Positioning device, positioning method and storage medium storing program

• US 8,473,195 B2
• Filed: 06/11/2010
• Issued: 06/25/2013
• Est. Priority Date: 06/16/2009
• Status: Active Grant

• Current Assignee: Casio Computer Company Limited
• Original Assignee: Casio Computer Company Limited
• Inventors: Sambongi, Masao
• Primary Examiner(s): Zeender, Ryan
• Assistant Examiner(s): Racic, Milena
• Application Number:
  US12/813,672
• Publication Number:
  US 20100318289A1
• Time in Patent Office: 1,110 Days
• Field of Search: 701/201, 701/410, 701/408, 701411-413, 701/518
• US Class Current: 701/411
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude

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.

Claims

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.

2. The positioning device according to claim 1, wherein the correcting unit subjects the displacement amount obtained by the multiplication to predetermined weighting, and adds the weighted displacement amount to the position data of the correction target.

5. The positioning device according to claim 1, wherein the difference information contains information of a distance and a direction between two points represented by two position data.

6. The positioning device according to claim 1, further comprising a storage unit for storing movement record data containing the position data of the plurality of points calculated by the position calculating unit, wherein the correcting unit corrects the position data of the plurality of points contained in the movement record data.

7. The positioning device according to claim 1, wherein measurement of the movement measuring unit and calculation of the position data by the position calculating unit are continuously performed while measurement of the present position by the positioning unit is intermittently performed, and the correcting unit sets two points at which position data is intermittently measured by the positioning unit as the first and the second reference points, and corrects the position data calculated by the position calculating unit.

3. 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 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.

4. The positioning device according to claim 3, wherein the correcting unit subjects the displacement amount obtained by the multiplication to predetermined weighting, and adds the weighted displacement amount to the position data of the correction target.

12. The positioning device according to claim 3, wherein the difference information contains information of a distance and a direction between two points represented by two position data.

13. The positioning device according to claim 3, further comprising a storage unit for storing movement record data containing the position data of the plurality of points calculated by the position calculating unit, wherein the correcting unit corrects the position data of the plurality of points contained in the movement record data.

14. The positioning device according to claim 3, wherein measurement of the movement measuring unit and calculation of the position data by the position calculating unit are continuously performed while measurement of the present position by the positioning unit is intermittently performed, and the correcting unit sets two points at which position data is intermittently measured by the positioning unit as the first and the second reference points, and corrects the position data calculated by the position calculating unit.

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:

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.

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:

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.

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:

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.

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:

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.