Positioning device, positioning method and storage medium storing program
First Claim
1. A positioning device for obtaining position data of a plurality of points on a movement route, comprising:
- a positioning unit that can measure a present position without requiring any past position data serving as a reference;
a movement measuring unit for measuring a relative positional change;
a position calculating unit for calculating position data of the plurality of points on the movement route based on position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; and
a correcting unit for correcting the position data of at least one of the plurality of points calculated by the position calculating unit based on difference information representing a difference between a position represented by the position data calculated by the position calculating unit and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route;
wherein the correcting unit executes a correcting calculation containing a correcting term based on a total route length measured by the movement measuring unit from the first reference point to the second reference point, a first route length measured by the movement measuring unit from the first reference point to a point at which position data of a correction target is obtained, and the difference information at the second reference point; and
wherein a ratio of the first route length to the total route length is set as a coefficient, a displacement amount represented by the difference information is multiplied by the coefficient, and a product of the displacement amount and the coefficient is added to the position data of the correction target.
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Accused Products
Abstract
A positioning device for obtaining position data of a plurality of points on a movement route, including a positioning unit that can measure a present position; a movement measuring unit for measuring a relative positional change; a position calculating unit for calculating position data of the plurality of points on the movement route on the basis of position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; and a correcting unit for correcting the position data of at least one of the plurality of points calculated by the position calculating unit on the basis of difference information representing difference between a position represented by the position data calculated by the position calculating unit and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route.
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Citations
14 Claims
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1. A positioning device for obtaining position data of a plurality of points on a movement route, comprising:
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a positioning unit that can measure a present position without requiring any past position data serving as a reference; a movement measuring unit for measuring a relative positional change; a position calculating unit for calculating position data of the plurality of points on the movement route based on position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; and a correcting unit for correcting the position data of at least one of the plurality of points calculated by the position calculating unit based on difference information representing a difference between a position represented by the position data calculated by the position calculating unit and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route; wherein the correcting unit executes a correcting calculation containing a correcting term based on a total route length measured by the movement measuring unit from the first reference point to the second reference point, a first route length measured by the movement measuring unit from the first reference point to a point at which position data of a correction target is obtained, and the difference information at the second reference point; and wherein a ratio of the first route length to the total route length is set as a coefficient, a displacement amount represented by the difference information is multiplied by the coefficient, and a product of the displacement amount and the coefficient is added to the position data of the correction target. - View Dependent Claims (2, 5, 6, 7)
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3. A positioning device for obtaining position data of a plurality of points on a movement route, comprising:
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a positioning unit that can measure a present position without requiring any past position data serving as a reference; a movement measuring unit for measuring a relative positional change; a position calculating unit for calculating position data of the plurality of points on the movement route based on position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; and a correcting unit for correcting the position data of at least one of the plurality of points calculated by the position calculating unit based on difference information representing a difference between a position represented by the position data calculated by the position calculating unit and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route; wherein the correcting unit executes a correcting calculation containing a correcting term based on a total time length taken to move from the first reference point to the second reference point, a first time length taken to move from the first reference point to a point at which position data of a correction target is obtained, and the difference information at the second reference point; and wherein a ratio of the first time length to the total time length is set as a coefficient, a displacement amount represented by the difference information is multiplied by the coefficient, and a product of the displacement amount and the coefficient is added to the position data of the correction target. - View Dependent Claims (4, 12, 13, 14)
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8. A positioning method for a positioning device comprising a CPU, a positioning unit for measuring a present position, and a movement measuring unit for measuring a relative positional change, the positioning device obtaining position data of a plurality of points on a movement route by using the positioning unit and the movement measuring unit, the method comprising:
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calculating position data of the plurality of points on the movement route based on position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; obtaining difference information representing a difference between a position represented by the calculated position data and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route; and correcting the calculated position data of at least one of the plurality of points based on the obtained difference information; wherein the correcting comprises executing a correcting calculation containing a correcting term based on a total route length measured by the movement measuring unit from the first reference point to the second reference point, a first route length measured by the movement measuring unit from the first reference point to a point at which position data of a correction target is obtained, and the difference information at the second reference point; wherein a ratio of the first route length to the total route length is set as a coefficient, a displacement amount represented by the difference information is multiplied by the coefficient, and a product of the displacement amount and the coefficient is added to the position data of the correction target; and wherein the calculating, the obtaining, and the correcting are performed by the CPU of the positioning device.
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9. A non-transitory computer readable storage medium having a program stored thereon which is executable by a computer that receives measurement results from a positioning unit for measuring a present position and a movement measuring unit for measuring a relative positional change and that obtains position data of a plurality of points on a movement route, the program controlling the computer to execute functions comprising:
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calculating position data of the plurality of points on the movement route based on position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; obtaining difference information representing a difference between a position represented by the calculated position data and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route; and correcting the calculated position data of at least one of the plurality of points based on the obtained difference information; wherein the correcting comprises executing a correcting calculation containing a correcting term based on a total route length measured by the movement measuring unit from the first reference point to the second reference point, a first route length measured by the movement measuring unit from the first reference point to a point at which position data of a correction target is obtained, and the difference information at the second reference point; and wherein a ratio of the first route length to the total route length is set as a coefficient, a displacement amount represented by the difference information is multiplied by the coefficient, and a product of the displacement amount and the coefficient is added to the position data of the correction target.
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10. A positioning method for a positioning device comprising a CPU, a positioning unit for measuring a present position, and a movement measuring unit for measuring a relative positional change, the positioning device obtaining position data of a plurality of points on a movement route by using the positioning unit and the movement measuring unit, the method comprising:
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calculating position data of the plurality of points on the movement route based on position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; obtaining difference information representing a difference between a position represented by the calculated position data and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route; and correcting the calculated position data of at least one of the plurality of points based on the obtained difference information; wherein the correcting comprises executing a correcting calculation containing a correcting term based on a total time length taken to move from the first reference point to the second reference point, a first time length taken to move from the first reference point to a point at which position data of a correction target is obtained, and the difference information at the second reference point; wherein a ratio of the first time length to the total time length is set as a coefficient, a displacement amount represented by the difference information is multiplied by the coefficient, and a product of the displacement amount and the coefficient is added to the position data of the correction target; and wherein the calculating, the obtaining, and the correcting are performed by the CPU of the positioning device.
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11. A non-transitory computer readable storage medium having a program stored thereon which is executable by a computer that receives measurement results from a positioning unit for measuring a present position and a movement measuring unit for measuring a relative positional change and that obtains position data of a plurality of points on a movement route, the program controlling the computer to execute functions comprising:
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calculating position data of the plurality of points on the movement route based on position data of a first reference point and positional change data obtained through measurement of the movement measuring unit; obtaining difference information representing a difference between a position represented by the calculated position data and a position represented by a positioning result of the positioning unit with respect to any second reference point on the movement route; and correcting the calculated position data of at least one of the plurality of points based on the obtained difference information; wherein the correcting comprises executing a correcting calculation containing a correcting term based on a total time length taken to move from the first reference point to the second reference point, a first time length taken to move from the first reference point to a point at which position data of a correction target is obtained, and the difference information at the second reference point; and wherein a ratio of the first time length to the total time length is set as a coefficient, a displacement amount represented by the difference information is multiplied by the coefficient, and a product of the displacement amount and the coefficient is added to the position data of the correction target.
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Specification