WO2018131168A1

WO2018131168A1 - Positioning assistance device, positioning system, positioning assistance method, and computer-readable recording medium

Info

Publication number: WO2018131168A1
Application number: PCT/JP2017/001277
Authority: WO
Inventors: 康行伊原
Original assignee: Ｎｅｃソリューションイノベータ株式会社
Priority date: 2017-01-16
Filing date: 2017-01-16
Publication date: 2018-07-19
Also published as: JP6798711B2; JPWO2018131168A1

Abstract

This positioning assistance device 10 is provided with: a position information acquisition unit 21 for acquiring, from a terminal device 10 provided with a plurality of positioning devices 11, items of position information specifying the positions measured by each positioning device 11; a reliability calculation unit 22 for comparing the position specified by each acquired item of position information against an electronic map and calculating the reliabilities of the positions specified by the items of position information on the basis of the results of the comparison; and a reliability information generation unit 23 for generating reliability information by associating each of the reliabilities with the type of positioning device that output the item of position information used for the calculation and the position specified by the item of position information used for the calculation.

Description

POSITIONING SUPPORT DEVICE, POSITIONING SYSTEM, POSITIONING SUPPORT METHOD, AND COMPUTER-READABLE RECORDING MEDIUM

The present invention relates to a positioning support device that supports positioning by a terminal device having a positioning function, a positioning system including the positioning support method, and a positioning support method, and further, a computer-readable record that records a program for realizing these. It relates to the medium.

Conventionally, in the measurement of the position of a moving body, positioning by other means is performed in addition to positioning by GPS (Global Positioning System) in order to improve positioning accuracy.

For example, Patent Document 1 discloses a portable navigation device using a plurality of sensors with different detection targets as positioning means. This navigation device includes a GPS receiver, and further includes, for example, an atmospheric pressure sensor, an acceleration sensor, a geomagnetic sensor, and a gyro sensor as sensors. The navigation device also includes a database in which errors that occur in each sensor are registered for each specific position.

And the navigation apparatus disclosed by patent document 1 pinpoints the present position from the data from a GPS receiver, and performs each data from a sensor based on the identified present position and the information registered in the database. To set the reliability. After that, the navigation device specifies the final position of the user using the data for which the reliability is set.

Further, in the navigation device disclosed in Patent Document 1, in a place where the reliability of the positioning result by GPS is low, the current position is also corrected using a signal from an active tag arranged in advance at the place. .

Further, Patent Document 2 discloses a moving body equipped with a positioning function by GPS. The moving body disclosed in Patent Document 2 has a function of recognizing an object around the moving body. When the moving body is recognized, the position of the recognized object on the map is specified, and the position of the identified object is further determined. Is estimated. And the mobile body disclosed by patent document 2 determines the position of mobile body itself from the estimated own position and the position measured by GPS.

JP 2012-208010 A International Publication No. 2016/059904

Incidentally, in the navigation device disclosed in Patent Document 1, the reliability is set for the data of each sensor. In order to set the reliability, it is necessary to first specify the current position. Further, the current position is usually specified based on the GPS signal, and is corrected by information from the active tag in a place where the GPS signal is weak. For this reason, in the navigation device disclosed in Patent Document 1, the accurate current position cannot be specified in an area where the GPS signal is weak and no active tag is installed, and as a result, the set reliability is correct. There may not be. In such a case, it is difficult to accurately measure the position of the user.

On the other hand, in the mobile body disclosed in Patent Document 2, if the object can be recognized, the accurate position can be measured even in a place where the GPS signal is weak, so the above problem can be solved. However, the result of the processing performed by this moving body is not used for processing by another moving body. For this reason, the moving body disclosed in Patent Document 2 has a problem that it is difficult to improve positioning accuracy.

An example of an object of the present invention is a positioning support that solves the above-described problem, can use positioning results among a plurality of terminal devices, and can improve positioning accuracy even in a place where GPS signals are weak. An apparatus, a positioning system, a positioning support method, and a computer-readable recording medium are provided.

