Information processing apparatus, information processing method, and computer program

Abstract

To provide an information processing apparatus, an information processing method, and a computer program that provide unique identifiers not overlapping each other to unit three-dimensional grids in a position space, and on the basis of a physical quantity measured in a position space associated with the identifiers, can accurately interpolate the physical quantity at an arbitrary position in the position space, while reducing the arithmetic processing load.SOLUTION: An information processing apparatus provides unique identifiers to respective unit three-dimensional grids, and stores information on a position space including information on the coordinates of at least eight apices. The information processing apparatus discretely acquires a predetermined physical quantity, and acquires a coordinate value at the time point when the physical quantity is acquired. The information processing apparatus specifies the identifier of the unit three-dimensional grid including the acquired coordinate value, specifies a pair of identifiers to be interpolated and one or more identifiers present between the pair of identifiers, and interpolates and calculates a physical quantity in the unit three-dimensional grid corresponding to one or more identifiers present between the pair of identifiers for which a physical quantity is not acquired.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an information processing device, an information processing method, and a computer program that are capable of accurately estimating the fluctuation transition of a physical quantity measured by a moving object while reducing the computational processing load by dividing a positional space on the Earth by assigning unique identifiers that do not overlap. [Background technology]

[0002] Conventionally, satellite-based positioning systems such as GPS have been used in many fields. In particular, with the recent spread of mobile terminal devices such as smartphones, such positioning systems are often incorporated into various applications that use position information.

[0003] When using GPS, the location is determined by the latitude and longitude information measured by the GPS. However, when determining the location of a moving object such as a drone, even in real time, the location is determined based on signals sent at regular time intervals. In other words, the location information is acquired discretely.

[0004] When measuring physical quantities such as altitude, temperature, and radio wave intensity while moving, in addition to location information, the physical quantities themselves are measured discretely. Therefore, physical quantities at positions where they are not measured must be estimated by mathematical interpolation or the like.

[0005] For example, Patent Document 1 discloses a method for increasing the resolution of spatial data by dividing area data having different spatial division granularities into areas with the highest resolution by integrating the areas. Patent Document 1 uses a Gaussian process model to increase the resolution and obtain highly accurate data even when the number of samples is small. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2021-015348 Summary of the Invention [Problem to be solved by the invention]

[0007] In Patent Document 1, spatial data with a small number of samples is compensated for with high accuracy in a state where the spatial division granularity is not constant to begin with. However, it is necessary to calculate spatial parameters taking into account the spatial division granularity and the correlations between each divided space, and the computational processing load tends to be excessive. When measuring physical quantities using a moving object such as a drone, the timing of acquiring the physical quantities changes depending on the moving speed, so the computational processing load required to calculate the spatial parameters becomes excessive, and it becomes difficult to utilize the acquired data unless it is batch processed.

[0008] Furthermore, when tracking ever-changing physical quantities such as the distribution of radio wave intensity as quickly as possible in real time, it is possible to reduce the computational load if it is possible to know in advance at least the relative positions of each block into which the space is divided.

[0009] The present invention has been made in consideration of the above circumstances, and has an object to provide an information processing device, an information processing method, and a computer program that are capable of assigning a unique identifier that does not overlap with each other to each unit three-dimensional grid in a position space, and interpolating a physical quantity at any position in the position space based on a physical quantity measured in the position space associated with the identifier, while reducing the calculation processing load and with high accuracy. [Means for solving the problem]

[0010] In order to achieve the above object, an information processing device according to the present invention stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and interpolates and visualizes the transition of fluctuations in physical quantities acquired discretely by a moving body within the position space, the information processing device comprising: a coordinate origin receiving means for receiving a setting of an arbitrary coordinate origin; a reference point calculating means for calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in latitude and longitude directions based on the received coordinate origin setting; and an identifier assigning means for assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices. the physical quantity interpolation means for calculating by interpolating a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers for which no physical quantity has been acquired, and for calculating by interpolating the physical quantities in the unit three-dimensional grids corresponding to the one or more identifiers existing between the pair of identifiers for which no physical quantity has been acquired.

[0011] Furthermore, in the information processing device according to the present invention, it is preferable that the physical quantity interpolation means includes block identification means for identifying a unit three-dimensional block from which the physical quantity has been acquired, and representative coordinate acquisition means for acquiring coordinates of a representative point of the identified unit three-dimensional block, and interpolates the physical quantity between the coordinates of the representative point from which the physical quantity has been acquired and the coordinates of the representative point from which the physical quantity to be interpolated has been acquired.

[0012] Next, in order to achieve the above object, an information processing device according to the present invention stores an identifier associated with each three-dimensional grid obtained by dividing a positional space on the earth together with information about the positional space, and interpolates and visualizes the transition of fluctuations in physical quantities discretely acquired by a moving body within the positional space, and is characterized in that the information processing device comprises: a coordinate origin receiving means for receiving the setting of an arbitrary coordinate origin; a reference point calculation means for calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and meridian directions based on the coordinate origin whose setting has been accepted; an identifier assigning means for assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices; an information storage means for storing information about the positional space including coordinate information of at least the eight vertices in association with the identifier; a physical quantity acquisition means for discretely acquiring a predetermined physical quantity while moving; and an identifier assignment means for assigning an identifier of a unit three-dimensional grid containing the coordinate value at which the physical quantity was acquired for a physical quantity whose coordinate value could not be acquired at the time when the physical quantity was acquired.

[0013] Furthermore, it is preferable that the information processing device according to the present invention comprises: physical quantity distribution calculation means for calculating a physical quantity distribution in a three-dimensional space by linear interpolation based on physical quantities whose coordinate values ​​can be obtained at the time when the physical quantities are acquired; and means for specifying coordinate values ​​in each of three axial directions in the three-dimensional space from the calculated physical quantity distribution based on physical quantities whose coordinate values ​​cannot be obtained at the time when the physical quantities are acquired, and assigns an identifier for a unit three-dimensional grid containing the specified coordinate values.

[0014] Moreover, in the information processing device according to the present invention, the reference point calculation means includes latitude value calculation means for dividing a meridian passing through the coordinate origin the setting of which has been accepted by the length of one side of a unit three-dimensional grid, and calculating latitude values ​​between the divided unit three-dimensional grids; latitude value cumulative error calculation means for calculating a cumulative error when latitude values ​​between the unit three-dimensional grids are accumulated for one revolution in the meridian direction of a celestial body; latitude value grid error calculation means for calculating an error per unit three-dimensional grid based on the calculated cumulative error; meridian direction grid number specification means for specifying the number of unit three-dimensional grids included in the meridian direction of one three-dimensional block based on the calculated error per unit three-dimensional grid so that a reference error per three-dimensional block is 1 / 1000 or less of the cumulative error; reference latitude setting means for sequentially setting a reference latitude from the coordinate origin for each three-dimensional block determined by the specified number of unit three-dimensional grids; and It is preferable to have a longitude value calculation means for dividing an original grid by the length of one side and calculating longitude values ​​between unit three-dimensional grids divided for each latitude line; a longitude value cumulative error calculation means for calculating a cumulative error when the longitude values ​​for each latitude line are accumulated for one revolution in the latitude direction of the celestial body; a longitude value grid error calculation means for calculating an error per unit three-dimensional grid for each latitude line based on the cumulative error calculated for each latitude line; a latitude direction grid number determination means for determining the number of unit three-dimensional grids included in the latitude direction of one three-dimensional block for each latitude line so that a reference error per one three-dimensional block is 1 / 1000 of the cumulative error or less based on the calculated error per unit three-dimensional grid; a reference longitude setting means for sequentially setting a reference longitude for each latitude line for each three-dimensional block determined by the specified number of unit three-dimensional grids; and a reference point determination means for sequentially determining a reference point from the coordinate origin based on the set reference latitude and reference longitude.

