JP6041386B2 - Electronics - Google Patents

Description

  The present invention relates to an electronic device having a positioning function, and more particularly to an electronic device such as a portable communication device or a personal computer.

  2. Description of the Related Art Conventionally, mobile phones, portable personal computers, and the like have become standard with a positioning function for grasping the current position of a device, and GPS (Global Positioning System) is used as the positioning function. GPS is a system that can know its position by receiving radio waves from an artificial satellite, and functions anywhere as long as the sky of the device is not obstructed. However, it is difficult to know the position if the device is indoors or if there is an obstacle in the sky even if it is outdoors, because it cannot be received from the satellite.

  By the way, an acceleration sensor is mounted on many electronic devices. The accelerometer is used for adjusting the orientation of the screen display by knowing the posture of the device, or for detecting the fall and preparing for an impact. Therefore, in electronic equipment, the relative position from the initial coordinates of the equipment can be calculated by integrating the outputs of these acceleration sensors. Therefore, in combination with the positioning system using the GPS described above, Positioning becomes possible. For example, in Patent Document 1, when a radio wave from an artificial satellite cannot be received in a mobile phone, processing such as integration of output signals from an orientation sensor, an acceleration sensor, and an angular velocity sensor is performed, and the result is obtained from the nearest artificial satellite. Devices that can know the current position by combining with absolute position information obtained by radio waves are disclosed.

JP 2004-233058 A

  However, in the method of positioning using an acceleration sensor, when a very large acceleration such as a drop impact is applied, the acceleration sensor temporarily stops functioning. There was a problem that it was impossible to detect and accurate positioning was impossible. Specifically, in the situation where the electronic device is used indoors and GPS does not function, the output of the acceleration sensor becomes unstable temporarily when it collides with a wall or falls on the floor, Positioning based on that cannot be performed, and an accurate current position cannot be detected.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an electronic device that can perform accurate positioning even when subjected to an impact such as indoors where GPS does not function. is there.

The present invention provides the following means in order to solve the above problems.
An electronic apparatus according to the present invention includes a horizontal acceleration sensor that measures horizontal acceleration, a vertical acceleration sensor that measures vertical acceleration, an atmospheric pressure sensor that measures external atmospheric pressure, the horizontal acceleration sensor, and the vertical acceleration sensor. And a calculation unit that acquires an output signal of the atmospheric pressure sensor and estimates a current position from the acquired output signal, and the calculation unit determines in advance the acceleration in the vertical direction measured by the vertical acceleration sensor. When the specified range is exceeded, the current position is estimated using the output signal of the atmospheric pressure sensor instead of the output signal of the vertical acceleration sensor for a predetermined time from the time when the range is exceeded.
According to the electronic device of the present invention, accurate positioning can be performed by using the output signal of the atmospheric pressure sensor even when the output signal of the vertical acceleration sensor is unreliable due to an impact such as dropping or collision.

In the electronic apparatus according to the present invention, the predetermined time is set based on a value of the acceleration in the vertical direction measured by the vertical acceleration sensor by the arithmetic unit.
In the electronic device according to the present invention, the calculation unit stores the acceleration value and a time determined according to the acceleration value in advance in a storage unit for each acceleration value, and measures the vertical acceleration sensor. Based on the acceleration value in the vertical direction, time is extracted from the storage unit, and the extracted time is set as the predetermined time.
According to the electronic device of the present invention, since the output of the vertical acceleration sensor is measured using the output signal of the atmospheric pressure sensor only during a time when the output of the vertical acceleration sensor is not reliable due to an impact or the like, more accurate positioning can be performed.

In the electronic apparatus according to the present invention, an upper limit value and a lower limit value of the vertical acceleration are set in advance in the arithmetic unit, and the predetermined time is the acceleration in the vertical direction measured by the vertical acceleration sensor. Is equal to the time indicating a value outside the numerical range constituted by the upper limit value and the lower limit value.
According to the electronic device of the present invention, when the function of the vertical acceleration sensor is restored, positioning is performed using the output signal of the vertical acceleration sensor as soon as possible, so that more accurate positioning can be performed.

