JP6715706B2 - Current position estimation device, map survey support device, method, and program - Google Patents

Description

The present invention relates to a current position estimation device that estimates a current position, a map survey support device, a method, and a program.

2. Description of the Related Art Conventionally, a method has been known in which an investigator discovers and registers the position of a feature of a type designated as a survey target on or in contact with a road while traveling along a route with a GPS.

Akio Yasuda, "Current status and future prospects of GPS", The Institute of Electronics, Information and Communication Engineers, Vol.82 No.12 pp.1207-1215

However, when the position is measured by the GPS, the GPS needs to receive radio waves from satellites, and therefore the accuracy of estimating the position of a place with poor visibility in the sky such as a shadow of a building is poor. It was difficult for the investigator to specify the position of the survey target by using his/her position obtained by referring to the position output by GPS.

The present invention has been made in view of the above circumstances, and provides a current position estimation device, a map research support device, a method, and a program that enable a researcher to accurately estimate the current position when performing a survey. The purpose is to

In order to achieve the above object, the present position estimating apparatus according to the first aspect of the present invention provides a current position measured by GPS with a node representing a geographically logical point and a link connecting the point and the point. Present position candidate determining means for determining a point projected on a geographic network, which is a network structure consisting of edges, as current position candidates, and survey information for storing survey information of the survey target obtained by distant observation or close observation Based on the survey information stored in the database, stay point extraction means for extracting the end points of the survey object in the final proximity observation, and the survey object in the final proximity observation extracted by the stay point extraction means And a current position determining means for determining the current position candidate included in a range movable from the end point as a current position.

In the current position estimating method according to the second aspect of the present invention, the current position candidate determining means links the current position measured by GPS to a node representing a geographically logical point, and a link connecting the point and the point. A survey in which a point projected onto a geographic network, which is a network structure consisting of edges, is determined as a current position candidate, and the stay point extraction means stores the survey information of the survey target obtained by distant observation or close observation. Based on the survey information stored in the information database, the end point of the survey object in the final close-up observation is extracted, and the current position determination means is the survey target in the final close-up observation extracted by the stay point extraction means. The current position candidate included in the movable range from the end point of the object is determined as the current position.

A current position estimation device according to a third aspect of the present invention has a network structure that includes a current position measured by GPS, a node that represents a geographically logical point, and an edge that represents a link connecting the point and the point. By matching the position projected by the geographic network with the present position candidate determining means for determining the present position candidate and the locus of the position measured by the GPS and the geographic network, the travel route is estimated and estimated. Of the end point of the survey target object in the final close-up observation, based on the moving route and the survey information stored in the survey information database that stores the survey information of the survey target object obtained by the distant observation or the close-up observation. Of these, the stay point extracting means for extracting the end points on the moving route, and the current position candidate included in the movable range from the end points on the moving route extracted by the stay point extracting means, The present position determining means for determining the position is included.

A map survey support device according to a fourth aspect of the present invention stores the current position estimation device according to the first or third aspect of the invention, a map information database storing map data and the geographic network, and the map information database. And displaying the map data and the geographical network acquired by the map information reference unit, the current position determined by the current position estimation device, and the map information and the geographical network acquired by the map information reference unit. And a survey information input unit for inputting the survey information obtained by the distant observation or the close observation based on the current position displayed by the map information output unit. Has been done.

A map survey support method according to a fifth aspect is a map survey support method in a map survey support device including a map information database that stores map data and a geographic network, wherein the map information reference means stores the map information database in the map information database. The map data and the geographic network that have been created are acquired, the steps of the current position estimation method according to the second aspect of the present invention are executed, and the map information output means is the current position determined by the current position estimation method; The map data and the geographic network acquired by the map information reference means are displayed, and the survey information input means obtains the distance observation or the proximity observation based on the current position displayed by the map information output means. The input of the survey information thus obtained is accepted.

Further, the program of the present invention is a program for causing a computer to function as each unit constituting the above-mentioned current position estimation device or map survey support device.