[0015] Next, in order to achieve the above object, an information processing method according to the present invention is an information processing method that can be executed by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and that interpolates and visualizes transitions of fluctuations in physical quantities acquired discretely within the position space by a moving body, the information processing device comprising a first step of accepting a setting of an arbitrary coordinate origin, a second step of calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in latitude and longitude directions based on the accepted setting of the coordinate origin, and a unit three-dimensional grid that constitutes the three-dimensional block with the calculated reference points as 8 vertices. a third step of assigning a unique identifier to each vertex; a fourth step of storing information about a position space including coordinate information of at least eight vertices in association with the identifier; a fifth step of discretely acquiring a predetermined physical quantity; a sixth step of acquiring coordinate values ​​at the time when the physical quantities are acquired; a seventh step of identifying an identifier of a unit three-dimensional grid containing the acquired coordinate values; and an eighth step of identifying a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers based on the identified identifiers, and calculating by interpolation the physical quantities in the unit three-dimensional grid corresponding to the one or more identifiers existing between the pair of identifiers for which no physical quantity has been acquired.

[0016] Moreover, the information processing method according to the present invention preferably includes a ninth step in which the information processing device identifies a unit three-dimensional block from which the physical quantity was obtained in the eighth step, and a tenth step in which the information processing device acquires coordinates of a representative point of the identified unit three-dimensional block, and the information processing device interpolates the physical quantity between the coordinates of the representative point from which the physical quantity was obtained and the coordinates of the representative point from which the physical quantity to be interpolated was obtained.

[0017] Next, in order to achieve the above object, an information processing method according to the present invention is an information processing method that can be executed by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and that interpolates and visualizes transitions of fluctuations in physical quantities discretely acquired within the position space, the information processing device comprising: a first step of accepting a setting of an arbitrary coordinate origin; a second step of calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in latitude and longitude directions based on the accepted setting of the coordinate origin; a third step of assigning a unique identifier to each unit three-dimensional grid that constitutes a three-dimensional block having eight vertices each of which is the calculated reference point; a fourth step of storing information about the position space including coordinate information of at least the eight vertices in association with the identifier; a fifth step of discretely acquiring a predetermined physical quantity; and an eleventh step of assigning an identifier of a unit three-dimensional grid that includes the coordinate value at which the physical quantity was acquired, for a physical quantity whose coordinate value could not be acquired at the time when the physical quantity was acquired.

[0018] Moreover, it is preferable that the information processing method according to the present invention further includes a twelfth step in which the information processing device calculates, by linear interpolation, a physical quantity distribution in three dimensional space based on physical quantities whose coordinate values ​​can be obtained at the time when the physical quantities are acquired in the eleventh step, and a thirteenth step in which coordinate values ​​in each of three axial directions in the three dimensional space are specified from the calculated physical quantity distribution based on physical quantities whose coordinate values ​​cannot be obtained at the time when the physical quantities are acquired, and assigns an identifier of a unit three dimensional grid containing the specified coordinate values.

[0019] Further, the information processing method according to the present invention includes a fifteenth step in which the information processing device divides a meridian passing through the coordinate origin whose setting has been accepted in the second step by the length of one side of a unit three-dimensional grid, and calculates latitude values ​​between the divided unit three-dimensional grids; a sixteenth step in which the latitude values ​​between the unit three-dimensional grids are accumulated for one revolution in the meridian direction of the celestial body; a seventeenth step in which the error per unit three-dimensional grid is calculated based on the calculated accumulated error; an eighteenth step in which the number of unit three-dimensional grids included in the meridian direction of one three-dimensional block is determined based on the calculated error per unit three-dimensional grid so that a reference error per one three-dimensional block is 1 / 1000 or less of the accumulated error; a nineteenth step in which the information processing device sequentially sets a reference latitude from the coordinate origin for each one three-dimensional block determined by the specified number of unit three-dimensional grids; It is preferable that the method includes a twentieth step of dividing a unit three-dimensional grid by the length of one side of the unit three-dimensional grid and calculating longitude values ​​between the unit three-dimensional grids divided for each latitude line; a twenty-first step of calculating an accumulated error when the longitude values ​​for each latitude line are accumulated for one revolution in the latitude direction of the celestial body; a twenty-second step of calculating an error per unit three-dimensional grid for each latitude line based on the accumulated error calculated for each latitude line; a twenty-third step of specifying, for each latitude line, the number of unit three-dimensional grids included in the latitude direction of one three-dimensional block based on the calculated error per unit three-dimensional grid so that a reference error per one three-dimensional block is 1 / 1000 or less of the accumulated error; a twenty-fourth step of sequentially setting a reference longitude for each latitude line for each three-dimensional block determined by the specified number of unit three-dimensional grids; and a twenty-fifth step of sequentially specifying reference points from the coordinate origin based on the set reference latitude and reference longitude.

[0020] Next, in order to achieve the above object, a computer program according to the present invention is a computer program that can be executed by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and that interpolates and visualizes the transition of fluctuations in physical quantities acquired discretely by a moving body within the position space, the computer program comprising: a coordinate origin receiving means for receiving a setting of an arbitrary coordinate origin; a reference point calculation means for calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in latitude and longitude directions based on the received coordinate origin setting; a unit three-dimensional grid that constitutes a three-dimensional block having eight vertices, the calculated reference points being eight vertices; the physical quantity interpolation means for calculating by interpolating a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers based on the identified identifiers, and for calculating by interpolating physical quantities in the unit three-dimensional grids corresponding to one or more identifiers existing between the pair of identifiers for which no physical quantity has been acquired.

[0021] Furthermore, it is preferable that the computer program according to the present invention causes the physical quantity interpolation means to function as a block identification means for identifying a unit three-dimensional block from which the physical quantity was obtained, a representative coordinate acquisition means for acquiring coordinates of a representative point of the identified unit three-dimensional block, and a means for interpolating the physical quantity between the coordinates of the representative point from which the physical quantity was obtained and the coordinates of the representative point from which the physical quantity to be interpolated was obtained.

[0022] Next, in order to achieve the above object, a computer program according to the present invention is a computer program that can be executed by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and that interpolates and visualizes the transition of fluctuations in physical quantities discretely acquired within the position space by a moving body, and is characterized in that the computer program causes the information processing device to function as: a coordinate origin receiving means that receives the setting of an arbitrary coordinate origin; a reference point calculation means that calculates a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and meridian directions based on the coordinate origin whose setting has been accepted; an identifier assigning means that assigns a unique identifier to each unit three-dimensional grid that constitutes a three-dimensional block having eight vertices each of which is the calculated reference point; an information storage means that stores information about the position space including coordinate information of at least the eight vertices in association with the identifier; a physical quantity acquiring means that discretely acquires a predetermined physical quantity while moving; and an identifier assigning means that assigns, for a physical quantity whose coordinate value cannot be acquired at the time when the physical quantity is acquired, an identifier of a unit three-dimensional grid that contains the coordinate value at which the physical quantity was acquired.