In order to achieve the above object, a positioning support device according to one aspect of the present invention acquires, for each positioning device, position information specifying a position measured by the positioning device from a terminal device including a plurality of positioning devices. A position information acquisition unit;
A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result When,
Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source A generator,
It is characterized by having.

In order to achieve the above object, a positioning support system according to an aspect of the present invention includes a terminal device having a plurality of positioning devices, and a positioning support device that supports positioning in the terminal device,
The positioning support device includes:
A position information acquisition unit that acquires position information for specifying a position measured by the positioning device for each positioning device from the terminal device;
A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result When,
Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source A generator,
The terminal device
A position calculation unit that calculates the position of the terminal device using the position measured by each of the plurality of positioning devices and the reliability information;
It is characterized by that.

In order to achieve the above object, a positioning support method according to one aspect of the present invention includes:
(A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and
(B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When,
(C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps,
It is characterized by having.

Furthermore, in order to achieve the above object, a computer-readable recording medium according to one aspect of the present invention is provided.
On the computer,
(A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and
(B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When,
(C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps,
The program is recorded including the instruction | indication which performs this.

As described above, according to the present invention, positioning results can be used among a plurality of terminal devices, and positioning accuracy can be improved even in a place where GPS signals are weak.

FIG. 1 is a block diagram illustrating a schematic configuration of a positioning support apparatus and a positioning system according to an embodiment of the present invention. FIG. 2 is a block diagram showing a specific configuration of the positioning support apparatus and the positioning system in the embodiment of the present invention. FIG. 3 is a diagram for explaining reliability calculation processing according to the embodiment of the present invention. FIG. 4 is a flowchart showing the operation of the positioning support apparatus according to the embodiment of the present invention. FIG. 5 is a flowchart showing the operation of the terminal device in the embodiment of the present invention. FIG. 6 is a block diagram illustrating an example of a computer that implements the positioning support apparatus according to the embodiment of the present invention.

(Embodiment)
Hereinafter, a positioning support device, a positioning system, a positioning support method, and a program according to an embodiment of the present invention will be described with reference to FIGS.

[Device configuration]
First, the configuration of the positioning support apparatus and the positioning system in the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating a schematic configuration of a positioning support apparatus and a positioning system according to an embodiment of the present invention.

As shown in FIG. 1, the positioning system 100 according to the present embodiment includes a terminal device 10 having a plurality of positioning devices 11 and a positioning support device 20 that supports positioning in the terminal device 10. The terminal device 10 and the positioning support device 20 are connected by wire or wireless so that data communication is possible.

The positioning support device 20 includes a position information acquisition unit 21, a reliability calculation unit 22, and a reliability information generation unit 23. Among these, the position value information acquisition unit 21 acquires, for each positioning device 11, position information that specifies the position measured by each positioning device from the terminal device 10.

For each acquired position information, the reliability calculation unit 22 compares the position specified by each position information with the electronic map, and based on the comparison result, the reliability calculation unit 22 determines the reliability for the position specified by each position information. calculate.

The reliability information generation unit 23 associates the calculated reliability with the type of the positioning device 11 that has output the position information of the calculation source and the position specified by the position information of the calculation source, and sets the reliability information. Generate.

Further, the terminal device 10 includes a position calculation unit 12 in addition to the plurality of positioning devices 11. The position calculation unit 12 calculates the position of the terminal device 10 itself using the position measured by each positioning device 11 and the reliability information generated by the reliability information generation unit 23.

Thus, in this embodiment, the reliability is calculated for the position measured by the terminal device. The reliability is associated with the position of the calculation source and the type of the positioning device that performed the positioning, and is used as reliability information. For this reason, the terminal device can determine whether the measured position is reliable based on the reliability information when the positioning is performed by the positioning device included in the terminal device.

Therefore, according to the present embodiment, the positioning accuracy can be improved even in a place where the GPS signal is weak. Further, the reliability information is not information generated by a specific terminal device, and can be shared between terminal devices when there are a plurality of terminal devices. For this reason, according to the present embodiment, it is possible not only to improve positioning accuracy in a single terminal device, but also to improve positioning accuracy in a plurality of terminal devices.