As described above, according to the present position estimation device, the map survey support device, the method, and the program of the present invention, the end points of the survey target object in the final close-up observation are extracted, and the survey target object in the final close-up observation is extracted. By determining the current position candidate included in the movable range from the end point as the current position, it is possible to obtain an effect that the current position can be accurately estimated when the investigator conducts an investigation.

It is a block diagram of a map survey support device according to an embodiment of the present invention. It is a figure which shows the example of the kind of survey point. It is a figure which shows an example of survey point information. It is a block diagram of the present position estimating means of the map research support device in the embodiment of the present invention. It is a figure for demonstrating the method of determining a present position candidate. It is a figure for explaining a method of presuming a movement course of an investigator. It is a figure for demonstrating the method of extracting the last stay point. It is a figure for explaining a method of deciding a present position. It is a figure for explaining a method of deciding a present position. It is a flowchart which shows the map research support processing routine of the map research support apparatus in embodiment of this invention. It is a flow chart which shows the present position presumption processing routine of the map investigation support device in an embodiment of the invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<Outline>
A map survey support device according to an embodiment of the present invention is for a surveyor to survey information about a feature linked to specific position information on a map. The map information survey support device enables surveyors to survey features on a map, routes such as routes on a map, or routes with a length on the map while moving, and record it in association with location information. , It supports map information survey.
Further, the map survey support device supports the input of survey points by specifying the current position of the surveyor and showing it on the map. The current position extraction method using the Global Positioning System (GPS) is used as a method to identify the current position of the investigator. At this time, among the points where the current location measured by GPS is projected onto the geographic network, the location with the lowest travel cost (distance) that can be realistically moved from the last location surveyed near the current observation target is selected. Presumed to be the current location. As a result, the accuracy of estimating the current position of the surveyor having the GPS is improved, and the surveyor can easily identify the position of the survey target using his or her position. In addition, the map surveyor can be prevented from getting lost in the current position, and the survey efficiency is improved.

Further, in the embodiment of the present invention, the current position of the investigator is estimated by using the point where the investigator conducted the investigation (hereinafter referred to as the investigation point) and the movement trajectory of the investigator acquired from GPS. By using survey points, it is possible to obtain the point where the surveyor stayed at a specific time, and by using this to supplement the GPS error, it is possible to accurately estimate the surveyor's position. Become.

<Configuration of map survey support device according to embodiment of the present invention>
Next, the configuration of the map survey support device according to the embodiment of the present invention will be described. As shown in FIG. 1, a map survey support device 100 according to an embodiment of the present invention includes a CPU, a RAM, and a ROM that stores programs and various data for executing each processing routine described later. It can be composed of a computer. The map search support device 100 is a device that supports a map information search by a researcher, and is a device that can use a geographic network as a search target and can register information with respect to a search target of a node and a link. The surveyor conducts the survey while moving, and records the survey result in the map survey support device 100. As shown in FIG. 1, the map survey support device 100 functionally includes a map information database 10, a survey information database 12, a current position estimation means 14, a map information reference means 16, and a map information output means 18. And survey information input means 20.

The map information database 10 stores map data and a geographic network that is a network structure including nodes that represent geographically logical points and edges that represent links connecting points.

The survey information database 12 stores the survey information of the survey target object at the survey point recorded by the surveyor.

The survey points recorded by the surveyor are represented by nodes and links with a certain length, and the survey is performed from a distance observation that is surveyed from a distance and a close position. There are a total of four types including close-up observation. Figure 4 shows four types of survey points.

An example of the acquired survey information is shown in FIG. Each survey point has two endpoints at both ends of the link if it is a link, one endpoint if it is a node, and the survey time at which the survey input was performed.

The current position estimation unit 14 estimates the current position of the researcher using the position measured by the GPS 30, the geographic network acquired from the map information reference unit 16, and the map information stored in the map information database 10.

The map information reference means 16 acquires map data and a geographic network from the map information database 10.

The map information output means 18 displays the map data and the geographic network acquired from the map information reference means 16 and the current position of the researcher estimated by the current position estimation means 14. In this way, by inputting the survey points by identifying the current position of the surveyor and showing it on the map, it is possible to support the input of survey points.