[0023] Furthermore, it is preferable that the computer program according to the present invention causes the identifier assignment means to function as physical quantity distribution calculation means for calculating, by linear interpolation, a physical quantity distribution in a three-dimensional space based on physical quantities whose coordinate values ​​can be obtained at the time when the physical quantities are acquired, and as means for specifying, from the calculated physical quantity distribution, coordinate values ​​in each of three axial directions in the three-dimensional space based on physical quantities whose coordinate values ​​cannot be obtained at the time when the physical quantities are acquired, and causes the information processing device to function as means for assigning an identifier of a unit three-dimensional grid containing the specified coordinate values.

[0024] Further, the computer program according to the present invention provides the reference point calculation means, which includes: latitude value calculation means for dividing a meridian passing through the coordinate origin whose setting has been accepted by the length of one side of a unit three-dimensional grid and calculating a latitude value between the divided unit three-dimensional grids; latitude value cumulative error calculation means for calculating a cumulative error when latitude values ​​between the unit three-dimensional grids are accumulated for one revolution in the meridian direction of a celestial body; latitude value grid error calculation means for calculating an error per unit three-dimensional grid based on the calculated cumulative error; meridian direction grid number specification means for specifying the number of unit three-dimensional grids included in the meridian direction of one three-dimensional block so that a reference error per one three-dimensional block is 1 / 1000 or less of the cumulative error based on the calculated error per unit three-dimensional grid; reference latitude setting means for sequentially setting a reference latitude from the coordinate origin for each one three-dimensional block determined by the specified number of unit three-dimensional grids; It is preferable that the system functions as: a longitude value calculation means for dividing the original grid by the length of one side of the grid and calculating longitude values ​​between the unit three-dimensional grids divided for each latitude line; a longitude value cumulative error calculation means for calculating a cumulative error when the longitude values ​​for each latitude line are accumulated around the celestial body in the latitude direction; a longitude value grid error calculation means for calculating an error per unit three-dimensional grid for each latitude line based on the cumulative error calculated for each latitude line; a latitude direction grid number determination means for determining the number of unit three-dimensional grids included in the latitude direction of one three-dimensional block for each latitude line so that a reference error per one three-dimensional block is 1 / 1000 of the cumulative error or less based on the calculated error per unit three-dimensional grid; a reference longitude setting means for sequentially setting a reference longitude for each latitude line for each three-dimensional block determined by the specified number of unit three-dimensional grids; and a reference point determination means for sequentially determining a reference point from the coordinate origin based on the set reference latitude and reference longitude. Effect of the Invention

[0025] According to the above invention, it is possible to standardize identifiers assigned to unit three-dimensional grids that constitute three-dimensional blocks in three-dimensional space, and physical quantities in unit three-dimensional grids at any position in three-dimensional space are estimated based on physical quantities measured at any time by a moving body such as a drone, which are stored in correspondence with the unit three-dimensional grids using the identifiers as key information.Therefore, there is no need to sequentially calculate the positional relationships between unit three-dimensional grids based on three-dimensional coordinate values, and the physical quantities in all unit three-dimensional grids can be estimated without increasing the calculation processing load, and it is also possible to highlight the physical quantities so that they can be visually confirmed. [Brief description of the drawings]

[0026] [Figure 1] 1 is a block diagram illustrating a schematic configuration of a physical quantity measuring system using an information processing device according to an embodiment of the present invention. [Diagram 2] 1 is a block diagram showing a configuration of an information processing device according to an embodiment of the present invention. [Diagram 3] 1 is a conceptual diagram of a unit three-dimensional grid of a physical quantity measuring system according to an embodiment of the present invention. [Figure 4] 1 is a functional block diagram of an information processing device according to a first embodiment of the present invention. [Diagram 5] 3 is a functional block diagram of a reference point calculation unit of the information processing device according to the first embodiment of the present invention. FIG. [Figure 6] FIG. 4 is an explanatory diagram of latitude value calculation in the information processing device according to the first embodiment of the present invention. [Figure 7] FIG. 4 is an explanatory diagram of longitude value calculation in the information processing device according to the first embodiment of the present invention. [Figure 8] 4 is an explanatory diagram of a method for identifying a reference point in the information processing device according to the first embodiment of the present invention; [Figure 9] 2 is an illustrative diagram of a three-dimensional block determined by a reference point of the information processing device according to the first embodiment of the present invention; [Figure 10] 5 is a flowchart showing a procedure of a reference point specifying process of the information processing device according to the first embodiment of the present invention. [Figure 11] 5 is a flowchart showing a procedure of a reference point specifying process of the information processing device according to the first embodiment of the present invention. [Figure 12] 4 is a flowchart showing a processing procedure of the physical quantity measuring system according to the first embodiment of the present invention. [Figure 13] FIG. 11 is a functional block diagram of an information processing device according to a second embodiment of the present invention. [Figure 14] 11 is a conceptual diagram of a method for determining three-dimensional coordinates from physical quantities in an information processing device according to a second embodiment of the present invention. FIG. [Figure 15] 10 is a flowchart showing a processing procedure of the physical quantity measuring system according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] The following is a detailed description of an information processing device according to an embodiment of the present invention, based on the drawings. The following embodiments do not limit the invention described in the claims, and it goes without saying that not all of the combinations of the characteristics described in the embodiments are essential to the solution.

[0028] In addition, the present invention can be embodied in many different forms, and should not be construed as being limited to the description of the embodiments. The same elements are denoted by the same reference numerals throughout the embodiments.

[0029] In the following embodiment, an information processing device in which a computer program is introduced into a computer system will be described. However, as will be apparent to those skilled in the art, the present invention can be embodied as a computer program that can be executed by a computer. Therefore, the present invention can take the form of an information processing device that assigns a unique identifier that does not overlap with each other to each unit three-dimensional grid in a position space, and can interpolate a physical quantity at any position in the position space with high accuracy while reducing the computational processing load based on a physical quantity measured in the position space associated with the identifier, as hardware, software, or a combination of software and hardware. The computer program can be recorded on any computer-readable recording medium such as a hard disk, DVD, CD, optical storage device, or magnetic storage device.

[0030] According to an embodiment of the present invention, it is possible to standardize identifiers assigned to unit three-dimensional grids that make up three-dimensional blocks in three-dimensional space, and physical quantities in a unit three-dimensional grid at any position in three-dimensional space are estimated based on physical quantities measured at any time by a moving body such as a drone, which are stored in association with the unit three-dimensional grid using the identifier as key information.This eliminates the need to sequentially calculate the positional relationships between unit three-dimensional grids based on three-dimensional coordinate values, and makes it possible to estimate the physical quantities in all unit three-dimensional grids without increasing the calculation processing load, and also makes it possible to highlight the physical quantities so that they can be visually confirmed.