Subsequently, the configuration of the positioning support apparatus and the positioning system in the present embodiment will be described more specifically with reference to FIG. FIG. 2 is a block diagram showing a specific configuration of the positioning support apparatus and the positioning system in the embodiment of the present invention.

As shown in FIG. 2, in the present embodiment, the positioning support device 20 is connected to a plurality of terminal devices 10 via a network 40 such as the Internet. The positioning support device 20 is also connected to a map database 30 in which an electronic map is stored via the network 40, and acquires the electronic map by accessing the map database 30. In addition, although all the terminal devices 10 are equipped with the same structure, in FIG. 2, a structure is shown only about one of these.

Further, as shown in FIG. 2, the terminal device 10 includes a GPS (Global Positioning System) receiver 11 a and an IMES (Indoor Messaging System) receiver 11 b as the positioning device 11.

Among these, the GPS receiver 11a receives a radio wave from the GPS satellite 50, obtains a distance from each GPS satellite 50 based on the intensity of each received radio wave, and determines the current terminal device 10 from each obtained distance. Identify the location.

The IMES receiver 11b receives a radio wave transmitted from the IMES transmitter 60 installed indoors and extracts data carried by the received radio wave. Since the carried data includes the latitude, longitude, altitude, and the like of the position where the IMES transmitter 60 is installed, the IMES receiver 11b determines the position of the terminal device 10 based on this data. Identify.

In the positioning support device 20, the position information acquisition unit 21 in the present embodiment, the position information (hereinafter referred to as “first position information”) specifying the position measured by the GPS receiver 11 a from the terminal device 10. And position information (hereinafter referred to as “second position information”) that specifies the position measured by the IMES receiver 11b.

In the present embodiment, the reliability calculation unit 22 first acquires an electronic map of an area including a position specified by each position information from the map database 30. Subsequently, the reliability calculation unit 22 collates, for each position information, the position specified by each position information with a road, a building, or a non-animal existing in an area including the position on the electronic map. Then, the reliability calculation unit 22 calculates the distance between the position specified by the position information and the road, building, or inanimate to be compared from the comparison result, and calculates the reliability from the calculated distance.

Here, the calculation process of the reliability will be specifically described with reference to FIG. FIG. 3 is a diagram for explaining reliability calculation processing according to the embodiment of the present invention. For example, as shown in FIG. 3, it is assumed that a position 41 specified by the first position information and a position 42 specified by the second position information exist on the electronic map. Further, it is assumed that the position 41 and the position 42 move in the direction of the arrow in FIG. 3 with the passage of time.

In this case, the reliability calculation unit 22 calculates the shortest distance to the road parallel to the moving direction for each of the position 41 and the position 42. In the example of FIG. 3, the reliability calculation unit 22 calculates the shortest distance D1 from the position 41 to the road 43 and the shortest distance D2 from the position 42 to the road 43.

Subsequently, the reliability calculation unit 22 calculates the reliability using the calculated shortest distance for each position information. Here, assuming that the calculated shortest distance is ε and the calculated reliability is C, the reliability calculation unit 22 calculates the reliability C using, for example, the following Equation 1. In the present embodiment, the reliability calculation formula is not limited to the following formula 1.

In addition, when the position specified by the position information has not moved (including the case where the movement amount per unit time is within the threshold), the user of the terminal device 10 is in a specific building or site. Conceivable. Therefore, in this case, the reliability calculation unit 22 calculates the distance between the position specified by the position information and the specific building or the inanimate object, and calculates the reliability using the above formula 1.

Also, the reliability calculation unit 22 can calculate the reliability C for each of the first position information and the second position information for each specific area set on the map data. In this case, when the position information is newly acquired, the reliability calculation unit 22 determines whether or not the position specified by each position information is in an area where the reliability C has already been calculated. Then, as a result of the determination, if the position specified by the newly acquired position information is within the area where the reliability C has already been calculated, the reliability calculation unit 22 obtains the newly acquired position information. Update the reliability already calculated using the position specified in

Specifically, for example, in a specific region, the number of times the first position information and the second position information are acquired is m-th (m is a natural number), and the latest reliability for each position information is set. Let _Cm . At this time, if the shortest distance calculated for the acquired position information is ε _m , the reliability calculation unit 22 uses the following formula 2 for each position information to calculate the reliability C already calculated. Update _m−1 to calculate the latest reliability C _m .

