
Inventor
Yoshiharu Maeda
Kuniharu Takayama
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Fujitsu Ltd
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Fujitsu Ltd
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Publication date
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Priority to JP2004524077A priority Critical patent/JP4037866B2/ja
Priority to PCT/JP2002/007559 priority patent/WO2004011881A1/fr
Publication of WO2004011881A1 publication Critical patent/WO2004011881A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Definitions

  • the present invention relates to a position estimating apparatus, a position estimating method, and a position estimating program for estimating a current position of a pedestrian (pedestrian) outdoors or indoors, and particularly to a satellite positioning system such as a GPS.
  • TECHNICAL FIELD The present invention relates to a position estimating device, a position estimating method, and a position estimating program for a mobile object capable of accurately and reliably estimating the position of the mobile object without performing.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • GPS a network-assisted GPS that enables more sensitive and high-speed positioning by supplying information necessary for positioning to the terminal using communication means such as a mobile phone.
  • a base station system that uses a base station ID and terminal-side electric field strength to perform positioning within a PHS (Personal Handyphone System) or mobile phone base station.
  • the base station system includes a single base station system using one base station and a multiple base station system using a plurality of base stations to improve accuracy.
  • Hybrid method using GPS and base station information (7) Install the device in a location where the location is known in advance, and when the device carried by the moving object approaches the installation location, the location is determined by interacting with the device installed in this installation location. The method to identify.
  • a wireless tag system that carries a position by carrying a wireless tag (radio frequency tag) to the mobile object to be positioned, sending a signal to the wireless tag, and receiving a response.
  • a base station system such as PHS is used.
  • PHS position measurement
  • the robot's sensor type (camera, ultrasonic sensor, infrared sensor, etc.)
  • the learning function to select and set the corners and desks of pillars that originally exist in the work environment.
  • it is necessary to use multiple ( (3 or more) must be detected by a sensor, which complicates control related to position estimation.
  • the present invention has been made to solve the above-described problems of the conventional technology, and does not use radio waves from satellites for position measurement as in a satellite positioning system such as a GPS, but as in self-contained navigation.
  • the position of a moving object that does not require a speed sensor or azimuth sensor, does not require special positioning equipment, and can estimate the user's position based on surrounding landmark information input by the user. It is intended to provide an estimating device, a position estimating method, and a position estimating program.
  • the present invention provides a position estimating apparatus for a moving object that estimates a current position and a moving position of a moving object such as a pedestrian, wherein the moving object is recognized as a landmark.
  • Input means for inputting a landmark to be performed as landmark information; a landmark database in which positions and attributes of the landmark information are stored in advance; landmark information input by the input means; and the landmark database
  • Position estimating means for estimating the current position of the moving object based on the landmark information stored in the moving object; and guidance information generation for generating guidance information based on the position information of the moving object estimated by the position estimating means.
  • Means, and output means for outputting the guide information.
  • the present invention also relates to a method for estimating a current position and a moving position of a moving object such as a pedestrian, the method comprising: estimating a landmark recognized by the moving object as a landmark as landmark information.
  • a guidance information output step of outputting the guidance information to the moving body.
  • the present invention is also a moving object position estimating program for estimating a current position and a moving position of a moving object such as a pedestrian, wherein the landmark information is input as landmark information.
  • An input step a landmark database in which positions and attributes of the landmark information are stored in advance, landmark information input in the landmark information input step, and landmark information stored in the landmark database.
  • a guidance information output step of outputting to the body is performed by a computer.
  • a landmark recognized by a pedestrian is input as landmark information in the landmark information input step, and the input landmark information and the landmark database are input in the position estimation step.
  • the guide information generation step generates guide information based on the estimated position, and the guide information generated by the guide information output step is output. Therefore, since radio waves from satellites are not used for position measurement unlike the satellite positioning system, even if the radio wave cannot be received, such as in an underground mall or inside a building, it is accurate and reliable for pedestrians (users). Can provide location estimation information.
  • FIG. 1 is a functional block diagram showing a configuration of a mobile object position estimating apparatus according to the first embodiment
  • FIG. 2 is a flowchart showing a processing procedure of a mobile object position estimating method.
  • Fig. 3 is a diagram (field) showing an example of landmark arrangement
  • Fig. 4 is Fig. 5 is a diagram showing an example of landmark arrangement (underground shopping mall).
  • Fig. 5 is a diagram for inputting landmark information by voice and free text format.
  • Fig. 6 is a text input of landmark information.
  • FIG. 7 is a diagram showing an example of a screen of an input format for each item
  • FIG. 8 is a diagram showing an example of a screen of a candidate selection input format
  • FIG. 10 is a diagram showing a display example of a screen when advance information on a position is available.
  • Fig. 10 is a diagram showing the configuration of a landmark database.
  • Fig. 11 is a landmark network structure.
  • Fig. 12 shows the landmark network structure (in the case of an underground shopping mall).