[0031] FIG. 1 is a block diagram showing a schematic configuration of a physical quantity measurement system using an information processing device according to an embodiment of the present invention. The physical quantity measurement system according to the present embodiment is composed of an information processing device 1 that provides information about a position space using an identifier as key information, and one or more mobile terminals 2 that are connected to the information processing device 1 so as to be able to perform data communication with the information processing device 1 via a network 3 such as the Internet. Here, the "information about the position space" is a broad concept including not only the coordinate values ​​(latitude, longitude, height) of the eight vertices that form the position space, but also various information that is useful for using the position space, for example, information about the building if a building exists in the position space (information about a three-dimensional shape, unevenness, etc.). The mobile terminal 2 is a broad concept including a moving object such as an automobile or a drone that incorporates at least a sensor that measures a physical quantity and a communication device that can transmit the physical quantity measured by the sensor to the information processing device 1.

[0032] Fig. 2 is a block diagram showing a configuration of an information processing device 1 according to an embodiment of the present invention. As shown in Fig. 2, the information processing device 1 according to the present embodiment is composed of at least a CPU (Central Processing Unit) 11, a memory 12, a storage device 13, an I / O interface 14, a video interface 15, a portable disk drive 16, a communication interface 17, and an internal bus 18 that connects the above-mentioned hardware.

[0033] The CPU 11 is connected to the above-mentioned hardware components of the information processing device 1 via an internal bus 18, and controls the operation of the above-mentioned hardware components, and executes various software functions in accordance with a computer program 100 stored in a storage device 13. The memory 12 is composed of a volatile memory such as an SRAM or SDRAM, into which a load module is expanded when the computer program 100 is executed, and which stores temporary data and the like generated when the computer program 100 is executed.

[0034] The storage device 13 is composed of an internal fixed storage device (hard disk), ROM, etc. The computer program 100 stored in the storage device 13 is downloaded by the portable disk drive 16 from a portable recording medium 90, such as a DVD, CD-ROM, USB memory, SD card, etc., on which information such as programs and data is recorded, and is deployed from the storage device 13 to the memory 12 and executed when executed. Of course, the computer program may be downloaded from an external computer connected via the communication interface 17.

[0035] The storage device 13 may include an identifier storage unit 131. The identifier storage unit 131 stores, in association with an assigned identifier, the coordinate values ​​(latitude, longitude, height) of eight vertices indicating a position space and information related to the position space. This makes it possible to obtain necessary information without executing a search process using the identifier as key information every time, and for frequently used identifiers, an improvement in the response of the search process is expected.

[0036] The communication interface 17 is connected to an internal bus 18, and by being connected to an external network 3 such as the Internet, a LAN, or a WAN, it becomes possible to transmit and receive data to and from an external computer or the like.

[0037] The I / O interface 14 is connected to an input device 21 such as a keyboard, a mouse, etc., and receives data input. The video interface 15 is connected to a display device 22 such as a CRT display, a liquid crystal display, etc.

[0038] First, the concept of a unit three-dimensional grid in this embodiment will be defined. Fig. 3 is a conceptual diagram of a unit three-dimensional grid of a physical quantity measuring system according to an embodiment of the present invention.

[0039] In Fig. 3, a unit three-dimensional grid is defined as any rectangular parallelepiped composed of eight vertices located on the earth. Specifically, for example, the position and size of the unit three-dimensional grid are specified by any vertex (lat, lng, ht) in the unit three-dimensional grid, the length of a side in the latitude direction δlat, the length of a side in the longitude direction δlng, and the length of a side in the height direction δht. In this embodiment, the length of a side in the latitude direction δlat, the length of a side in the longitude direction δlng, and the length of a side in the height direction δht are each defined as l (m).

[0040] Note that, like unit grids on a plane, spatial errors occur for each unit three-dimensional grid. This is because the vertices of a unit three-dimensional grid are the vertices of a rectangular parallelepiped, while the spatial coordinates are spherical coordinates. Therefore, in this embodiment, attention is focused on the scale difference between the unit three-dimensional grid and the space above the sphere, and by devising a way to absorb errors within the range of significant digits for each three-dimensional block, which is a collection of unit three-dimensional grids, it is possible to divide positional space on the Earth without overlapping each other.

[0041] (Embodiment 1) In the information processing device 1 according to the first embodiment, the physical quantity is acquired discretely. Therefore, since there are position space IDs to which no physical quantity is associated depending on the position space ID, the physical quantity can be specified for an arbitrary position space ID by interpolating the physical quantity using the position space ID to which the physical quantity is associated.

[0042] Fig. 4 is a functional block diagram of the information processing device 1 according to the first embodiment of the present invention. In Fig. 4, the coordinate origin receiving unit 101 of the information processing device 1 receives a setting of an arbitrary coordinate origin, for example, (latitude 0 degrees, longitude 0 degrees) as the coordinate origin. As long as the coordinate origin is common, in the present invention, a position space ID, which is an identifier for identifying a position space, can be made common. Therefore, by standardizing the coordinate origin, it is possible to uniquely specify the position space ID including latitude, longitude, and / or altitude.

[0043] The reference point calculation unit 102 of the information processing device 1 calculates a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and longitude directions, based on the coordinate origin whose setting has been accepted. Specifically, the reference point is calculated in the following procedure. Fig. 5 is a functional block diagram of the reference point calculation unit 102 of the information processing device 1 according to the first embodiment of the present invention.

[0044] 5, a latitude value calculation unit 501 divides a meridian passing through the coordinate origin for which the setting has been accepted by the length of one side of a unit three-dimensional grid, and calculates latitude values ​​between the divided unit three-dimensional grids. Here, a unit three-dimensional grid means a rectangular parallelepiped space having a constant side length l (m), and a latitude value between unit three-dimensional grids means a difference in latitude between the upper side and the lower side of the bottom surface of the unit three-dimensional grid.

[0045] In this embodiment 1, assuming that the base of the unit three-dimensional grid is a square with 1 (m) sides, the latitude value per 1 (m) is calculated using the rounding function Round(a, b) in (Formula 1). Note that the function Round(a, b) means a function that rounds the value of a to the number of decimal places b.

[0046]

number

[0047] In (Formula 1), R indicates the number of significant digits, in other words, the number of digits of the allowable error, and θ indicates the latitude value per 1 (m) along the meridian. Fig. 6 is an explanatory diagram of the calculation of the latitude value by the information processing device 1 according to the first embodiment of the present invention.

[0048] If we assume that the Earth is a sphere, the elevation angle from the center point O of the sphere to any point on the meridian is the latitude value θ. Normally, latitude is measured from the equator (latitude line) LO0 as the base line, and then measured from the latitude line LO i In (Equation 1), the latitude value θ per 1 (m) is calculated assuming that the meridian length of the meridian LA0 is Lp (m).

[0049] Returning to Fig. 5, the latitude value cumulative error calculation unit 502 calculates the cumulative error when the latitude values ​​between unit three-dimensional grids are accumulated for one revolution around the celestial body in the meridian direction. Since the latitude values ​​between unit three-dimensional grids naturally contain errors, the cumulative error is calculated by accumulating the errors for one revolution around the celestial body along the meridian LA0. The cumulative error Elat is calculated as shown in (Equation 2).

[0050]

number

[0051] In formula 2, n θ means the number of unit three-dimensional grids arranged along the meridian, and changes according to the length l of one side of the unit three-dimensional grid. It is an integer value converted by the proviso of (Equation 2).

[0052] The latitude value grid error calculation unit 503 calculates the error Elat(g) per unit three-dimensional grid based on the calculated cumulative error. Specifically, the cumulative error Elat is multiplied by the number n of unit three-dimensional grids arranged along the meridian. θ This can be obtained by dividing by (Equation 3).