In the electronic device according to the present invention, the electronic device includes a GPS device that measures a position by receiving a signal from an artificial satellite, and when the arithmetic unit can acquire the signal from the GPS device, the output signal In addition, when the current position is measured based on the signal from the GPS device and the signal from the GPS device cannot be acquired, the position measured based on the signal acquired from the GPS device immediately before is used as the reference position. A movement amount from a reference position to the current position is estimated based on the output signal.
According to the electronic device of the present invention, only when the signal from the artificial satellite cannot be received, the output signal of the atmospheric pressure sensor is used immediately after the impact, so that more accurate positioning can be performed.

The electronic apparatus according to the present invention is characterized in that the atmospheric pressure sensor is an atmospheric pressure fluctuation sensor that measures fluctuations in atmospheric pressure.
According to the electronic device of the present invention, since the positioning is performed by the output signal of the atmospheric pressure fluctuation sensor instead of the vertical acceleration sensor in response to the sudden vertical displacement regardless of the altitude above sea level, more accurate positioning can be performed.

  According to the electronic device of the present invention, even if the output signal of the acceleration sensor is temporarily unreliable due to a strong impact, the current position is always accurately determined by using the output signal of the atmospheric pressure sensor. Can do.

It is a block diagram of the electronic device of 1st embodiment which concerns on this invention. It is a figure which shows the time change of the output signal of the sensor part which concerns on 1st Embodiment. It is a flowchart for demonstrating the position estimation operation | movement which the electronic device which concerns on this invention performs. It is a figure which shows the time change of the output signal of the sensor part which concerns on 2nd Embodiment. It is a figure which shows the operation | movement flow of the calculating part which concerns on 2nd Embodiment. It is a figure which shows the time change of the output signal of the sensor part which concerns on 3rd Embodiment. It is a figure which shows the time change of the output signal of the sensor part which concerns on 4th Embodiment. It is a figure which shows the time change of the output signal of the sensor part which concerns on 5th Embodiment.

Hereinafter, embodiments of an electronic apparatus according to the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a block diagram of an electronic device 1 according to the first embodiment. The electronic device 1 is, for example, a portable communication device or a personal computer, and includes a sensor unit 10 including a vertical acceleration sensor 2, a horizontal acceleration sensor 3, and an atmospheric pressure sensor 4, a control unit 5, and an antenna 6. And a GPS receiver 7 and a calculator 8. The sensor unit 10 and the GPS receiving unit 7 having the antenna 6 are connected to the control unit 5. The control unit 5 is connected to the calculation unit 8.

  The vertical acceleration sensor 2 and the horizontal acceleration sensor 3 include various types of acceleration sensors such as a capacitance type and a piezoresistive type, for example, detect vertical and horizontal accelerations acting on the electronic device 1, respectively, and control units The detected acceleration signal is output to 5.

  The atmospheric pressure sensor 4 includes a sensor capable of detecting various external atmospheric pressures such as a capacitance type and a vibration type, and outputs a signal of the detected external atmospheric pressure to the control unit 5. In addition, the atmospheric pressure sensor 4 has a cavity having an opening communicating with outside air in part, and a cantilever is disposed so as to cover the opening. The cantilever is fixed to the inner wall of the opening and the distal end side is free. And a differential pressure sensor having a structure in which a gap between the inner wall of the opening is a minute air gap.

  In the following description, when expressed as an output signal from the sensor unit 10, all the output signals of the vertical acceleration sensor 2, the horizontal acceleration sensor 3, the atmospheric pressure sensor 4, or all of the sensors (not specified). ) Suggest any one output signal.

The GPS receiver 7 is a receiver that receives GPS signals emitted from artificial satellites via the antenna 6, and outputs the received GPS signals to the controller 5.
The control unit 5 includes, for example, a CPU, a RAM, a ROM, and the like, and comprehensively controls various functions and operations of the electronic device 1. In addition, the control unit 5 inputs an output signal from the sensor unit 10 and a GPS signal from the GPS receiving unit 7, and transmits these input various signals to the calculation unit 8.

  The calculation unit 8 performs the following processing on various signals received from the control unit 5. First, from the latest GPS signal obtained, the time when the latest GPS signal was obtained and the position of the electronic device 1 at that time are stored in the RAM. The GPS signal is a signal obtained by receiving radio waves transmitted from a plurality of GPS satellites and obtaining the current position of the electronic device 1 from the orbit information and time of those satellites. Next, the difference between the current time and the time when the GPS signal was most recently obtained is obtained, and the elapsed time since the GPS signal was most recently obtained is stored in the RAM. Next, the signal from the vertical acceleration sensor 2 and the signal from the horizontal acceleration sensor 3 are integrated over the elapsed time. At this time, the signal from the vertical acceleration sensor 2 is replaced by the signal from the atmospheric pressure sensor 4 in some cases, which will be described later. The position information of the electronic device 1 obtained by this calculation is returned to the control unit 5.