  • Fig. 13 shows the position estimation operation of the moving object by the position estimation device.
  • FIG. 14 is a diagram showing an example of a search processing result
  • FIG. 15 is a flowchart showing a processing procedure using a screen display for input and output
  • FIG. FIG. 17 is a follow chart showing a processing procedure using voice for input / output
  • FIG. 17 is a follow chart showing a spatial condition matching processing procedure
  • FIG. 18 is a follow chart showing a user position determination processing procedure
  • Fig. 19 is a diagram showing a display example of a user inquiry screen for narrowing down landmarks and sets
  • Fig. 20 is a display example of a user inquiry screen for fixing landmark sets.
  • FIG. 21 is a diagram showing a display example of an inquiry screen for a user for limiting an estimated position.
  • FIG. 22 is a diagram showing a position estimation process using a positional relationship.
  • Figure 23 shows the book It is a functional block diagram showing a configuration of a position estimation device of the vehicle according to the facilities of the second embodiment.
  • a mobile object position estimating apparatus is a mobile phone “PHS (Personal Handyphone System)” 80 or an information communication terminal apparatus “PDA (Personal Digital Assistants)” 90.
  • PHS Personal Handyphone System
  • PDA Personal Digital Assistants
  • FIG. 1 is a functional block diagram showing a configuration of a mobile object position estimating apparatus according to the first embodiment.
  • FIG. 2 is a flowchart showing a processing procedure of a method for estimating a position of a moving object according to the first embodiment.
  • the position estimating device 1 includes an input means 10 for inputting a landmark recognized by a moving object (pedestrian) as a landmark as landmark information, and a position and an attribute of the landmark in advance.
  • a position estimation means 3 for estimating the position of the moving object based on the stored landmark database 20 and the landmark information input by the input means 10 and the landmark information stored in the landmark database 20
  • guidance information generating means 40 for generating guidance information based on the position information estimated by the position estimating means 30, and output means 50 for outputting the generated guidance information.
  • the control unit 35 has a function as a controller that performs overall control of the position estimation device 1.
  • Reference numeral 60 denotes input / output control means for controlling input / output by the input means 10 and the output means 50.
  • 70 is a communication I having a function as a communication interface.
  • the method of estimating the position of the moving object is roughly divided into (1) a landmark information input step (step S210), and (2) a position estimation step (step S211) (step S211). 3) Guide information generation step (Step S212) (4) Guide information output step (Step S213).
  • landmarks recognized by pedestrians (moving objects) as landmarks are input as landmark information in the landmark information input step.
  • the location is estimated, and guidance information is generated based on the estimated position in the guidance information generation process.
  • the information is generated, and the guidance information generated by the guidance information output step is output to the pedestrian.
  • guidance information is displayed on the display screen 91 (Fig. 6) of the PDA 90.
  • a landmark means "a landmark, such as a mountain or high-rise building, that is visually prominent in a certain area, or a landmark for finding a destination.”
  • the above-mentioned meaning is expanded and defined as "what can be used by a person to specify (describe) a place or a position, which is visible in a certain place.”
  • landmarks Specifically, the following are called landmarks.
  • Buildings For example, buildings, dwellings, towers, chimneys, castles, stations, walls, etc.
  • Transportation facilities intersections, traffic lights, pedestrian crossings, pedestrian bridges, pedestrian crossings, signs, railroad crossings, railway tracks, overpasses, bridges, etc. Others include signboards, statues, landmark plants, postal bosses, and telephone boxes.
  • Fig. 3 shows an example of the layout of landmarks specified as landmarks in the field.
  • buildings white buildings, round buildings, etc.
  • florists bakeries, intersections, parks, parking lots, houses, police stations, etc.
  • a to D represent estimated positions of pedestrians (users).
  • Fig. 3 landmarks are taken as examples in the open air. However, landmarks that can be used to locate people (mobiles) in underground shopping centers or buildings (for example, stairs) , Stores, doors, elevators, entrances, etc.) can be used as landmarks.
  • Fig. 4 shows an example of an underground shopping mall, not an open-air area, where stores (P, Q, R,...), Stairs, and entrances can be specified and used as landmarks.
  • X and Y represent the estimated position of the pedestrian (user).
  • each component in the functional block diagram of the position estimation device will be described. explain about.
  • the input means 10 has an input function for inputting landmark information by a moving body (hereinafter, the moving body is referred to as a “user”).
  • This landmark information can be input using input methods used in ordinary information equipment, such as voice input, button input, keyboard input, pen input, touch panel input, and image input.
  • the landmark information input by the user through the input means 10 is information relating to a certain landmark which is visible to the user around the user and includes information having the following items (1) to (4). It is. However, not all items are required to be input for one landmark, only the items that can be input are input.
  • Landmark classification for example, buildings, stores, houses, police boxes, stations, bridges, pedestrian bridges, telephone boxes, post boxes, traffic lights, mountains, and rivers.