[0053]

number

[0054] Based on the calculated error Elat(g) per unit three-dimensional grid, the meridian direction grid number determination unit 504 determines whether the reference error per block is within the range of the significant digits of the cumulative error, for example, 1 / 1000 (1 / 10 -3) or less. The number of unit three-dimensional grids N contained in one block in the meridian direction when the number of significant digits is R can be calculated using (Equation 4). In (Equation 4), '0.5' is a correction value that prevents divergence in the calculation process. Furthermore, (Equation 4) means that the maximum integer N within the range of the calculated unit three-dimensional grid numbers is calculated.

[0055]

number

[0056] The reference latitude setting unit 505 sequentially sets the reference latitude from the coordinate origin for each block determined by the identified unit three-dimensional grid number N. That is, blocks are specified by the N unit three-dimensional grid numbers, and the reference latitude is sequentially set for each block. That is, the reference latitude θi (i=0, 1, 2, 3, 4, . . . , Round(n θ / N, 0) can be calculated using equation 5.

[0057]

number

[0058] The longitude value calculation unit 506 divides the latitude lines for each reference latitude from the coordinate origin that has been set by the length of one side of the unit three-dimensional grid, and calculates the longitude value φ between the unit three-dimensional grids divided for each latitude line. i is calculated as shown in (Equation 6). In other words, since celestial bodies such as the Earth are spherical, the length of the latitude line differs depending on the latitude. Therefore, the latitude line length is calculated for each reference latitude from the coordinate origin, and the longitude value is calculated based on each latitude line length.

[0059]

number

[0060] 7 is an explanatory diagram of a calculation of a longitude value by the information processing device 1 according to the first embodiment of the present invention. As shown in FIG. 7, the longitude value φ is calculated from the meridian LA0 passing through the origin of the coordinate system with respect to the equator line (latitude line) LO0. i However, if we assume that the Earth is a sphere, the latitude line length differs depending on the latitude value. Therefore, just as the longitude value φ0 is calculated on the equatorial line LO0, the latitude line LO determined for each reference latitude is calculated. i Longitude value φ i This process is carried out for all parallels determined by the reference latitude.

[0061] 5, the longitude value cumulative error calculation unit 507 calculates the cumulative error when the longitude values ​​for each latitude line are accumulated in the latitude direction for one revolution of the earth. Since the longitude values ​​naturally contain errors, each longitude value φ i The accumulated error is calculated by accumulating the error for one revolution of the Earth along the latitude line LOi. The accumulated error Elng_i is calculated as shown in (Equation 7).

[0062]

number

[0063] In formula 7, n φ_i means the number of unit three-dimensional grids arranged along each latitude line, and changes according to the length l of one side of the unit three-dimensional grid. It is the value converted to an integer by the proviso of (Equation 7).

[0064] The longitude value grid error calculation unit 508 calculates the error Elng_i(g) per unit three-dimensional grid for each latitude line based on the accumulated error calculated for each latitude line. Specifically, the accumulated error Elng_i is multiplied by the number n of unit three-dimensional grids arranged along the meridian line. φ_i By dividing by this, it can be obtained as shown in (Equation 8).

[0065]

number

[0066] Based on the calculated error Elng_i(g) per unit three-dimensional grid, the latitudinal grid number determination unit 509 determines whether the reference error per block is within the range of the significant digits of the cumulative error, for example, 1 / 1000 (1 / 10 -3 ) or less. The number of unit three-dimensional grids Ni contained in one block in the meridian direction when the number of significant digits is R can be calculated using (Equation 9). In (Equation 9), '0.5' is a correction value that prevents divergence in the calculation process. Furthermore, (Equation 9) means that the maximum integer Ni within the range of the calculated unit three-dimensional grid numbers is calculated for each latitude.

[0067]

number

[0068] The reference longitude setting unit 510 sequentially sets a reference longitude from the coordinate origin for each block determined by the identified unit three-dimensional grid number Ni. That is, a three-dimensional block is specified by the Ni unit three-dimensional grid number, and a reference longitude is sequentially set for each three-dimensional block. That is, the reference longitude φj (i=0, 1, 2, 3, 4, . . . , Round(n θ / N, 0), j=0, 1, 2, 3, 4,..., Round(n φ_i / N φ_i , 0) can be calculated using equation 10.

[0069]

number

[0070] The reference point identification unit 511 sequentially identifies reference points from the coordinate origin based on the set reference latitude and reference longitude. Fig. 8 is an explanatory diagram of a method of identifying a reference point of the information processing device 1 according to the first embodiment of the present invention. Fig. 8 shows a method of identifying a reference point on a two-dimensional plane.

[0071] As shown in Fig. 8, if the coordinate value of the coordinate origin P is (θ0, φ0), the reference points in the meridian direction are the points where the latitude value θ shown in (Equation 5) changes in three-dimensional block units. For example, the reference points on the longitude value φ0 are (θ1, φ0), (θ2, φ0), ... in that order from the coordinate origin.

[0072] On the other hand, in the latitude direction, the reference points are the points where the longitude value φ shown in (Equation 10) changes in three-dimensional block units. For example, the reference points on the longitude value φ0 are (θ0, φ1), (θ0, φ2), etc., in order from the coordinate origin.

[0073] The reference point identification unit 511 sets, as a reference point in the height direction, a point on the celestial body surface that is a distance away from each of the reference points identified on the plane that corresponds to the reference latitude or reference longitude calculated as a unit height by the above-mentioned method. Fig. 9 is an example diagram of a three-dimensional block determined by the reference points of the information processing device 1 according to the first embodiment of the present invention.

[0074] As shown in Fig. 9, a reference point is set on the ground of the Earth with a length 91 corresponding to the reference latitude and a length 92 corresponding to the reference longitude, with the coordinate origin O as the reference. A new reference point is set above a rectangle with the reference point as a vertex, at the same height as the length 91 corresponding to the reference latitude or the length 92 corresponding to the reference longitude. Reference points are set sequentially in the height direction, and a rectangular area surrounded by eight vertices is defined as a three-dimensional block 93.

[0075] By arranging unit three-dimensional grids 94, which are square regions with sides of l (m), within the three-dimensional block 93, it is possible to assign an identifier to each position of the unit three-dimensional grid 94. That is, the identifier assigning unit 113 can assign a unique identifier to each unit three-dimensional grid for a position space in the three-dimensional space, and it becomes possible to assign a unique identifier to all position spaces on the earth.

[0076] 10 and 11 are flowcharts showing the procedure of the reference point identification process of the information processing device 1 according to the first embodiment of the present invention. First, in FIG. 10, the CPU 11 of the information processing device 1 according to the present embodiment accepts the setting of an arbitrary coordinate origin, for example, (latitude 0 degrees, longitude 0 degrees) as the coordinate origin. As long as the coordinate origin is common, in the present invention, the position space ID, which is an identifier for identifying the position space, can be made common. Therefore, by standardizing the coordinate origin, it is possible to uniquely identify the position space ID including latitude, longitude, and / or altitude.

[0077] The CPU 11 divides the meridian that passes through the coordinate origin that has been set by the length of one side of the unit three-dimensional grid, and calculates the latitude value between the divided unit three-dimensional grids (step S1001). The CPU 11 calculates the accumulated error when the latitude values ​​between the unit three-dimensional grids are accumulated for one revolution in the meridian direction of the celestial body (step S1002).