Next, the position estimation operation of the electronic device 1 will be described with reference to FIG.
First, output changes of the vertical acceleration sensor 2 and the atmospheric pressure sensor 4 provided in the sensor unit 10 when the electronic device 1 receives an impact in the upward direction in the vertical direction will be described. Here, FIG. 2 is a diagram illustrating a time change of the output signal of the sensor unit 10 according to the present embodiment. 2A shows how the vertical acceleration a, which is the output of the vertical acceleration sensor 2, changes with respect to time t, and FIG. 2B shows how the atmospheric pressure p, which is the output of the atmospheric pressure sensor 4, changes with respect to time t. Show.

  The electronic device 1 is assumed to detect the vertical acceleration a1 and the atmospheric pressure p1 in the initial state (t = 0). Here, the initial state is a stationary state, and the vertical acceleration a1 is a gravitational acceleration. When the electronic device 1 receives a large impact in the vertical direction at time t1, the output signal of the vertical acceleration sensor 2 varies greatly. Therefore, as shown in FIG. 2A, the output signal of the vertical acceleration sensor 2 does not show an accurate vertical acceleration from the time t1 to the time t2. This is because a large acceleration is applied to the electronic device 1 in a very short time due to the impact, and thus the vertical acceleration sensor 2 cannot cope with a sharp change in the acceleration. On the other hand, the atmospheric pressure sensor 4 shown in FIG. 2B detects a change from the atmospheric pressure p1 to the atmospheric pressure p2 based on the change in the external atmospheric pressure due to the electronic device 1 moving in the vertical direction at the time t1 to the time t2. To do. That is, even if the electronic device 1 receives a large impact, the atmospheric pressure sensor 4 does not change the external atmospheric pressure itself due to the impact, and thus stably outputs a signal indicating the external atmospheric pressure.

  Next, the position estimation operation of the electronic device 1 based on the output changes of the vertical acceleration sensor 2 and the atmospheric pressure sensor 4 will be described with reference to FIG. Here, FIG. 3 shows an operation flow of the calculation unit 8.

  First, the control part 5 receives the output signal from the sensor part 10 and the GPS receiving part 7, and transmits to the calculating part 8 (step S1). Then, the calculation unit 8 determines whether or not the GPS signal has been acquired in step S1, that is, whether or not the electronic device 1 is in a position where the GPS signal can be received such as outdoors (step S2). And when it is judged that the calculating part 8 was able to acquire in step S2 (step S2; Yes), the calculation process of the position estimation of the electronic device 1 based on the said GPS signal is performed (step S3).

  On the other hand, when it is determined that the calculation unit 8 could not be acquired in step S2 (that is, the electronic device 1 is indoors) (step S2; No), the acceleration sensor (vertical acceleration sensor 2 and horizontal acceleration sensor 3). The calculation process of the position estimation of the electronic device 1 based on the output of is performed (step S4).

Next, the calculation unit 8 determines whether or not a change in the output signal of the vertical acceleration sensor 2 based on the impact described in FIG. 2 has been detected (step S5).
And when calculating part 8 judges that change of an output signal was detected at Step S5 (Step S5; Yes), while canceling the output of vertical acceleration sensor 2, the position presumption processing based on the output of pressure sensor 4 is carried out. Is executed (step S6). Specifically, the calculation unit 8 uses the position information most recently grasped by the GPS signal received via the control unit 5 (that is, the position information based on the position estimation process last executed in step S3) as the reference position. Then, the current position is estimated by combining the movement amount from the reference position with the outputs from the horizontal acceleration sensor 3 and the atmospheric pressure sensor 4.

  Next, the calculation unit 8 determines whether or not a predetermined time has elapsed since the start of the process of step S6 (step S7). If it is determined that the predetermined time has not elapsed (step S7; No), step S6 and subsequent steps. Repeat the process. On the other hand, when it is determined that the calculation unit 8 has elapsed in step S7 (step S7; Yes), and when it is determined that no change in the output signal has been detected in step S5 (step S5; No), the acceleration Calculation processing for position estimation of the electronic device 1 based on the output of the sensor is executed, and this flow is finished.