  • This classification can also be configured to have a hierarchical structure, such as a large classification, a middle classification, and a small classification. In this case, the classification power is simplified and the convenience can be improved.
  • Landmark specific names such as Tokyo Tower, Makuhari Laboratory Building, and Makuhari Station Crossing.
  • landmark features are used as items, and features such as the color, shape, and size of landmarks can be used as items.
  • landmark features include white color, slender / round shape, large size, red roof, and many windows.
  • the positional relationship is an item, and the positional relationship is the position information of landmarks viewed from the user and the arrangement information between landmarks.
  • the position information of the landmark as seen from the user is the distance information such as near / far / next / front / opposite / opposite, or 10 m from the landmark, and the direction such as the landmark being north. Information.
  • the arrangement information between landmarks is, for example, that one landmark is Information related to the location between landmarks, such as next to a landmark or on the other side of a road.
  • Information related to the location between landmarks, such as next to a landmark or on the other side of a road.
  • the user can input the information.
  • Information are not information of individual landmarks, but can be regarded as common information of surrounding landmarks.
  • the input formats of landmark information include the following (1) to (3).
  • Free text input format which includes voice input and text input.
  • Speech input is a spoken input method. For example, you can input by voice such as "In front of you, there is a large white building in the north, next to a florist.”
  • free text can be input as text using a keyboard or pen.
  • FIG. 5 shows an example in which the landmark information is input by voice using the PHS80 (in free text format). This example shows that a person would say "There is a large white building in the north in front of you, and there is a florist next to you. There is a post box in front of the florist.”
  • FIG. 6 shows an example of a screen in which landmark information is input by text input (free text format) using PDA90.
  • the text input "A large white building in front of you in the north and a flower shop next to it. There is a post box in front of the flower shop.”
  • 91 is a display screen of the PDA 90
  • 92 is an OK key for setting an input
  • 93 is a cancel key for canceling the setting.
  • FIG. 7 shows an item-by-item input screen displayed on the display screen 91 of the PDA 90.
  • the item-by-item input screen includes the following five categories: category 1, category 2, name, feature, and positional relationship. It has two fields.
  • the input screen is a screen for inputting landmark information that can be seen around you. You can input information corresponding to each item using keyboard input or pen input.
  • FIG. 8 shows an item-specific screen having a pull-down setting function (candidate selection input format), in which category 2 input can be selected from items in the bundle menu.
  • the pull-down menu contains items such as convenience stores, gas stations, florists, and bookstores. Input is made by selecting one of these items. This example indicates that a bookstore was set as category 2.
  • the input means 10 displays a list of nearby landmarks using the advance information, and allows the user to select an item from this list. Can be.
  • FIG. 9 is a display example when the prior information regarding the position can be used, and the prior information setting screen is displayed.
  • the case where the advance information on the current position of the user can be used refers to the case where the position is previously estimated and the previous location is known, and the case where the user has rough information of the current position based on the area name or the like. Is given. In this example, a bakery with a landmark nearby is set on the opposite side of the road.
  • the landmark database 20 is a database that stores landmark information that can be recognized as landmarks in advance.
  • FIG. 10 shows an example of the configuration of the landmark database 20.
  • there are nine items of management data contents such as ID, name, classification (1, 2), address, latitude and longitude, layout, characteristics, and other items.
  • the data items of the landmark database 20 are as follows. That is, (1) ID is a number / symbol that can identify landmark data, and indicates, for example, “1 2 3 4”. (2)
  • the name is the unique name of the landmark. For example, the unique names are Tokyo Tower, Makuhari Laboratory Building, and Makuhari Station Crossing.
  • Classification is the type (category) of a landmark. An example For example, buildings, stores, houses, police boxes, stations, bridges, pedestrian bridges, railroad crossings, telephone boxes, post boxes, intersections, traffic lights, mountains, and rivers.
  • a classification method for example,
  • the versatility as data can be improved.
  • the address is the address of the landmark. For example, it indicates Chiba Prefecture, Chiba Prefecture.
  • the longitude and latitude are the longitude and latitude of the landmark location. For example, east longitude 13.91.234, north latitude 3.8.1234.
  • the arrangement is the arrangement (positional relationship) between landmarks. For example, landmark A is 10 meters northeast of landmark B. The details of this arrangement will be described later.
  • Features are features that represent the color, shape, size, etc. of landmarks. For example, it shows white, large, many windows, and pictures on the wall.
  • FIGS. 11 and 12 show the landmark arrangement examples shown in FIGS. 3 and 4, respectively, where landmarks are used as nodes and nearby landmarks are connected with links. It is networked.
  • the placement data is data related to the landmark's network link, and includes the distance and direction between the landmarks connected by the link, and the state between the landmarks (information on what exists between them). For example, the presence or absence of a road, the type of road, etc.).
  • the intersection is also a landmark.
  • a link is established between the intersection and a landmark near the intersection.
  • the 3D model of the landmark (occupied space data in the 3D space) can be stored in the landmark database 20.