[0078] The CPU 11 calculates the error Elat(g) per unit three-dimensional grid based on the calculated cumulative error (step S1003). If the reference error per block is outside the range of the significant digits of the cumulative error, for example, 1 / 1000 (1 / 10 -3 ) or less (step S1004). Since the number of unit three-dimensional grids N per three-dimensional block is specified so as to fall outside the range of significant digits of the accumulated error, it can be considered that no reference error is occurring per three-dimensional block.

[0079] The CPU 11 sequentially sets a reference latitude from the coordinate origin for each block determined by the specified unit three-dimensional grid number N (step S1005). Specifically, since one three-dimensional block is configured by N unit three-dimensional grid numbers, it is possible to set a reference point in the meridian direction for each three-dimensional block by sequentially setting a reference latitude for each block from the coordinate origin.

[0080] 11, the CPU 11 divides the latitude line for each reference latitude from the coordinate origin that has been set by the length of one side of the unit three-dimensional grid, and calculates the longitude value between the unit three-dimensional grids divided for each latitude line between the unit three-dimensional grids (step S1101). In other words, since the Earth is a sphere, the length of the latitude line differs depending on the latitude. Therefore, the CPU 11 calculates the latitude line length for each reference latitude from the coordinate origin, and calculates each longitude value based on each latitude line length.

[0081] The CPU 11 calculates, for each latitude line, an accumulated error when the longitude values ​​for each latitude line are accumulated in the latitude direction for one revolution around the earth (step S1102). The CPU 11 calculates an error per unit three-dimensional grid for each latitude line based on the accumulated error calculated for each latitude line (step S1103).

[0082] The CPU 11 calculates, for each latitude line based on the calculated error per unit three-dimensional grid, that the reference error per three-dimensional block is within the range of significant digits of the cumulative error, for example, 1 / 1000 (1 / 10 -3 ) or less (step S1104).

[0083] The CPU 11 sequentially sets a reference longitude from the coordinate origin for each three-dimensional block determined by the specified number of unit three-dimensional grids (step S1105). Specifically, since one three-dimensional block is configured by the number of Ni unit three-dimensional grids for each latitude line, the reference longitude for each latitude line is sequentially set for each three-dimensional block from the coordinate origin and the intersection of the meridian passing through the coordinate origin with each latitude line, so that the reference point in the latitude line direction for each three-dimensional block can be set for each latitude line.

[0084] The CPU 11 sequentially identifies reference points from the coordinate origin based on the set reference latitude and reference longitude (step S1106).

[0085] Returning to Fig. 4, the identifier assigning unit 103 assigns a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices. A different identifier, for example a position space ID, is assigned to each unit three-dimensional grid 94 constituting a three-dimensional block 93 in Fig. 9.

[0086] By specifying the reference point in this way, if the coordinate origin is standardized, the reference point will always be the same. Therefore, regardless of which organization created the map information, the reference point itself can be easily unified and a common identifier can be assigned.

[0087] The information storage unit 104 stores information about the position space including the coordinate information of at least eight vertices in association with the identifier in the identifier storage unit 131 of the storage device 13. This allows the position of the corresponding unit three-dimensional grid to be immediately determined when the identifier is known.

[0088] The physical quantity measuring unit 201 of the mobile terminal 2 measures the physical quantity to be measured using various sensors equipped in the mobile terminal 2. The measured value is stored in association with the three-dimensional coordinate value of the mobile terminal 2 at the time of measurement.

[0089] The measurement information transmission unit 202 of the mobile terminal 2 transmits the measured physical quantities together with the associated three-dimensional coordinate values ​​to the information processing device 1. The physical quantity acquisition unit 105 of the information processing device 1 receives the measurement information transmitted from the mobile terminal 2 and acquires the predetermined physical quantities. Specifically, the predetermined physical quantities measured and transmitted by the mobile terminal 2 at regular time intervals or at any time are received, so that the physical quantities are acquired discretely.

[0090] The coordinate value acquisition unit 106 acquires, from the received measurement information, three-dimensional coordinate values ​​indicating the position of the mobile terminal 2 at the time when the mobile terminal 2 acquired a predetermined physical quantity. Specifically, the coordinate value acquisition unit 106 receives, from the mobile terminal 2, the three-dimensional coordinate values ​​of the position of the mobile terminal 2 at the time when the mobile terminal 2 measured the predetermined physical quantity.

[0091] The identifier specifying unit 107 specifies the identifier of a unit three-dimensional grid that includes the acquired three-dimensional coordinate values. Specifically, the identifier specifying unit 107 obtains a unit three-dimensional grid that includes the received three-dimensional coordinate values, and specifies the identifier of the obtained unit three-dimensional grid.

[0092] The physical quantity interpolation unit 108 identifies a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers, based on the identified identifiers, and calculates, by interpolation, physical quantities in unit three-dimensional grids corresponding to one or more identifiers existing between the pair of identifiers for which no physical quantity has been acquired.

[0093] The method of interpolating the physical quantities in the unit three-dimensional grid corresponding to the three-dimensional coordinate values ​​for which the physical quantities are not acquired is not particularly limited. In the first embodiment, in order to suppress the calculation processing load, the physical quantity interpolation unit 108 includes a block specification unit 109 and a representative coordinate acquisition unit 110.

[0094] The block identification unit 109 identifies the unit three-dimensional block from which the physical quantities have been acquired. The representative coordinate acquisition unit 110 acquires the coordinates of the representative point of the identified unit three-dimensional block. The physical quantity interpolation unit 108 interpolates the physical quantities between the coordinates of the representative point from which the physical quantities have been acquired and the coordinates of the representative point from which the physical quantities to be interpolated have been acquired. Here, the representative point is not particularly limited as long as it is a point that represents the unit three-dimensional block, and may be the center of gravity of the unit three-dimensional block or any of the eight vertices.

[0095] Then, the physical quantities are interpolated between the coordinates of the representative points. The method of storage may be a two-dimensional, three-dimensional, or multidimensional least squares method, or may use spline interpolation, and is not particularly limited as long as it is an interpolation method based on smooth continuous changes.

[0096] Fig. 12 is a flowchart showing a processing procedure of the physical quantity measuring system according to the first embodiment of the present invention. In Fig. 12, the CPU 11 of the information processing device 1 accepts the setting of an arbitrary coordinate origin, for example, the setting of (latitude 0 degrees, longitude 0 degrees) as the coordinate origin (round trip step S1201).

[0097] Based on the coordinate origin whose setting has been accepted, the CPU 11 calculates a reference point determined from the number of blocks at which the error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and longitude directions (step S1202). The process of calculating the reference point is as described above.

[0098] The CPU 11 assigns a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices (step S1203). Specifically, the CPU 11 assigns a mutually different identifier, for example, a position space ID, to each unit three-dimensional grid 94 constituting the three-dimensional block 93 in FIG.

[0099] By specifying the reference point in this way, if the coordinate origin is standardized, the reference point will always be the same. Therefore, regardless of which organization created the map information, the reference point itself can be easily unified and a common identifier can be assigned.

[0100] The CPU 11 stores information about the position space including the coordinate information of at least eight vertices in association with the identifier in the identifier storage unit 131 of the storage device 13 (step S1204). This makes it possible to read out various pieces of information associated with the position space using the identifier as key information.

