Movement amount estimation system, movement amount estimation method and mobile terminal

• US 9,632,107 B2
• Filed: 01/21/2013
• Issued: 04/25/2017
• Est. Priority Date: 03/13/2012
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Akiyama, Takayuki
• Primary Examiner(s): Raymond, Edward
• Application Number:
  US14/382,895
• Publication Number:
  US 20150027200A1
• Time in Patent Office: 1,555 Days
• Field of Search: 702 96, 702150, 702151, 702182-185
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01P 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: G01S 2205/02 Indoor
• CPC Class Codes: G01S 5/02521 using a radio-map
• CPC Class Codes: G01S 5/0264 at least one of the systems being a non-radio wave positioning system

Abstract

A movement amount estimation system, comprising a storage area to store acceleration data, for estimating a movement amount of a holder of a mobile terminal, the movement amount estimation system is configured to: detect a start time and an end time of an elevator riding time period of the holder based on the acceleration data; integrate the acceleration data from the start time to the end time to calculate a movement velocity of the holder; correct one of a movement velocity at the start time and a movement velocity at the end time based on another of the movement velocity at the start time and the movement velocity at the end time; and integrate the movement velocity corrected by the time period to estimate a movement amount of the holder when the holder uses an elevator.

Claims

1. A movement amount estimation system, comprising a storage area configured to store acceleration data including a time of measurement by an acceleration sensor which a mobile terminal has and an acceleration measured by the acceleration sensor, for estimating a movement amount of a holder of the mobile terminal based on the acceleration sensor data,

the movement amount estimation system further comprising:

an elevator riding time period detection part configured to detect a start time and an end time of an elevator riding time period of the holder based on an increase and decrease of the acceleration data stored in the storage area;

a movement velocity calculation part configured to integrate the acceleration data from the start time to the end time by a time period from the start time to the end time to calculate a movement velocity of the holder from the start time to the end time;

a movement velocity correction part configured to correct one of a movement velocity at the start time and a movement velocity at the end time based on another of the movement velocity at the start time and the movement velocity at the end time; and

a movement amount estimation part configured to integrate the movement velocity corrected by the movement velocity correction part by the time period from the start time to the end time to estimate a movement amount of the holder when the holder uses an elevator.

2. The movement amount estimation system according to claim 1, wherein:

the storage area stores a correction parameter corresponding to a time period for estimating a movement start time of the elevator earlier than the start time and a movement stop time of the elevator later than the end time; and

the elevator riding time period detection part is further configured to;

detect the start time and the end time based on a relationship between the increase and decrease of the acceleration data and preset threshold values; and

correct the start time to the movement start time earlier than the start time based on the correction parameter and the end time to the movement stop time later than the end time based on the correction parameter.

3. The movement amount estimation system according to claim 2, wherein:

the storage area stores building information in which a height of each floor of a building including the elevator installed therein is registered; and

the movement amount estimation system further comprises a floor estimation part configured to calculate a height at which the holder is located after movement using the elevator based on the movement amount estimated by the movement amount estimation part and refer to the building information to estimate a floor located at a height which is closest to the calculated height after the movement of the holder as a floor on which the holder is located after movement using the elevator.

4. The movement amount estimation system according to claim 3, further comprising a correction parameter adjustment part configured to adjust, in a case where the height after the movement of the holder, which is calculated by the movement amount estimation part, does not match the height of the floor estimated by the movement amount estimation part, the correction parameter so that the height after the movement of the holder, which is calculated by the movement amount estimation part, matches the height of the floor estimated by the movement amount estimation part.

5. The movement amount estimation system according to claim 3, further comprising:

a holder floor information receiving part configured to receive information for identifying a floor on which the holder is actually located after the floor, on which the holder is located after movement using the elevator, is estimated by the floor estimation part; and

a correction parameter adjustment part configured to adjust, in a case where the floor identified by the received information, on which the holder of the mobile terminal is actually located, and the floor estimated by the movement amount estimation part are different from each other, the correction parameter so that the height after the movement of the holder, which is calculated by the movement amount estimation part, and the height of the floor on which the holder of the mobile terminal is actually located match each other.