In the present embodiment, the reliability information generation unit 23, for the reliability C calculated from the first position information, an identifier indicating the GPS receiver 11a and a position (latitude, longitude, Height information) to obtain reliability information. Further, the reliability information generation unit 23, for the reliability C calculated from the second position information, an identifier indicating the IMES receiver 11b and a position (latitude, longitude, height) specified from the second position information, To be used as reliability information. Each reliability C may be associated with the above-mentioned specific area including the position, not the position specified from the position information.

Furthermore, in the present embodiment, the reliability information generation unit 23 stores the generated reliability information in a storage device (not shown in FIG. 2). When acquisition of reliability information is requested from each terminal device 10, the reliability information generation unit 23 transmits the reliability information to the requested terminal device 10 via the network 40.

Further, in each terminal device 10, in the present embodiment, the position calculation unit 12 first compares the measured position with the reliability information for each of the GPS receiver 11a and the IMES receiver 11b. The reliability corresponding to the position measured by the positioning device is specified. And the position calculation part 12 calculates the position of the terminal device 10 provided with it based on the position measured by each positioning apparatus and the reliability corresponding to each position.

Here, the coordinate of the position measured by the GPS receiver is x ₁ , and the corresponding reliability is C (x 1). Further, the coordinates of the position measured by the IMES receiver 11b are x ₂ and the corresponding reliability is C (x ₂ ). Further, the coordinates of the position of the terminal device 10 calculated from these are assumed to be X. In this case, the position calculation unit 12 calculates the coordinate X using the following formula 3.

Also, in the above equation 3, the coefficient α can be calculated using the following equation 4. Further, V (x) in the following equation 4 can be calculated using the following equation 5.

2 illustrates an example in which the terminal device 10 includes two positioning devices, but in the present embodiment, two or more positioning devices may be provided. Here, the case where the number of positioning devices is n will be described below. n is a natural number. In this case, the position calculation unit 12 calculates the coordinate X using the following Equation 6.

In addition, α ₁ , α ₂ ,... Α _n−1 in the above equation 6 can be obtained as a solution of the equation shown in the following equation 7 that minimizes the dispersion of X.

[Device operation]
Next, operations of the positioning support device 20 and the positioning system 100 in the present embodiment will be described with reference to FIGS. 4 and 5. In the following description, FIGS. 1 to 3 are referred to as appropriate. In the present embodiment, the positioning support method is implemented by operating the positioning support device 20 and the positioning system 100. Therefore, the description of the positioning support method in the present embodiment is replaced with the following description of the operations of the positioning support apparatus 20 and the positioning support system 100.

First, the operation of the positioning support apparatus 20 will be described with reference to FIG. FIG. 4 is a flowchart showing the operation of the positioning support apparatus according to the embodiment of the present invention.

As shown in FIG. 4, first, the position information acquisition unit 21 uses the IMES receiver 11 b and the first position information that specifies the position measured by the GPS receiver 11 a from the terminal device 10 via the network 40. Second position information specifying the position that has been measured is acquired (step A1).

Next, the reliability calculation unit 22 determines whether or not the position specified by each piece of position information acquired in step A1 is within the area where the reliability C has already been calculated (step A2).

As a result of the determination in step A2, when the position specified by each piece of position information is not within the area where the reliability C has already been calculated, the reliability calculation unit 22 performs the following for each position information acquired in step A1. The reliability is calculated (step A3).

Specifically, in step A3, the reliability calculation unit 22 first acquires an electronic map of an area including the position specified by each position information from the map database 30. Subsequently, the reliability calculation unit 22 collates, for each position information, the position specified by each position information with a road, a building, or a non-animal existing in an area including the position on the electronic map. Then, the reliability calculation unit 22 calculates the distance between the position specified by the position information and the road, building, or inanimate to be compared from the comparison result, and calculates the reliability from the calculated distance.