[0101] Next, the mobile terminal 2 measures the physical quantities to be measured using various sensors equipped in the mobile terminal 2 (step S1205). The measured values ​​are stored in association with the three-dimensional coordinate values ​​of the mobile terminal 2 at the time of measurement.

[0102] The mobile terminal 2 transmits the measured physical quantities together with the associated three-dimensional coordinate values ​​to the information processing device 1 (step S1206). The CPU 11 of the information processing device 1 receives the measurement information transmitted from the mobile terminal 2 and acquires the predetermined physical quantities (step S1207). Specifically, the predetermined physical quantities measured and transmitted by the mobile terminal 2 at regular time intervals or at any time are received.

[0103] The CPU 11 acquires, from the received measurement information, three-dimensional coordinate values ​​indicating the position of the mobile terminal 2 at the time when the mobile terminal 2 acquired the predetermined physical quantity (step S1208). Specifically, the CPU 11 receives, from the mobile terminal 2, the three-dimensional coordinate values ​​of the position of the mobile terminal 2 at the time when the mobile terminal 2 measured the predetermined physical quantity.

[0104] The CPU 11 identifies an identifier of a unit three-dimensional grid that includes the acquired three-dimensional coordinate values ​​(step S1209). Specifically, the CPU 11 obtains a unit three-dimensional grid that includes the received three-dimensional coordinate values, and identifies an identifier of the obtained unit three-dimensional grid.

[0105] Based on the identified identifiers, the CPU 11 identifies a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers, and calculates by interpolating physical quantities in unit three-dimensional grids corresponding to one or more identifiers existing between the pair of identifiers for which physical quantities have not been acquired (step S1210).

[0106] As described above, according to this embodiment, it is possible to standardize identifiers assigned to unit three-dimensional grids that make up three-dimensional blocks in three-dimensional space, and physical quantities in unit three-dimensional grids at any position in three-dimensional space are estimated based on physical quantities measured at any time by a moving body such as a drone, which are stored in association with the unit three-dimensional grids using the identifiers as key information. Therefore, there is no need to sequentially calculate the positional relationships between unit three-dimensional grids based on three-dimensional coordinate values, and the physical quantities in all unit three-dimensional grids can be estimated without increasing the calculation processing load, and it is also possible to highlight the physical quantities so that they can be visually confirmed.

[0107] (Embodiment 2) In the information processing device 1 according to the second embodiment, the physical quantity is acquired discretely as in the first embodiment. However, for example, when measuring the physical quantity during the flight of a drone, there may be cases where the physical quantity cannot be measured due to radio wave conditions, or the physical quantity cannot be measured due to passing under a bridge, etc. Even in such cases, since a position space ID is assigned to every position in the three-dimensional space, it is possible to associate the position space ID based on the measured physical quantity, contrary to the first embodiment.

[0108] Fig. 13 is a functional block diagram of an information processing device 1 according to embodiment 2 of the present invention. In Fig. 13, the coordinate origin receiving unit 101, the reference point calculating unit 102, the identifier assigning unit 103, and the information storage unit 104 of the information processing device 1 are the same as those in embodiment 1, and therefore detailed description thereof will be omitted.

[0109] The physical quantity measuring unit 201 of the mobile terminal 2 measures the physical quantity to be measured using various sensors equipped in the mobile terminal 2. The measured value is stored in association with the three-dimensional coordinate value of the mobile terminal 2 at the time of measurement.

[0110] The measurement information transmission unit 202 of the mobile terminal 2 transmits the measured physical quantity together with the associated three-dimensional coordinate value to the information processing device 1. However, depending on the measurement conditions, the three-dimensional coordinate value may not be associated and only the physical quantity may be transmitted.

[0111] The physical quantity acquisition unit 105 of the information processing device 1 receives the measurement information transmitted from the mobile terminal 2 and acquires the predetermined physical quantity. Specifically, the physical quantity is acquired discretely because the predetermined physical quantity is measured and transmitted by the mobile terminal 2 at regular time intervals or at any time.

[0112] For a physical quantity that does not correspond to a three-dimensional coordinate value at the time when the physical quantity was acquired, the identifier assignment unit 111 estimates the three-dimensional coordinate value at which the physical quantity was acquired, and assigns an identifier of a unit three-dimensional grid that contains the estimated three-dimensional coordinate value.

[0113] The identifier assignment unit 111 includes a physical quantity distribution calculation unit 112 and a coordinate value identification unit 113. The physical quantity distribution calculation unit 112 calculates a physical quantity distribution in a three-dimensional space by linear interpolation, based on the physical quantities whose three-dimensional coordinate values ​​can be acquired at the time when the physical quantities are acquired.

[0114] The coordinate value determination unit 113 determines, from the calculated physical quantity distribution, three-dimensional coordinate values ​​in each of the three axis directions in the three-dimensional space based on the physical quantities whose three-dimensional coordinate values ​​have not been obtained at the time when the physical quantities are obtained. Specifically, the procedure is as follows.

[0115] Fig. 14 is an image diagram of a method for calculating three-dimensional coordinates from physical quantities in the information processing device 1 according to the second embodiment of the present invention. A rough physical quantity distribution in a three-dimensional space is estimated by the physical quantity distribution calculation unit 112 in Fig. 13. Fig. 14(a) shows the physical quantity distribution in the x-axis direction, Fig. 14(b) shows the physical quantity distribution in the y-axis direction, and Fig. 14(c) shows the physical quantity distribution in the z-axis direction. Each physical quantity distribution is shown by a curve obtained by performing spline interpolation on the discretely acquired physical quantity P.

[0116] As shown in Fig. 14, based on the distribution of the physical quantity in each of the x-axis, y-axis, and z-axis directions, coordinate values ​​are obtained by referencing the measured physical quantity P0. Specifically, for the measured physical quantity P0, the coordinate value x0 in the x-axis direction is obtained from Fig. 14(a), the coordinate value y0 in the y-axis direction is obtained from Fig. 14(b), and the coordinate value z0 in the z-axis direction is obtained from Fig. 14(c).

[0117] This makes it possible to identify the three-dimensional coordinate values ​​(x0, y0, z0) based on the physical quantities whose three-dimensional coordinate values ​​have not been acquired at the time of acquiring the physical quantities. The identifier assignment unit 107 assigns an identifier for the unit three-dimensional grid that contains the identified coordinate values.

[0118] Fig. 15 is a flowchart showing a processing procedure of the physical quantity measuring system according to the second embodiment of the present invention. In Fig. 15, the CPU 11 of the information processing device 1 accepts the setting of an arbitrary coordinate origin, for example, (latitude 0 degrees, longitude 0 degrees) as the coordinate origin (step S1501).

[0119] The CPU 11 calculates a reference point determined from the number of blocks at which the error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and longitude directions based on the coordinate origin whose setting has been accepted (step S1502). The process of calculating the reference point is as described above.

[0120] The CPU 11 assigns a unique identifier to each of the unit three-dimensional grids constituting the three-dimensional block having the calculated reference points as eight vertices (step S1503). Specifically, the CPU 11 assigns a mutually different identifier, for example, a grid ID, to each of the unit three-dimensional grids 94 constituting the three-dimensional block 93 in FIG.

[0121] By specifying the reference point in this way, if the coordinate origin is standardized, the reference point will always be the same. Therefore, regardless of which organization created the map information, the reference point itself can be easily unified and a common identifier can be assigned.