  • a certain landmark can be seen from a user at a certain position. Can be determined to be shadowed by other landmarks.
  • the position estimating means 30 has a processing function of estimating the position of the user based on the landmark information input by the input means 10 and the landmark information stored in the landmark database 20. ing.
  • the position estimation processing of the moving object by the position estimating means 30 includes (1) processing for limiting the search range of the landmark based on the prior information of the position of the user (the moving object), and (2) inputting the landmark. Search processing of the landmark database by attributes, (3) matching processing of the spatial conditions of the landmarks in the search results, and (4) determination processing of the user position.
  • FIG. 13 is a flowchart showing a procedure for estimating the position of a moving object by the position estimating apparatus according to the present invention.
  • information (landmark information) about landmarks existing around the object recognized by the user is input (step S3110).
  • a search range of the landmark database 20 based on prior information on the user position is opened.
  • the landmark database 20 is searched according to the input landmark attributes (step S312).
  • step S313 the matching process of the spatial condition with respect to the command mark of the search result is performed (step S313), and then the user position is determined (step S314).
  • step S311) to step S314) are the position estimation steps.
  • guidance information generation processing is performed (step S315), and finally, the generated guidance information is output (step S316).
  • the process of limiting the search range of the landmark database is based on the prior information of the user position, and is the position information process of the user that can be used prior to the position estimation process.
  • the user location advance information can be used when the result of the previously performed location estimation processing is held. For example, if the position estimation processing is performed 10 minutes before and the result is held, the search range can be limited to an area centered on the estimated position of the previous result. The size of this area can be adjusted according to the user's means of movement. It can also be used when the user inputs rough location information.
  • the user inputs in advance the location information such as the name of the prefecture or the name of the town or village, or the location information such as the name of a shopping street or underground shopping street. can do.
  • This prior position information can also be set in the input means 10 as one of the input items.
  • the position estimating device is incorporated in the PHS 80 or PDA 90 as in the first embodiment, the base station information extracted by the PHS 80 or PDA 90 is used as the advance information of the user position.
  • landmark information can be received using information hotspots for internet connection.
  • the search processing of the landmark database based on the landmark attribute is performed by searching the landmark stored in the landmark database 20 using the attribute information of the landmark existing around the user input by the input means 10 as a search key.
  • the landmark attribute is other than the layout data among the data items stored in the landmark database 20, and includes a name, a classification, an address, a longitude and a latitude, a special ⁇ :, and the like.
  • the landmark database 20 is searched using the input landmark attributes such as name, classification, address, latitude and longitude, and characteristics as keys. Furthermore, when attributes are entered for multiple landmarks, search is performed for each landmark.
  • the landmark database is searched according to the following search conditions (a), (b) and (c). Is performed.
  • the search condition of landmark 3 is (Category-Postbox).
  • a landmark search by name may be executed prior to a search process using the value of another attribute as a key.
  • FIG. 14 is a diagram summarizing search results based on the above search condition examples.
  • the IDs of landmarks hit by the search conditions of landmarks 1, 2, and 3 are “la, lb, lc,...”, “2a, 2b, 2c,...-”, “3a, 3b, 3c, ##.
  • this spatial condition matching process when the user inputs information about multiple landmarks, the spatial conditions of the landmarks match (match) the landmarks in the search result. It is processing to check whether or not.
  • This The matching process is performed using the landmarks [(la, lb, lc,%), (2a, 2b, 2c,%), (3a, 3b, 3c,. )]
  • the combination of landmarks can be represented as a set such as ⁇ la, 2b, 3b ⁇ , ⁇ lc, 2a, 3c ⁇ , for example.
  • these combinations are referred to as landmark sets.
  • the landmark set shall include those with only one landmark, such as ⁇ 2 a ⁇ .
  • the processing for determining the user position includes a search processing from the landmark database 20, a matching processing of a spatial condition for the landmark of the search result, and a landmark that matches the inputted surrounding landmark information. After the set of candidates has been obtained, this is a process for more accurately estimating the position of the user. Details of the user position determination processing will be described later.
  • the guide information generating means 40 has a function of generating various kinds of guide information based on the position of the user estimated by the position estimating means 30.
  • the guidance information generated by the guidance information generation means 40 includes: (1) guidance information for teaching the estimated current position (for example, "You are near ⁇ ⁇ "); The guide information for teaching the route so that the user can reach a place known by the user, and (3) the guide information for giving directions to the destination.
  • This guidance information includes the direction to reach the destination and distance information (arrival information). That is, the guide information generating means 40 can display the current position (a position having a certain area) on the map as one of the guide information. Specifically, assuming that the user's current position can be estimated based on the position estimation affirmation, a map range including the user's current position is selected based on the latitude and longitude of the position and displayed on the terminal. The current position of the user is displayed on the displayed map. Communication function The same applies when downloading map data from the server used.
  • the estimated position of the user is an area, and thus the position of the user on the map is displayed by displaying the user estimated position area on this map.