Next, the reliability information generation unit 23 associates each reliability calculated from the first position information and the second position information with an identifier indicating each receiver and a position specified from each position information. Then, reliability information is generated (step A4). Further, the reliability information generating unit 23 stores the generated reliability information in a storage device (not shown in FIG. 2).

On the other hand, as a result of the determination in step A2, if the position specified by each piece of position information is within the area where the reliability C has already been calculated, the reliability calculation unit 22 uses the position information acquired in step A1. The reliability already calculated is updated using the specified position (step A5).

Specifically, also in step A5, the reliability calculation unit 22 first acquires an electronic map of an area including the position specified by each position information from the map database 30. Subsequently, the reliability calculation unit 22 calculates the distance between the position specified by the position information and the road, building, or inanimate to be verified for each position information, and the reliability is calculated using the calculated distance. Update.

Subsequently, the operation of the terminal device 10 will be described with reference to FIG. FIG. 5 is a flowchart showing the operation of the terminal device in the embodiment of the present invention.

As shown in FIG. 5, first, the position calculation unit 12 causes the GPS receiver 11a and the IMES receiver 11b to perform positioning, and acquires the position obtained by each positioning (step B1).

Next, the position calculation unit 12 acquires the reliability information from the positioning support device 20, and collates the measured position with the acquired reliability information for each of the receiver 11a and the IMES receiver 11b. The reliability corresponding to the position measured by each positioning device is specified (step B2).

Next, the position calculation unit 12 calculates the position of the terminal device 10 based on each position acquired in step B1 and the reliability of each position acquired in step B2 (step B3).

[Effects of the embodiment]
As described above, in the present embodiment, reliability information including the reliability for each positioning device is generated, and from the position measured by each positioning device provided in the terminal device 10 and the reliability information, The position of the terminal device 10 is determined. For this reason, even if it is a place where the accuracy of any positioning device is low, accurate positioning is possible. Moreover, since the reliability information produced | generated by the positioning assistance apparatus 20 can be shared by each terminal device 10, it becomes possible to improve the positioning accuracy in a plurality of terminal devices.

[program]
The program in the present embodiment may be a program that causes a computer to execute steps A1 to A5 shown in FIG. By installing this program in a computer and executing it, the positioning support apparatus 20 and the positioning support method in the present embodiment can be realized. In this case, a CPU (Central Processing Unit) of the computer functions as the position information acquisition unit 21, the reliability calculation unit 22, and the reliability information generation unit 23 to perform processing.

Further, the program in the present embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as any one of the position information acquisition unit 21, the reliability calculation unit 22, and the reliability information generation unit 23.

Here, a computer that realizes the positioning support apparatus 10 by executing the program according to the present embodiment will be described with reference to FIG. FIG. 6 is a block diagram illustrating an example of a computer that implements the positioning support apparatus according to the embodiment of the present invention.

As shown in FIG. 6, the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These units are connected to each other via a bus 121 so that data communication is possible.

The CPU 111 performs various operations by developing the program (code) in the present embodiment stored in the storage device 113 in the main memory 112 and executing them in a predetermined order. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory). Further, the program in the present embodiment is provided in a state of being stored in a computer-readable recording medium 120. Note that the program in the present embodiment may be distributed on the Internet connected via the communication interface 117.

Further, specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and a mouse. The display controller 115 is connected to the display device 119 and controls display on the display device 119.

The data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, and reads a program from the recording medium 120 and writes a processing result in the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and another computer.

Specific examples of the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as a flexible disk, or CD- Optical recording media such as ROM (Compact Disk Read Only Memory) are listed.

Note that the positioning support apparatus 20 in the present embodiment can be realized not by using a computer in which a program is installed but also by using hardware corresponding to each unit. Furthermore, part of the positioning support device 20 may be realized by a program, and the remaining part may be realized by hardware.

Some or all of the above-described embodiments can be expressed by the following (Appendix 1) to (Appendix 13), but is not limited to the following description.

(Appendix 1)
A position information acquisition unit that acquires position information specifying a position measured by the positioning device for each positioning device from a terminal device including a plurality of positioning devices;
A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result When,
Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source A generator,
A positioning support apparatus characterized by comprising:

(Appendix 2)
The position specified by the position information by the reliability calculation unit collating the position specified by the position information with a road, building, or inanimate that exists in the area including the position on the electronic map. And calculating the distance from the road, the building or the non-animal, and calculating the reliability from the calculated distance,
The positioning support device according to attachment 1.