  Here, a procedure (step S5 in FIG. 3) for determining whether or not the electronic device 1 has received an impact by the arithmetic unit 8 described above, and a time for executing a position estimation process based on the output of the atmospheric pressure sensor 4 (predetermined time) ) Will be described (step S7 in FIG. 3). The calculation unit 8 stores a lookup table in which a magnitude of vertical acceleration corresponding to an impact is associated with a time (predetermined time) corresponding to the magnitude of each vertical acceleration in an internal memory. Then, each time the vertical acceleration is acquired, the calculation unit 8 refers to the lookup table. That is, when the acquired vertical acceleration is smaller than the vertical acceleration described in the look-up table, the calculation unit 8 determines that the electronic device 1 has not received an impact (step S5; No). On the other hand, when the acquired vertical acceleration exists in the look-up table (when it exceeds a predetermined range), the calculation unit 8 determines that the electronic device 1 has received an impact (step S5; Yes), and the vertical The time corresponding to the acceleration is extracted from the lookup table, and the time is set as the predetermined time according to step S7. The predetermined time is set to the most appropriate time by automatically extracting the optimum value from the lookup table each time according to the magnitude of the vertical acceleration generated by the impact, as described above. It is also possible to set, or it may be set in advance by the user as appropriate.

  By combining such a configuration and the driving method, the electronic device 1 according to the present embodiment is used in a place where GPS position estimation is impossible, such as indoors, and the output of the vertical acceleration sensor 2 is correct in response to an impact. Even in a time zone in which acceleration is not indicated, the current position can be estimated with high accuracy by using the output of the atmospheric pressure sensor 4.

(Second Embodiment)
Next, an electronic apparatus according to a second embodiment of the present invention will be described with reference to FIGS. Here, the configuration of the electronic apparatus according to the second embodiment is the same as that of the electronic apparatus according to the first embodiment shown in FIG.
FIG. 4 is a diagram illustrating a time change of the output signal of the sensor unit 10 according to the second embodiment. 4A shows how the vertical acceleration a that is the output of the vertical acceleration sensor 2 changes with respect to time t, and FIG. 4B shows how the pressure p that is the output of the atmospheric pressure sensor 4 changes with respect to time t. Show.

  In the electronic apparatus 1 according to the present embodiment, the calculation unit 8 determines whether or not the value of the vertical acceleration a that is the output of the vertical acceleration sensor 2 is a value that can be used for position estimation, that is, step S5 in FIG. As a reference for executing the above, an upper limit amax and a lower limit amin of acceleration are set in advance in a memory or the like. In other words, during normal driving, the output of the vertical acceleration sensor 2 changes between amin and amax, but when the electronic device 1 receives an impact, the output falls below amin or exceeds amax (a predetermined range). In the case of exceeding). In this case, the subsequent output of the vertical acceleration sensor 2 shows a value unrelated to the acceleration actually received by the electronic device 1. Therefore, in the electronic apparatus 1 according to the present embodiment, the calculation unit 8 determines whether or not the output of the vertical acceleration sensor 2 changes between amin and amax in step S5 of FIG. And

  The upper limit amax and the lower limit amin of acceleration can be set when the electronic device 1 is manufactured, but can be changed as appropriate when the electronic device 1 is driven. In addition, the calculation unit 8 has a predetermined learning function regarding the set values of amax and amin. By repeatedly changing the values of amax and amin while the electronic device 1 is being driven, the vertical acceleration that can be used for position estimation is calculated. It is also possible to optimize the numerical range.

  Here, FIG. 5 shows a calculation flow in the case of repeatedly changing the values of amax and amin while the electronic apparatus 1 is being driven. The same processes as those in FIG. The difference from FIG. 3 is that after the step (S8) in which the calculation unit 8 performs position estimation, it is determined whether or not the values of amax and amin need to be changed, and if necessary, they are changed (step S9).

  By combining such a configuration and the driving method, the electronic apparatus 1 according to the present embodiment can perform position estimation with higher accuracy than the electronic apparatus according to the first embodiment.

(Third embodiment)
Next, an electronic apparatus according to the third embodiment of the present invention will be described. Here, the configuration of the electronic apparatus according to the third embodiment is the same as that of the electronic apparatus according to the first embodiment shown in FIG.
FIG. 6 is a diagram illustrating a time change of the output signal of the sensor unit 10 according to the third embodiment. 6A shows how the vertical acceleration a, which is the output of the vertical acceleration sensor 2, changes with respect to time t, and FIG. 6B shows how the atmospheric pressure p, which is the output of the atmospheric pressure sensor 4, changes with respect to time t. Show.