  • the user may be requested to move so as to facilitate the navigation to determine the current position of the user. Specifically, a move instruction such as "Please move to the place of X" is issued.
  • the output unit 50 has a function of outputting the estimated position estimated by the position estimating unit 30 and the guidance information generated by the guidance information generating unit 40.
  • the output method by the output means 50 includes a text output on a screen using a liquid crystal or the like, an output using voice such as voice synthesis, an output using a map displayed on the screen, and the like.
  • the output means 50 corresponds to the display means 91 of the PDA 90.
  • the output unit 50 can output and display information on the way of the position estimation process by the position estimation unit 30.
  • FIG. 15 shows an operation flowchart in which a screen display is used for input and output. That is, first, it is determined whether or not the advance information of the user position has a predetermined force (Step S510). If there is advance information (Yes at Step S510), the landmark database is used by using the advance information. A list of landmarks recognized in the vicinity is acquired from 20 (step S511). Next, an input screen is displayed using the landmark list that has been insulted (step S513). On the other hand, if there is no prior information on the user position as a result of the determination at step S510 (No at step S510), a landmark input screen indicating that there is no prior information is displayed (step S512).
  • step S514 the user inputs landmark information on the input screen (step S514), and executes position estimation processing based on the landmark information input (step S515).
  • step S515 it is determined whether or not the position of the place has been estimated by (step S516), and the place is estimated by this determination. If it is determined (Yes at Step S516), the estimated position is displayed (Step S517).
  • step S528 it is determined whether or not the ability to generate the guide information is present (step S518).
  • the guide information is generated by this determination, the content of the guide information is displayed (step S519).
  • the position (place) cannot be estimated by the determination in (Step S516) (No in Step S516), the failure of the position estimation is displayed (Step S520), and the position estimation is stopped as it is. In this case (Yes at step S521), the processing is terminated (end).
  • the position estimation is performed again (No at Step S521), the process returns to (Step S510) and the processing procedure is repeated from the beginning.
  • FIG. 16 shows a flowchart of an operation process of using voice for input and output. That is, first, the prior information of the user position determines a certain force (Step S610), and if there is prior information (Yes at Step S610), the landmark is used by using the prior information. A list of landmarks recognized nearby is acquired from the database 20 (step S611). Next, the acquired landmark list is registered as a vocabulary to be recognized (step S612).
  • the user inputs landmark information by voice (step S613), and extracts landmark information by voice recognition using the vocabulary to be recognized by the landmark list (step S614). Then, position estimation processing is performed based on the extracted landmark information (step S615). Next, it is not determined whether or not the force can be used to estimate the position of the place in (Step S616). If the place is estimated by this determination (Yes in Step S616), the estimation is performed.
  • the position is output by voice (step S617). Specifically, this output is a question for the confirmation landmark.
  • step S618 it is determined whether or not to generate guide information. If guide information is to be generated by this determination (step S618: YES), the contents of the guide information are output by voice (step S618). Step S619). Meanwhile, (step If the position (location) cannot be estimated by the judgment in S6 16) (No at Step S6 16), the failure of the position estimation is displayed (Step S620), and the position estimation processing is performed as it is. If the processing is to be stopped (Yes at step S621), the processing is ended (END). On the other hand, if the position estimation processing is to be performed again (No at Step S621), the process returns to (Step S610) and performs the processing procedure again from the beginning.
  • FIG. 17 is a flowchart showing a matching process of the spatial condition in the position estimation processing step shown in FIG. That is, the matching process of this spatial condition includes (1) matching process at distance (step S700), (2) matching process at azimuth (step S711), (3) It consists of each processing step with matching processing (Step S712). Actually, the spatial condition matching process can be performed by combining these processes.
  • Matching processing at this distance checks whether the landmarks in the search results obtained for each of the multiple landmarks are close in distance, and if they do not match, deletes them from the search processing results Processing. Specifically, only matching landmark combinations will remain.
  • the criterion for determining the closeness in distance can be calculated using the height of the landmark or the shape of the landmark (2D or 3D model).
  • this closeness criterion is calculated based on the height of the landmark, for example, a tall landmark such as Tokyo Tower can be used as a landmark from a distance.
  • a tall landmark such as Tokyo Tower can be used as a landmark from a distance.
  • the shape of the landmark it is possible to use the landmark in consideration of the degree of overlap of the building and a wide open section.
  • the distance between landmarks in the search result can be calculated using longitude / latitude or positional relationship data among the data items in the landmark database 20.
  • latitude and longitude use a distance calculation formula based on latitude and longitude.
  • Positional relationship In the case of data, starting from one of the landmarks in the search result, it is checked whether or not the landmarks linked by links are included in the search processing results. For example, a process is performed to check whether or not the landmark “2a, 2b, 2C-J” exists in the landmark linked by the landmark 1a.