(Appendix 3)
The reliability calculation unit calculates the reliability for each of the position information for each specific area, and the reliability specified for the position specified by the acquired position information has already been calculated. If within the region, update the reliability already calculated using the position specified by the acquired position information,
The positioning support apparatus according to appendix 1 or 2.

(Appendix 4)
A terminal device having a plurality of positioning devices, and a positioning support device that supports positioning in the terminal device,
The positioning support device includes:
A position information acquisition unit that acquires position information for specifying a position measured by the positioning device for each positioning device from the terminal device;
A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result When,
Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source A generator,
The terminal device
A position calculation unit that calculates the position of the terminal device using the position measured by each of the plurality of positioning devices and the reliability information;
A positioning system characterized by that.

(Appendix 5)
In the terminal device, the position calculation unit includes:
For each of the plurality of positioning devices, the position measured by the positioning device is collated with the reliability information, the reliability corresponding to the position measured by the positioning device is specified, and the plurality of positioning devices Calculating the position of the terminal device based on the position measured by each and the reliability corresponding to each position;
The positioning system according to appendix 4.

(Appendix 6)
In the positioning support device, the reliability calculation unit collates the position specified by the position information with a road, a building, or an animal present in the region including the position on the electronic map, and the position Calculating the distance between the position specified by the information and the road, the building or the inanimate object, and calculating the reliability from the calculated distance;
The positioning system according to appendix 4 or 5.

(Appendix 7)
In the positioning support device, the reliability calculation unit calculates the reliability for each of the position information for each specific area, and the position specified by the acquired position information is already the reliability. If the degree is within the calculated area, update the reliability already calculated using the position specified by the acquired position information,
The positioning system according to any one of appendices 4 to 6.

(Appendix 8)
(A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and
(B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When,
(C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps,
A positioning support method characterized by comprising:

(Appendix 9)
In the step (b), the position specified by the position information is compared with the road, building, or non-animal existing in the region including the position on the electronic map, and is specified by the position information. Calculating the distance between the position and the road, the building or the inanimate animal, and calculating the reliability from the calculated distance;
The positioning support method according to attachment 8.

(Appendix 10)
In the step (b), for each specific area, the reliability is calculated for each of the position information, and the position specified by the acquired position information has already been calculated for the reliability. Update the reliability already calculated using the position specified by the acquired position information,
The positioning support method according to appendix 8 or 9.

(Appendix 11)
On the computer,
(A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and
(B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When,
(C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps,
The computer-readable recording medium which recorded the program containing the instruction | indication which performs this.

(Appendix 12)
In the step (b), the position specified by the position information is compared with the road, building, or non-animal existing in the region including the position on the electronic map, and is specified by the position information. Calculating the distance between the position and the road, the building or the inanimate animal, and calculating the reliability from the calculated distance;
The computer-readable recording medium according to appendix 11.

(Appendix 13)
In the step (b), for each specific area, the reliability is calculated for each of the position information, and the position specified by the acquired position information has already been calculated for the reliability. Update the reliability already calculated using the position specified by the acquired position information,
The computer-readable recording medium according to

appendix

11 or 12.

The present invention has been described above with reference to the embodiments, but the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

As described above, according to the present invention, positioning results can be used among a plurality of terminal devices, and positioning accuracy can be improved even in a place where GPS signals are weak. The present invention is useful for devices on which positioning devices are mounted, such as smartphones, tablet terminals, wristwatch terminals, robots, and moving objects.