6. The movement amount estimation system according to claim 3, further comprising a stair movement amount estimation part configured to estimate a movement amount of the holder taking stairs based on the acceleration data, wherein:

the floor estimation part is further configured to;

calculate, as a total movement amount, at least one of;

a total upward movement amount which is a sum of an upward movement amount of the holder using the elevator, which is estimated by the movement amount estimation part, and an upward movement amount of the holder taking the stairs, which is estimated by the stair movement amount estimation part; and

a total downward movement amount which is a sum of a downward movement amount of the holder using the elevator, which is estimated by the movement amount estimation part, and a downward movement amount of the holder taking the stairs, which is estimated by the stair movement amount estimation part; and

refer to the building information to estimate a height of the floor, which is closest to the calculated total movement amount; and

the movement amount estimation system further comprises a stair movement amount adjustment part configured to adjust, in a case where the calculated total movement amount and the estimated height of the floor do not match each other, a stair movement amount of the total movement amount so that the adjusted total movement amount and the estimated height of the floor match each other.

7. The movement amount estimation system according to claim 1, wherein:

the storage area stores building information in which a height of each floor of a building including the elevator installed therein is registered, angular velocity data including a time of measurement by a gyro sensor which the mobile terminal has and an angular velocity measured by the gyro sensor, and azimuth data including a time of measurement by an azimuth sensor which the mobile terminal has and a direction measured by the azimuth sensor; and

the movement amount estimation system further comprises;

a floor estimation part configured to calculate a height at which the holder of the mobile terminal is located after movement using the elevator based on the movement amount estimated by the movement amount estimation part and refer to the building information to estimate a floor at a height which is closest to the calculated height after the movement of the holder as a floor on which the holder of the mobile terminal is located after movement using the elevator;

a horizontal movement history estimation part configured to estimate a horizontal movement history of the holder based on a horizontal acceleration of the acceleration data, the angular velocity data, and the azimuth data; and

a floor division part configured to associate the horizontal movement history included in the horizontal movement history estimated by the horizontal movement history estimation part corresponding to a time period from the end time detected by the elevator riding time period detection part and a subsequent detection of the start time by the elevator riding time period detection part with the floor estimated by the floor estimation part.

8. The movement amount estimation system according to claim 7, wherein:

the storage area stores floor information in which coordinates of a doorway of the elevator on the floor are registered; and

the horizontal movement history estimation part refers to the floor information to set coordinates of a starting point of the horizontal movement history associated by the floor division part with the floor estimated by the floor estimation part as the coordinates of the doorway of the elevator.

9. The movement amount estimation system according to claim 8, wherein:

the storage area stores radio field intensity data including a time of measurement by a radio field intensity sensor which the mobile terminal has and a radio field intensity measured by the radio field intensity sensor; and

the movement amount estimation system further comprises;

a data integration part configured to associate a time of a movement locus measured by the horizontal movement history estimation part and the time of the radio field intensity data with each other to associate the movement locus and the radio field intensity data with each other; and

a radio field display part configured to display the movement locus and the radio field intensity data associated with each other by the data integration part in an overlapping manner.

10. A movement amount estimation method for estimating, in a movement amount estimation system having a storage area configured to store acceleration data including a time of measurement by an acceleration sensor which a mobile terminal has and an acceleration measured by the acceleration sensor, a movement amount of a holder of the mobile terminal based on the acceleration sensor data,

the movement amount estimation method including:

detecting a start time and an end time of an elevator riding time period of the holder based on an increase and decrease of the acceleration data stored in the storage area;

integrating the acceleration data from the start time to the end time by a time period from the start time to the end time to calculate a movement velocity of the holder from the start time to the end time;

correcting one of a movement velocity at the start time and a movement velocity at the end time based on another of the movement velocity at the start time and the movement velocity at the end time; and

integrating the movement velocity corrected in the correcting of the movement velocity by the time period from the start time to the end time to estimate a movement amount of the holder when the holder uses an elevator.

11. The movement amount estimation method according to claim 10, wherein:

the storage area stores a correction parameter corresponding to a time period for estimating a movement start time of the elevator earlier than the start time and a movement stop time of the elevator later than the end time; and

the detecting of the elevator riding time period includes;

detecting the start time and the end time based on a relationship between the increase and decrease of the acceleration data and preset threshold values; and

correcting the start time to the movement start time earlier than the start time based on the correction parameter and the end time to the movement stop time later than the end time based on the correction parameter.