  As shown in FIG. 6, the electronic device 1 is assumed to be in a stationary state in the initial state t = 0 as in the first embodiment. Then, after this stationary state, it is assumed that the free fall of the electronic device 1 has started at time t1. Here, in FIG. 6A, the vertical acceleration a becomes zero from time t1 to time t3, indicating that the electronic device 1 is in a free fall state.

  Then, the electronic device 1 is assumed to have an instantaneously large value of the vertical acceleration a by colliding with an object (for example, a floor) at time t3. Then, from the time t3 to time t2 (time zone dt), the output of the vertical acceleration sensor 2 does not show correct acceleration. However, since the atmospheric pressure sensor 4 continues to output the outside atmospheric pressure p2 in this time zone dt, the calculation unit 8 can correctly estimate the position by using the output value of the atmospheric pressure sensor 4.

  That is, in the electronic device 1 according to the present embodiment, the calculation unit 8 detects a state where the output of the vertical acceleration sensor 2 is zero, a time when the output becomes zero, and an output of the atmospheric pressure sensor 4 after the lapse of the time. Thus, since information on the free fall state of the electronic device 1, the time of the free fall, and the atmospheric pressure after the fall can be grasped, the fall distance can be accurately calculated by combining these pieces of information.

  By combining such a configuration and the driving method, not only can an operation for preparing an impact when the electronic device 1 freely falls, but also a position can be accurately estimated after dropping.

(Fourth embodiment)
Next, an electronic apparatus according to a fourth embodiment of the present invention will be described. Here, the configuration of the electronic device according to the fourth embodiment is the same as that of the electronic device according to the first embodiment shown in FIG.

  FIG. 7 is a diagram illustrating a time change of the output signal of the sensor unit 10 according to the fourth embodiment. FIG. 7A shows how the vertical acceleration a that is the output of the vertical acceleration sensor 2 changes with respect to time t, and FIG. 7B shows how the atmospheric pressure p that is the output of the atmospheric pressure sensor 4 changes with respect to time t. Show. As shown in FIG. 7, the electronic device 1 is assumed to be in a stationary state in the initial state t = 0 as in the first embodiment. Then, after this stationary state, it is assumed that the free fall of the electronic device 1 has started at time t1. 7A, from time t1 to time t3, the vertical acceleration a becomes zero, indicating that the electronic device 1 is in a free fall state.

  Then, the electronic device 1 is assumed to have an instantaneously large value of the vertical acceleration a by colliding with an object (for example, a floor) at time t3. Then, from the time t3 to time t2 (time zone dt), the output of the vertical acceleration sensor 2 does not show correct acceleration. Further, in the present embodiment, as shown in FIG. 7B, the electronic device 1 starts to fall again after time t3, and continues the free fall until time t4. At this time, since the vertical acceleration sensor 2 continues to be in a state where the vertical acceleration sensor 2 does not show an accurate vertical acceleration due to an impact, as shown in FIG. The fall time cannot be detected because the fall is not detected again. On the other hand, the output of the atmospheric pressure sensor 4 shown in FIG. 7B is an external atmospheric pressure that accurately corresponds to the height change even during the second fall, that is, p1 at the initial position, p2 at the first drop position, Thereafter, a significant value consisting of p3 is detected at the fall position again. For this reason, the calculation unit 8 can estimate the correct position even when the electronic device 1 continuously falls a plurality of times by using the values of p1 to p3.

  By combining such a configuration and the driving method, position estimation after impact can be accurately performed even when the electronic device 1 is repeatedly impacted in a short time.

(Fifth embodiment)
Next, an electronic apparatus according to a fifth embodiment of the invention will be described. Here, the configuration of the electronic apparatus according to the fifth embodiment is the same as that of the electronic apparatus according to the first embodiment shown in FIG.

  FIG. 8 is a diagram illustrating a time change of the output signal of the sensor unit 10 according to the fifth embodiment. 8A shows how the vertical acceleration a that is the output of the vertical acceleration sensor 2 changes with respect to time t, and FIG. 8B shows how the pressure p that is output from the atmospheric pressure sensor 4 changes with respect to time t. Show. As shown in FIG. 8, it is assumed that the electronic device 1 is in a stationary state as in the first embodiment in the initial state t = 0. Then, after this stationary state, it is assumed that the free fall of the electronic device 1 has started at time t1. 8A, from time t1 to time t3, the vertical acceleration a becomes zero, indicating that the electronic device 1 is in a free fall state.