  • distance information information related to the distance of the landmark as one of the surrounding landmark information
  • processing is performed to check whether the landmark in the search processing result matches the distance information. . Then, when the user inputs the expression “close, far, etc.” as distance information, it converts them into numerical values (may have a certain range) before performing matching processing by distance.
  • information on the direction of the landmark is input as the surrounding landmark information.
  • it is a process to delete from the search result.
  • it is a process that leaves only the matching landmark sets. For example, if the direction information "Landmark 1 is located north of Landmark 2" is entered, the search results for Landmark 1 (la, lb, ⁇ ' This is a process to check the search results (2a, 2b---) for combinations that are in the north.
  • the matching process in this rooster is performed by using landmarks as surrounding landmark information.
  • the information (arrangement information) about the arrangement between the links is input, it is checked whether the landmarks in the search result match the arrangement information. This is the process of deleting and leaving only the matching landmark sets. For example, if the rooster information "Landmark 1 is next to landmark 2" is entered, search results for landmark 1 (la, lb, Check if there are any combinations next to the search results (2a, 2b, ).
  • the meaning of “to be next to” means that landmarks are truly adjacent to each other or are located close to each other.
  • the distance between the landmarks connected by the link is stored as the positional information data (link) between the landmarks.
  • the distance is stored by the input arrangement information and the link.
  • the landmark database 20 information on what exists between landmarks connected by links, such as the presence or absence of roads, is described as position information data (links) between landmarks. It will be checked whether or not the layout information entered and the layout information described in the link match.
  • the location information “Landmark 1 is at the corner of the intersection” is input, it is linked to the intersection by a link based on the landmark 1 search results (la, lb, ). Check if there is anything that has been done. As described above, in the landmark database 20, the intersection is also set as one of the landmarks. Therefore, in the positional relationship data (link) connecting the intersection and the nearby landmark, the landmark is Where they are stored (stored). As a result, matching between the input arrangement information and the arrangement information described in the link is performed. Can be checked.
  • the user position determination process performs a search process from the landmark database 20 and a matching process of the spatial condition for the landmark of the search result, and finds a landmark set candidate that matches the input surrounding landmark information. This is a process for enabling the position of the user to be more accurately estimated after the is acquired.
  • FIG. 18 is a flowchart showing a user position determination process in the position estimation process step shown in FIG.
  • this user position determination processing includes (1) an inquiry processing to the user for narrowing down the landmark set (step S810), and (2) an inquiry processing to the user to determine the landmark set (step S810). 811), 3 Inquiry process to the user to limit the estimated position (step S812), and 4 Location estimation process using landmark set (step S813) It is configured.
  • the user position can be determined by combining these processes.
  • This processing is performed when there are a plurality of remaining landmark sets as a result of performing the search processing based on the landmark database 20 and the search result matching processing based on the positional relationship information. Specifically, it is a process of narrowing down landmark sets for multiple landmark sets.
  • a link (representing a positional relationship) of the landmark database 20 is entered from a landmark included in the landmark set, and a landmark set is added to the landmark set. It searches for landmarks that are not included, extracts landmarks that can be distinguished from other landmark sets from the searched ones, and asks the user whether or not the extracted landmarks are nearby. This is the process of narrowing down the landmark sets by asking questions.
  • Fig. 19 shows a display example of a user inquiry screen for narrowing down landmark sets. It is. Specifically, a plurality of estimated position candidates are displayed, and a landmark that is closer to the user is selected from among a plurality of catches. In the example shown in Fig. 19, the user checks (selects) a house with a red roof from among postal posts, traffic lights, Makuhari Beikari, red houses, and houses with roofs, which are candidates for multiple estimated positions. Is shown. By this selection, the landmark set can be narrowed down.
  • the landmark set After performing some processing of search processing from the landmark database 20, matching processing of search results based on positional relationship information, and inquiry processing to the user for narrowing down landmark strings, the landmark set is processed. This is the process performed when only one remains. By performing the landmark set confirmation inquiry processing, the accuracy of the landmark set, that is, the position estimation processing precision can be improved.
  • the landmark set finalized inquiring process extracts the landmarks that are not included in the landmark set by using the links of the landmark database 20 from the landmarks that are included in the landmark set, and checks whether the extracted landmarks exist. A question is asked to the user, and the landmark set is determined based on the answer.
  • the extraction of landmarks is performed in consideration of the fact that the landmarks are characteristic landmarks, and that the landmarks included in the landmark set and the extracted landmark power can be formed into a polygon surrounding the user. It is.
  • FIG. 20 is a display example showing a landmark set confirmation inquiry screen. That is, based on the check contents (answers) to the inquiry displayed in FIG. 19, the landmark set is determined on the inquiry screen shown in FIG. In the example shown in Fig. 21, a confirmation message is displayed as to whether or not there is power near the “red roof house” that the user checked last time. If a negative answer is entered in response to this confirmation inquiry, check again with another landmark (post office, traffic light, Makuhari bakery, etc.) linked from the landmark group. ⁇ Re-execute the position estimation process, or report the position estimation failure to the user.