12. The movement amount estimation method according to claim 11, wherein:

the storage area stores building information in which a height of each floor of a building including the elevator installed therein is registered; and

the movement amount estimation method further includes;

calculating a height at which the holder is located after movement using the elevator based on the movement amount estimated in the estimating of the movement amount and referring to the building information to estimate a floor located at a height which is closest to the calculated height after the movement of the holder as a floor on which the holder of the mobile terminal is located after movement using the elevator; and

adjusting, when the height after the movement of the holder, which is calculated in the estimating of the floor, does not match the height of the floor estimated in the estimating of the floor, the correction parameter so that the height after the movement of the holder, which is calculated in the estimating of the floor, matches the height of the floor estimated in the estimating of the floor.

13. The movement amount estimation method according to claim 11, wherein:

the storage area stores building information in which a height of each floor of a building including the elevator installed therein is registered; and

the movement amount estimation method further comprises;

calculating a height at which the holder of the mobile terminal is located after movement using the elevator based on the movement amount estimated in the estimating of the movement amount and referring to the building information to estimate a floor at a height which is closest to the calculated height after the movement of the holder as a floor on which the holder is located after movement using the elevator;

receiving information for identifying a floor on which the holder is actually located after the floor on which the holder is located after movement using the elevator is estimated in the estimating of the floor; and

adjusting, in a case where the floor on which the holder is actually located, which is identified by the information received in the receiving of the information enabling identification of the floor on which the holder is actually located, and the floor which is estimated in the estimating of the floor are different from each other, the correction parameter so that the height calculated in the estimating of the floor, at which the holder is located after movement using the elevator, and the height of the floor on which the holder is actually located match each other.

14. The movement amount estimation method according to claim 10, wherein:

the storage area stores building information in which a height of each floor of a building including the elevator installed therein is registered, angular velocity data including a time of measurement by a gyro sensor which the mobile terminal has and an angular velocity measured by the gyro sensor, azimuth data including a time of measurement by an azimuth sensor which the mobile terminal has and a direction measured by the azimuth sensor, floor information in which coordinates of a doorway of the elevator on the floor are registered, and radio field intensity data including a time of measurement by a radio field intensity sensor which the mobile terminal has and a radio field intensity measured by the radio field intensity sensor; and

the movement amount estimation method further comprises;

calculating a height at which the holder is located after movement using the elevator based on the movement amount estimated in the estimating of the movement amount and referring to the building information to estimate a floor at a height which is closest to the calculated height after the movement of the holder as a floor on which the holder is located after movement using the elevator;

estimating a horizontal movement history of the holder based on a horizontal acceleration of the acceleration data, the angular velocity data, and the azimuth data;

associating the horizontal movement history included in the horizontal movement history estimated in the estimating of the horizontal movement history corresponding to a time period from the end time detected in the detecting of the elevator riding time period to a subsequent detection of the start time in the detecting of the elevator riding time period, with the floor estimated in the estimating of the floor;

referring to the floor information to set coordinates of a starting point of the horizontal movement history associated with the floor estimated in the estimating of the floor in the associating of the horizontal movement history with the floor as the coordinates of the doorway of the elevator;

associating a time of a movement locus estimated in the estimating of the horizontal movement history and the time of the radio field intensity data with each other to associate the movement locus and the radio field intensity data with each other; and

displaying the movement locus and the radio field intensity data associated with each other in the associating of the movement locus and the radio field intensity data in an overlapping manner.

15. A mobile terminal, comprising an acceleration sensor and a storage area configured to store acceleration data measured by the acceleration sensor, for estimating a movement amount of a holder of the mobile terminal based on the acceleration data, the mobile terminal further comprising:

an elevator riding time period detection part configured to detect a start time and an end time of an elevator riding time period of the holder based on an increase and decrease of the acceleration data stored in the storage area;

a movement velocity calculation part configured to integrate the acceleration data from the start time to the end time by a time period from the start time to the end time to calculate a movement velocity of the holder from the start time to the end time;

a movement velocity correction part configured to correct one of a movement velocity at the start time and a movement velocity at the end time based on another of the movement velocity at the start time and the movement velocity at the end time; and

a movement amount estimation part configured to integrate the movement velocity corrected by the movement velocity correction part by the time period from the start time to the end time to estimate a movement amount of the holder when the holder uses the elevator.