  Then, the electronic device 1 is assumed to have an instantaneously large value of the vertical acceleration a by colliding with an object (for example, a floor) at time t3. Then, from the time t3 to time t2 (time zone dt), the output of the vertical acceleration sensor 2 does not show correct acceleration. Furthermore, as in the fourth embodiment (FIG. 7), the electronic device 1 starts to fall again after time t3, and continues the free fall until time t4.

  Furthermore, in the present embodiment, it is assumed that the electronic device 1 is in a constant velocity falling state after, for example, sliding down a frictional slope after time t4. However, as shown in FIG. 8A, at time t4 when the electronic device 1 starts falling at a constant velocity, the output of the vertical acceleration sensor 2 is not yet in the state of showing the correct acceleration due to the influence of the collision. The unit 8 cannot detect that the electronic device 1 is falling at a constant speed. At t2 when the output of the vertical acceleration sensor 2 starts to show correct acceleration again, the same output as in the initial state is given, but the electronic device 1 continues to fall. For this reason, when the calculation unit 8 performs the position estimation process using only the output of the vertical acceleration sensor 2, the amount of deviation from the correct position increases with time. On the other hand, the output of the atmospheric pressure sensor 4 shown in FIG. 8B is the external atmospheric pressure corresponding to the height change in spite of free fall or impact, that is, p1 at the initial position, p2 at the first fall position, and then fall again. In the position, the value corresponding to the correct height is shown in p3, and also in the subsequent constant velocity falling state. Therefore, when the electronic device 1 is in a constant speed movement state after receiving an impact, the calculation unit 8 can correctly estimate the position by using the output values of these atmospheric pressure sensors 4.

  By combining such a configuration and the driving method, position estimation can be accurately performed even when the electronic device 1 is in a constant speed movement state after receiving an impact.

DESCRIPTION OF SYMBOLS 1 Electronic device 2 Vertical acceleration sensor 3 Horizontal acceleration sensor 4 Barometric pressure sensor 5 Control part 6 Antenna 7 GPS receiving part (GPS apparatus)
8 Calculation unit 10 Sensor unit

Claims (6)

A horizontal acceleration sensor that measures the acceleration in the horizontal direction;
A vertical acceleration sensor that measures vertical acceleration;
An atmospheric pressure sensor for measuring the external atmospheric pressure;
An operation unit that obtains output signals of the horizontal acceleration sensor, the vertical acceleration sensor, and the atmospheric pressure sensor, and estimates a current position from the obtained output signal;
With
When the vertical acceleration measured by the vertical acceleration sensor exceeds a predetermined range, the arithmetic unit replaces the output signal of the vertical acceleration sensor for a predetermined time from the time when the acceleration exceeds the predetermined range. An electronic apparatus characterized in that the current position is estimated using an output signal.   The electronic apparatus according to claim 1, wherein the predetermined time is set based on a value of acceleration in the vertical direction measured by the vertical acceleration sensor by the arithmetic unit.   The arithmetic unit stores the acceleration value and a time determined according to the acceleration value in advance in a storage unit for each acceleration value, and based on the vertical acceleration value measured by the vertical acceleration sensor. The electronic device according to claim 2, wherein time is extracted from the storage unit, and the extracted time is set to the predetermined time. In the arithmetic unit, an upper limit value and a lower limit value of acceleration in the vertical direction are set in advance,
The said predetermined time is equal to the time when the acceleration in the vertical direction measured by the vertical acceleration sensor shows a value outside the numerical range constituted by the upper limit value and the lower limit value. Electronics. It has a GPS device that measures the position by receiving a signal from an artificial satellite,
When the calculation unit can acquire a signal from the GPS device, the current position is measured based on the signal from the GPS device together with the output signal, and when the signal from the GPS device cannot be acquired, The position measured based on the signal acquired from the GPS device immediately before is used as a reference position, and the amount of movement from the reference position to the current position is estimated based on the output signal. 5. The electronic device according to any one of 4.   The electronic apparatus according to claim 1, wherein the atmospheric pressure sensor is an atmospheric pressure fluctuation sensor that measures fluctuations in atmospheric pressure.

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