  • Inquiry processing to the user to limit the estimated position is processing to inquire how the landmarks that compose the landmark set look to the user in order to limit the user position that can be estimated from one landmark set. It is. If the landmark information input first is sufficient to limit the estimated position, this processing can be omitted.
  • FIG. 21 is a display example showing a screen for inquiring the user to limit the estimated position.
  • the position is estimated at a place as shown in FIG.
  • the user inputs “a white building and a florist next to it” as surrounding landmark information.
  • the position of the user that can be estimated based on the information of this landmark group is assumed to be in any of the locations near point A, near point B, and near point D in Fig. 11. can do.
  • the process of limiting the estimated position involves inquiring where the white building can be seen (south or north, on the opposite side of the road or on this side).
  • the white building has been answered to the north of the user, on the other side of the road.
  • the current position of the user can be estimated by position estimation processing using the next set of landmarks.
  • the position estimation process using a landmark set is a process for estimating a user position by using one determined landmark set and a user's positional relationship to the landmark set.
  • the position estimated by the position estimating device of the present invention is not, for example, a position of one point represented by latitude and longitude so that positioning can be performed by GPS. This is an estimated area where the user exists.
  • the position estimation processing using this landmark set is performed using information on the positional relationship of the landmarks constituting the determined landmark set as viewed from the user.
  • the information on the positional relationship of landmarks as seen from the pedestrian is based on the value of the positional relationship data in the input landmark information (distance and direction of the landmark as seen from the pedestrian) and the above 3 Inquiries to pedestrians for limitation
  • the values obtained as a result of the processing can be used.
  • FIG. 22 shows an example of a position estimation process using a user's positional relationship with a landmark.
  • the white building can be identified. Further, from the user's perspective, "white building is located in front of the northeast It is assumed that the positional relationship information of “is in the direction” is input. At this time, it can be estimated that the user is in the area centered on the white building (in the figure, the circular area) from the positional relationship of “in front of the eyes”, and the white building is determined from the positional relationship of “northeast”. It can be estimated that the user is in the southwest area of. From both the “front” and “northeast” positional relationships, it can be estimated that the user is at the overlap of the two areas (near point A in Fig. 11).
  • the user's location can be estimated based on the surrounding landmark information input by the user, the user's location can be estimated instead of a single point represented by latitude and longitude by conventional GPS positioning.
  • the area to be estimated eg, in front of ⁇ ⁇ station, in front of DX building, etc.
  • It can also be used as a search system for places that are based on landmarks that can be seen around them, for example, a search system that searches for places that meet the condition that “Tokyo is visible and close to the station”.
  • FIG. 23 is a functional block diagram showing the configuration of the mobile object position estimating apparatus 1a according to the second embodiment, in which the components of the position estimating apparatus 1a are combined with the information communication terminal device 81 and the center server. It is divided into a bus 82 and a bus. That is, as shown in FIG. 23, the information communication terminal 81 includes an input unit 11 for inputting landmark information, an output unit 51 for outputting guide information generated by the guide information generating unit 67, an input / output It has a control unit 16 and a control unit 65.
  • the center server 82 includes a landmark information input by the input means 11, a landmark database 66 previously storing landmark positions and attributes, and a landmark stored in the landmark database 66.
  • Position estimating means 68 for estimating the position based on the information
  • guidance information generating means 67 for generating guidance information based on the position information estimated by the position estimating means 68. ing.
  • the center server 82 has an input means 62, an output means 63, and an input / output control unit 64 as input / output means of a normal personal computer.
  • As the input means 62 a keyboard, a track pole, a mouse, or the like is used.
  • As the output means 63 a computer CRT display or the like is used.
  • the control unit 65 has a function as a controller that performs overall control of the center server 82.
  • Reference numeral 72 denotes a communication I / F having a function as a communication interface, and the communication I / F 72 enables free communication with the communication I / F 71 of the information communication terminal device 81 through a communication medium 73. Has become.
  • the same reference numerals are given to the functional units having the same functions as the respective units shown in FIG. 1, and the detailed description is omitted.
  • the surrounding landmark information is input by the input unit 11, and the input landmark information and the landmark database are input by the position estimating unit 68.
  • the location of the user is estimated using 66, guidance information generating means generates guidance information based on the estimated position, and the output information 51 outputs the generated guidance information.
  • Embodiments 1 and 2 The same effects as those of the mobile object position estimation device 1 and la shown in (1) can be realized using a general computer system.
  • the storage medium refers to a storage medium such as a semiconductor memory, a CD-ROM, a floppy disk, a DVD disk, a magneto-optical disk, a portable storage medium such as an IC card, or a hard disk, and a LAN. It includes a database that holds the model building program of the connected installation source, as well as transmission media on the public line network.
  • a landmark recognized by a user (pedestrian) as a landmark is input as landmark information in the landmark information input step, and the input landmark information and the landmark database are input in the position estimation step.