The survey information input means 20 receives survey information input by the surveyor by referring to the displayed current position of the surveyor and representing the survey result about the survey point, and stores it in the survey information database 12. For example, the researcher refers to the display of the current position of the researcher displayed together with the geographic network, specifies the current survey point, and inputs the survey information of the survey point.

As shown in FIG. 4, the current position estimating means 14 includes a current position candidate determining means 22, a moving route estimating means 24, a stay point extracting means 26, and a current position determining means 28.

The current position candidate determination means 22 determines a point obtained by projecting the current position measured by the GPS 30 on the geographic network as a current position candidate. Hereinafter, the current position of the researcher measured by the GPS 30 will also be referred to as the GPS measurement current position. As the current position candidate, for example, the distance from the GPS measured current position to each end point when a perpendicular line is drawn on a nearby geographic network is equal to or less than a threshold value K.

An example is shown in FIG. In FIG. 5, distances X, Y, Z and K to each point are compared with respect to each point S, T, U which is a point perpendicular to the nearby geographic network from the current GPS measurement position, and X< When K, Y<K, Z>K, S and T are current position candidates.

The movement route estimation means 24 estimates the movement route of the investigator by matching the GPS movement locus, which is the locus of the position measured by the GPS 30, with the geographic network. For example, the movement route estimation unit 24 estimates the movement route using the GPS movement locus, the geographical network, and the survey information stored in the survey information database 12. Specifically, in the estimation of the movement route, as shown in FIG. 6, map matching between the GPS movement locus and the geographic network is performed, and at the time of map matching, one or more end points of each of all survey points. Estimate the movement route of the investigator so that the route including is selected. As the map matching algorithm, for example, the curve to curve map matching algorithm of Non-Patent Document 2 is used.

[Non-Patent Document 2]: Christopher E. White, David Bernstein, Alain L. Kornhauser, Some map matching algorithms for personal navigation assistants, Transportation Research Part C, Vol.8, pp.91-108, 2000.

The stay point extraction unit 26 moves based on the movement route estimated by the movement route estimation unit 24 and the survey information stored in the survey information database 12 among the end points of the survey target object in the final close observation. The end point on the route is specified as the position where the investigator was surely stayed at last (hereinafter, the final stay point). For example, as shown in FIG. 7, an end point included in the travel route is extracted from each of the survey points from the estimated travel route, and the survey time and the survey type of each endpoint are referred to. Of the endpoints included in the travel route, the endpoint closest to the current time and surveyed by close-up observation is set as the final stay point, as the point where the investigator was actually staying most recently.

If the final object of close observation is a point, that point is the final stay point. On the other hand, when the final object of close observation is a link, the end point that is farther in a straight line distance from the departure point is set as the final stay point. Alternatively, the shortest distance among the four routes connecting each of the two points that project the end points of the current survey object onto the geographic network and each of the two end points of the survey object that were observed in close proximity is the shortest. The final staying point is the end point of the object of the final close observation that constitutes the path.

In this way, it becomes possible to accurately estimate which end point of the survey point the surveyor was using by using the movement route obtained by mapping the GSP movement trajectory on the geographic network.

The current position determination means 28 determines the current position candidate included in the movable range from the last stay point extracted by the stay point extraction means 26 as the current position.

For example, using the difference between the time (Tn-1) staying at the final stay point and the current time (Tn+1) and the predetermined moving speed threshold Ukm/hour of the investigator, the final stay point is determined. The distance S that can be moved from the current time to the current time is calculated.

Next, the current position candidates that are within the radius S from the final stay point, which is the range in which the investigator can move, are excluded from the current position candidates. As shown in FIG. 8, the shortest moving distance on the geographic network between the current position candidate that was not excluded and the final stay point is obtained, and the current position candidate having the smallest moving cost at the shortest moving distance is calculated as the current position. (See FIG. 9).

<Operation of the map survey support device according to the embodiment of the present invention>
Next, the operation of the map survey support device 100 according to the embodiment of the present invention will be described.

When a researcher who carries the map research support device 100 conducts a survey of a research target object at a survey point by distant observation or close observation while moving, and inputs the survey result to the map research support device 100, the map research support device 100 The device 100 executes the map survey support processing routine shown in FIG.