DESCRIPTION OF SYMBOLS 10 Terminal apparatus 11 Positioning apparatus 11a GPS receiver 11b IMES receiver 20 Positioning support apparatus 21 Position information acquisition part 22 Reliability calculation part 23 Reliability information generation part 30 Map database 40 Network 50 GPS satellite 60 IMES transmitter 110 Computer 111 CPU
112 Main Memory 113 Storage Device 114 Input Interface 115 Display Controller 116 Data Reader / Writer 117 Communication Interface 118 Input Device 119 Display Device 120 Recording Medium 121 Bus

Claims

A position information acquisition unit that acquires position information specifying a position measured by the positioning device for each positioning device from a terminal device including a plurality of positioning devices;
A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result When,
Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source A generator,
A positioning support apparatus characterized by comprising:
The position specified by the position information by the reliability calculation unit collating the position specified by the position information with a road, building, or inanimate that exists in the area including the position on the electronic map. And calculating the distance from the road, the building or the non-animal, and calculating the reliability from the calculated distance,
The positioning support apparatus according to claim 1.
The reliability calculation unit calculates the reliability for each of the position information for each specific area, and the reliability specified for the position specified by the acquired position information has already been calculated. If within the region, update the reliability already calculated using the position specified by the acquired position information,
The positioning support apparatus according to claim 1 or 2.
A terminal device having a plurality of positioning devices, and a positioning support device that supports positioning in the terminal device,
The positioning support device includes:
A position information acquisition unit that acquires position information for specifying a position measured by the positioning device for each positioning device from the terminal device;
A reliability calculation unit that, for each acquired position information, compares the position specified by the position information with an electronic map, and calculates the reliability for the position specified by the position information based on the comparison result When,
Reliability information that generates reliability information by associating the calculated reliability with the type of the positioning device that output the position information of the calculation source and the position specified by the position information of the calculation source A generator,
The terminal device
A position calculation unit that calculates the position of the terminal device using the position measured by each of the plurality of positioning devices and the reliability information;
A positioning system characterized by that.
In the terminal device, the position calculation unit includes:
For each of the plurality of positioning devices, the position measured by the positioning device is collated with the reliability information, the reliability corresponding to the position measured by the positioning device is specified, and the plurality of positioning devices Calculating the position of the terminal device based on the position measured by each and the reliability corresponding to each position;
The positioning system according to claim 4.
In the positioning support device, the reliability calculation unit collates the position specified by the position information with a road, a building, or an animal present in the region including the position on the electronic map, and the position Calculating the distance between the position specified by the information and the road, the building or the inanimate object, and calculating the reliability from the calculated distance;
The positioning system according to claim 4 or 5.
In the positioning support device, the reliability calculation unit calculates the reliability for each of the position information for each specific area, and the position specified by the acquired position information is already the reliability. If the degree is within the calculated area, update the reliability already calculated using the position specified by the acquired position information,
The positioning system according to any one of claims 4 to 6.
(A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and
(B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When,
(C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps,
A positioning support method characterized by comprising:
In the step (b), the position specified by the position information is compared with the road, building, or non-animal existing in the region including the position on the electronic map, and is specified by the position information. Calculating the distance between the position and the road, the building or the inanimate animal, and calculating the reliability from the calculated distance;
The positioning support method according to claim 8.
In the step (b), for each specific area, the reliability is calculated for each of the position information, and the position specified by the acquired position information has already been calculated for the reliability. Update the reliability already calculated using the position specified by the acquired position information,
The positioning support method according to claim 8 or 9.
On the computer,
(A) from a terminal device including a plurality of positioning devices, for each positioning device, obtaining position information specifying a position measured by the positioning device; and
(B) For each acquired position information, the position specified by the position information is checked against an electronic map, and the reliability is calculated for the position specified by the position information based on the check result, When,
(C) The reliability is calculated by associating the calculated reliability with the type of the positioning device that outputs the position information of the calculation source and the position specified by the position information of the calculation source. Steps,
The computer-readable recording medium which recorded the program containing the instruction | indication which performs this.
In the step (b), the position specified by the position information is compared with the road, building, or non-animal existing in the region including the position on the electronic map, and is specified by the position information. Calculating the distance between the position and the road, the building or the inanimate animal, and calculating the reliability from the calculated distance;
The computer-readable recording medium according to claim 11.
In the step (b), for each specific area, the reliability is calculated for each of the position information, and the position specified by the acquired position information has already been calculated for the reliability. Update the reliability already calculated using the position specified by the acquired position information,
The computer-readable recording medium according to claim 11 or 12.