  • the position of the pedestrian is estimated by using the information, the plan information is generated based on the position estimated by the guidance information generation step, and the guidance information generated by the guidance information output step is output.
  • radio waves from satellites are not used for position measurement, so if the equipment can be used effectively even in underground shopping malls and department stores, it will have an effective effect. It can also be implemented as a route guidance system that provides users, such as pedestrians, with guidance information in places where GPS signals cannot be received, such as in underground malls and buildings.
  • a special device for positioning at a place such as a base station as in the base station system
  • a speed sensor and a direction sensor as in self-contained navigation.
  • This has the effect of being able to be used as a pedestrian navigation system that provides pedestrians with location information and route guidance information.
  • surrounding landmark information is input to the position estimating device provided in the server by voice using a PHS or a mobile phone, so that the estimated position information and the route guidance information to the destination are provided. It can be used for a voice guidance output system, a pedestrian guidance system that cannot use a speed sensor or a direction sensor, a sightseeing spot search system, and a cinematographic I-Keihan support system.
  • the position estimating device, the position estimating method, and the position estimating program of the moving object according to the present invention estimate the current position of a pedestrian or the like using an information communication terminal device such as a PHS, a mobile terminal, and a PDA. It is suitable for a position estimating apparatus for a moving object that moves.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Instructional Devices (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un appareil d'estimation de la position d'un corps en déplacement comprenant des moyens d'entrée (10) permettant d'entrer un point de repère reconnu par un corps en déplacement comme des informations de point de repère, une base de données de point de repère (20) renfermant une position et un attribut des informations de point de repère, des moyens d'estimation de la position (30) permettant d'estimer la position actuelle du corps en déplacement selon lesdites informations de point de repère entrées par l'intermédiaire des moyens d'entrée (10) et des informations de points de repère stockées dans la base de données de point de repère (20), des moyens de création d'informations de point de repère (40) permettant de créer des informations de guidage selon les informations de la position du corps en déplacement estimées par les moyens d'estimation de la position (30) et des moyens d'émission (50) permettant d'émettre les informations de guidage.
PCT/JP2002/007559 2002-07-25 2002-07-25 Appareil d'estimation de la position d'un corps en deplacement, procede et programme d'estimation de la position Ceased WO2004011881A1 (fr)

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JP2007205948A (ja) * 2006-02-02 2007-08-16 Zenrin Co Ltd 現在位置推定方法
JP2007333436A (ja) * 2006-06-12 2007-12-27 Fujitsu Ltd 経路探索装置および移動端末装置
WO2008041705A1 (fr) * 2006-10-03 2008-04-10 Kabushiki Kaisha Kenwood Système de navigation et procédé d'affichage de point de repère
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JP2011114679A (ja) * 2009-11-27 2011-06-09 Ntt Docomo Inc 位置情報取得システム、位置情報取得装置、位置情報取得方法
JP2011180737A (ja) * 2010-02-26 2011-09-15 Japan Science & Technology Agency 地図作成方法とロボットの移動経路決定方法
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JP2016515198A (ja) * 2013-02-27 2016-05-26 クゥアルコム・インコーポレイテッドＱｕａｌｃｏｍｍ Ｉｎｃｏｒｐｏｒａｔｅｄ 屋内測位のためのユーザインザループアーキテクチャ
CN110419068A (zh) * 2017-03-15 2019-11-05 本田技研工业株式会社 步行支援装置、步行支援方法、以及程序
JP2019078700A (ja) * 2017-10-27 2019-05-23 株式会社東芝 情報処理装置および情報処理システム
JP2019125320A (ja) * 2018-01-19 2019-07-25 日本電信電話株式会社 位置特定装置、方法、及びプログラム
JP2021177387A (ja) * 2018-01-19 2021-11-11 日本電信電話株式会社 位置特定装置、方法、及びプログラム
JP7115588B2 (ja) 2018-01-19 2022-08-09 日本電信電話株式会社 位置特定装置、方法、及びプログラム
EP4332506A3 (fr) * 2019-05-24 2024-03-20 Google Llc Procédé et dispositif de navigation entre deux utilisateurs ou plus dans un lieu de réunion
US20220349719A1 (en) * 2019-05-24 2022-11-03 Google Llc Interactive landmark-based localization
EP4089370A1 (fr) * 2019-05-24 2022-11-16 Google LLC Procédé et dispositif pour vérifier la localisation et l'orientation actuelles d'un utilisateur à l'aide de repères
WO2022190941A1 (fr) * 2021-03-12 2022-09-15 パイオニア株式会社 Dispositif d'estimation d'auto-localisation
JP2022172568A (ja) * 2021-05-06 2022-11-17 株式会社日立製作所 位置特定支援システム、及び位置特定支援方法
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JP2022186070A (ja) * 2021-06-04 2022-12-15 株式会社東芝 位置情報算出装置、および、位置情報算出方法
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