First, in step S100, map data and a geographic network are acquired from the map information database 10.

In step S102, the GPS measurement current position, which is the position measured by the GPS 30, is acquired. Then, in step S104, the current position of the investigator is estimated using the geographical network and map information acquired in step S100 and the GPS measurement current position acquired in step S102.

In step S106, the map data and the geographic network acquired in step S100 are displayed, and the current position of the investigator estimated in step S104 is displayed. Thereby, the researcher designates the current research point with reference to the display of the geographical network and the current position.

In step S108, it is determined whether or not the survey information indicating the survey result about the survey point input by the surveyor is accepted. When it is determined that the input of the survey information is accepted, the process proceeds to step S110, the accepted survey information is stored in the survey information database 12, and the map survey support processing routine is ended.

The step S104 is realized by the current position estimation processing routine shown in FIG.

In step S120, a point obtained by projecting the GPS measurement current position acquired in step S102 on the geographic network is determined as a current position candidate.

In step S122, the GPS movement locus, which is the locus of the position measured by the GPS 30, and the survey information stored in the survey information database 12 are acquired.

Then, in step S124, the GPS movement locus acquired in step S122 and the geographic network are subjected to map matching, and at the time of map matching, one or more of all the survey points of the survey information acquired in step S122 are obtained. Estimate the researcher's travel route so as to select a route that includes the endpoints of.

In step S126, based on the estimated travel route and the survey information stored in the survey information database 12, the investigator determines the end point on the travel route of the end points of the survey target object in the final close observation. Finally, it is specified as the final stay point that is estimated to have been definitely stayed.

Then, in step S128, the difference between the time (Tn-1) staying at the last stay point and the current time (Tn+1), which is obtained from the survey information stored in the survey information database 12, is predetermined. Using the movement speed threshold Ukm/hour of the investigator, the movable distance S from the time when the user was at the last stay point to the current time is obtained.

In step S130, by using the movable distance S obtained in step S128, the current position candidates that are within the radius S from the final stay point, which is the range in which the investigator can move, are excluded from the current position candidates. The shortest moving distance on the geographic network between the current position candidate that was not excluded and the final stay point is obtained, and the current position candidate with the smallest moving cost at the shortest moving distance is extracted as the current position. Then, the current position estimation processing routine ends.

As described above, according to the map survey support device according to the embodiment of the present invention, it is possible to extract the end point of the survey target object in the final close-up observation and move from the end point of the survey target object in the final close-up observation. By determining the current position candidate included in the range as the current position, the current position can be accurately estimated when the investigator conducts an investigation.
In addition, the current position of the investigator is estimated using the survey points surveyed by the investigator and the movement trajectory of the surveyor acquired from the GPS. By using survey points, it is possible to obtain the point where the surveyor stayed at a specific time, and by using this to supplement the GPS error, the current position of the surveyor can be accurately estimated. become.
In addition, by estimating the travel route from the end points of the survey points surveyed by the investigator and identifying the final stay point of the survey staff, it is possible that there is a possibility that they are moving within the range that can be moved from the final stay point. It is possible to estimate a high current position.

The present invention is not limited to the above-described embodiments, and various modifications and applications are possible without departing from the scope of the present invention.

For example, the movement route is estimated by matching the GPS movement locus and the geographic network, and based on the estimated movement route and the survey information, the movement route among the end points of the survey target object in the final close observation. The case where the upper endpoint is extracted has been described as an example, but the present invention is not limited to this. For example, the end points of the survey target object in the final proximity observation may be extracted without estimating the movement route. In this case, the current position estimating means 14 is configured by omitting the movement route estimating means 24 and including the current position candidate determining means 22, the stay point extracting means 26, and the current position determining means 28.

Further, the case where the map research support device 100 estimates the current position of the researcher has been described as an example, but the present invention is not limited to this, and a current position estimation device different from the map research support device 100 may perform the research. The current position of the member may be estimated. In this case, the current position estimation device may include the map information database 10, the survey information database 12, the map information reference unit 16, and the current position estimation unit 14.

Further, although the map survey support device 100 has a computer system inside, the “computer system” also includes a homepage providing environment (or display environment) if a WWW system is used. Let's assume.

Further, in the specification of the present application, the embodiment in which the program is preinstalled has been described, but the program can be stored in a computer-readable recording medium and provided, or provided via a network. It is also possible to do so.

10 map information database 12 survey information database 14 present position estimation means 16 map information reference means 18 map information output means 20 survey information input means 22 present position candidate determination means 24 travel route estimation means 26 stay point extraction means 28 present position determination means 100 Map survey support device

Claims (7)

A point obtained by projecting the current position measured by GPS onto a geographic network, which is a network structure including a node representing a geographically logical point and an edge representing a link connecting the point and the point, is used as a current position candidate. A current position candidate determining means for determining,
The survey information of the survey target obtained by the proximity observation in which the surveyor observes the survey target from a position close to the survey target that is a feature, and the surveyor performs the survey from a distance from the proximity observation. A stay that extracts the end points of the survey target object in the final close-up observation based on the survey information stored in the survey information database that stores the survey information of the survey target object obtained by distant observation Point extraction means,
A current position determination unit that determines the current position candidate, which is included in a movable range from the end point of the survey target in the final proximity observation extracted by the stay point extraction unit, as a current position;
A current position estimation device including. A point obtained by projecting the current position measured by GPS onto a geographic network, which is a network structure including a node representing a geographically logical point and an edge representing a link connecting the point and the point, is used as a current position candidate. A current position candidate determining means for determining,
The travel route is estimated by matching the locus of the position measured by the GPS with the geographic network, and the investigator determines the travel route from the position close to the surveyed object that is the feature. The investigation information of the investigation object obtained by the close-up observation of observing the investigation object, and the investigation object obtained by the distant observation in which the investigator observes the investigation object from a distance from the close-up observation. Based on the survey information stored in the survey information database that stores the survey information, of the endpoints of the survey target object in the final close-up observation, stay point extraction means for extracting the endpoints on the movement route,
A current position determining unit that determines the current position candidate included in a movable range from an end point on the moving route extracted by the stay point extracting unit as a current position;
A current position estimation device including. A current position estimating device according to claim 1;
A map information database storing map data and the geographical network,
Map information reference means for acquiring the map data and the geographic network stored in the map information database;
Map information output means for displaying the current position determined by the current position estimation device, and the map data and the geographic network acquired by the map information reference means,
Based on the current position displayed by the map information output means, survey information input means for inputting the survey information obtained by the distant observation or the close observation,
Map survey support device including. A current position estimating device according to claim 2;
A map information database storing map data and the geographical network,
Map information reference means for acquiring the map data and the geographic network stored in the map information database;
Map information output means for displaying the current position determined by the current position estimation device, and the map data and the geographic network acquired by the map information reference means,
Based on the current position displayed by the map information output means, survey information input means for inputting the survey information obtained by the distant observation or the close observation,
Map survey support device including. The current position candidate determining means projects the current position measured by the GPS onto a geographical network which is a network structure including a node representing a geographically logical point and an edge representing a link connecting the point and the point. The point is decided as the current position candidate,
The staying point extraction means is obtained by close observation in which a researcher observes the investigation target from a position close to the investigation target that is a feature, the survey information of the investigation target, and from a distance from the proximity observation. Based on the survey information stored in the survey information database that stores the survey information of the survey target obtained by the distant observation in which the surveyor observes the survey target, the survey target in the final close observation Extract the end points of
Current position estimation means for determining the current position candidate, which is included in the movable range from the end point of the survey target in the final close-up observation extracted by the stay point extraction means, as the current position Method. A map survey support method in a map survey support device including a map information database storing map data and a geographical network,
Map information reference means acquires the map data and the geographic network stored in the map information database,
Performing each step of the current position estimation method according to claim 5;
The map information output means displays the current position determined by the current position estimation method, and the map data and the geographic network acquired by the map information reference means,
The map survey support method, wherein the survey information input unit receives an input of the survey information obtained by the distant observation or the close observation, based on the current position displayed by the map information output unit. Computer, according to claim 1 or the current position estimation apparatus according to 2, or claim 3 or 4 program for functioning as a map research support equipment according.