[0122] The CPU 11 stores information about the position space including the coordinate information of at least eight vertices in association with the identifier in the identifier storage unit 131 of the storage device 13 (step S1504). This makes it possible to read out various pieces of information associated with the position space using the identifier as key information.

[0123] Next, the mobile terminal 2 measures the physical quantities to be measured using various sensors equipped in the mobile terminal 2 (step S1505). The measured values ​​are stored in association with the three-dimensional coordinate values ​​of the mobile terminal 2 at the time of measurement.

[0124] The mobile terminal 2 transmits the measured physical quantities together with the associated three-dimensional coordinate values ​​to the information processing device 1 (step S1506). The CPU 11 of the information processing device 1 receives the measurement information transmitted from the mobile terminal 2 and acquires the predetermined physical quantities (step S1507). Specifically, the predetermined physical quantities measured and transmitted by the mobile terminal 2 at regular time intervals or at any time are received.

[0125] The CPU 11 determines whether or not it is possible to acquire, from the received measurement information, a three-dimensional coordinate value indicating the position of the mobile terminal 2 at the time when the mobile terminal 2 acquired the predetermined physical quantity (step S1508). If the CPU 11 determines that it is possible to acquire the three-dimensional coordinate value (step S1508: YES), that is, if the CPU 11 has received from the mobile terminal 2 the three-dimensional coordinate value of the position of the mobile terminal 2 at the time when the mobile terminal 2 measured the predetermined physical quantity, the CPU 11 executes the process from step 1209 in FIG.

[0126] If CPU 11 determines that it cannot acquire three-dimensional coordinate values ​​(step S1508: NO), that is, if it has not received three-dimensional coordinate values ​​of the position of mobile terminal 2 from mobile terminal 2 at the time when mobile terminal 2 measures a specified physical quantity, CPU 11 calculates the distribution of physical quantities in three-dimensional space by linear interpolation based on surrounding physical quantities for which three-dimensional coordinate values ​​were acquired at the time when the physical quantities were acquired (step S1509).

[0127] The CPU 11 specifies three-dimensional coordinate values ​​in each of the three axial directions in the three-dimensional space from the calculated physical quantity distribution based on the physical quantities whose three-dimensional coordinate values ​​have not been obtained at the time when the physical quantities are obtained (step S1510). The CPU 11 assigns an identifier of a unit three-dimensional grid including the specified coordinate values ​​(step S1511).

[0128] As described above, according to this second embodiment, for each common identifier assigned to unit three-dimensional grids that constitute three-dimensional blocks in three-dimensional space, it is possible to reliably estimate physical quantities in the unit three-dimensional grid at any position in three-dimensional space based on physical quantities that can be measured at any time by a moving object such as a drone, so that the physical quantities in all unit three-dimensional grids can be easily identified and it is also possible to highlight them so that they can be visually confirmed.

[0129] The present invention is not limited to the above embodiment, and various modifications and improvements are possible within the scope of the present invention. For example, a unique identifier is assigned to a three-dimensional position space, but a unique identifier may be assigned to a position space specified by two-dimensional coordinates (latitude and longitude information) excluding height information.

[0130] Furthermore, it goes without saying that by using the first and second embodiments in combination, it is possible to estimate physical quantities in a three-dimensional space more accurately. [Explanation of symbols]

[0131] 1. Information processing device 2 Terminal Device 3 Network 11 CPU 12. Memory 13 Storage device 14 I / O Interface 15 Video Interface 16 Portable Disk Drive 17 Communication Interface 18 Internal Bus 90 Portable recording media 100 Computer Programs

Claims

1. An information processing device stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and interpolates and visualizes transitions of fluctuations in physical quantities discretely acquired by a moving body within the position space, a coordinate origin receiving means for receiving a setting of an arbitrary coordinate origin; a reference point calculation means for calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in a latitude direction and a longitude direction based on the set coordinate origin; an identifier assigning means for assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices; an information storage means for storing information about a position space including coordinate information of at least eight vertices in association with an identifier; A physical quantity acquiring means for discretely acquiring a predetermined physical quantity; a coordinate value acquisition means for acquiring a coordinate value at a time point when the physical quantity is acquired; an identifier specifying means for specifying an identifier of a unit three-dimensional grid including the acquired coordinate values; a physical quantity interpolation means for specifying a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers based on the specified identifiers, and calculating by interpolating physical quantities in unit three-dimensional grids corresponding to the one or more identifiers existing between the pair of identifiers for which no physical quantity has been acquired; An information processing device comprising:

2. The physical quantity interpolation means A block identification means for identifying a unit three-dimensional block from which the physical quantity is acquired; A representative coordinate acquisition means for acquiring the coordinates of a representative point of the identified unit three-dimensional block; Equipped with 2. The information processing apparatus according to claim 1, wherein the physical quantity is interpolated between the coordinates of the representative point at which the physical quantity was obtained and the coordinates of the representative point at which the physical quantity to be interpolated was obtained.

3. An information processing device stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and interpolates and visualizes transitions of fluctuations in physical quantities discretely acquired by a moving body within the position space, a coordinate origin receiving means for receiving a setting of an arbitrary coordinate origin; a reference point calculation means for calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in a latitude direction and a longitude direction based on the set coordinate origin; an identifier assigning means for assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices; an information storage means for storing information about a position space including coordinate information of at least eight vertices in association with an identifier; a physical quantity acquiring means for acquiring a predetermined physical quantity discretely while moving; an identifier assignment means for assigning, to a physical quantity whose coordinate value cannot be acquired at the time when the physical quantity is acquired, an identifier of a unit three-dimensional grid including the coordinate value where the physical quantity is acquired; An information processing device comprising:

4. The identifier assignment means a physical quantity distribution calculation means for calculating a physical quantity distribution in a three-dimensional space by linear interpolation based on the physical quantities whose coordinate values ​​can be acquired at the time point when the physical quantities are acquired; a means for specifying coordinate values ​​in each of three axial directions in a three-dimensional space from a calculated physical quantity distribution based on a physical quantity whose coordinate values ​​cannot be acquired at the time when the physical quantity is acquired; 4. The information processing apparatus according to claim 3, further comprising: a processor for executing a program for executing the program;

5. The reference point calculation means a latitude value calculation means for dividing a meridian passing through the set origin of coordinates by the length of one side of a unit three-dimensional grid, and calculating latitude values ​​between the divided unit three-dimensional grids; a latitude value cumulative error calculation means for calculating a cumulative error when the latitude values ​​between unit three-dimensional grids are accumulated for one revolution in the meridian direction of a celestial body; a latitude value grid error calculation means for calculating an error per unit three-dimensional grid based on the calculated cumulative error; a meridian direction grid number specifying means for specifying the number of unit three-dimensional grids included in the meridian direction of one three-dimensional block based on the calculated error per unit three-dimensional grid so that a reference error per one three-dimensional block is 1 / 1000 of an accumulated error or less; a reference latitude setting means for sequentially setting a reference latitude from the coordinate origin for each three-dimensional block determined by the specified number of unit three-dimensional grids; a longitude value calculation means for dividing a latitude line for each of the reference latitudes from a coordinate origin that has been set by the user by a length of one side of a unit three-dimensional grid, and calculating a longitude value between the unit three-dimensional grids divided for each latitude line; a longitude value cumulative error calculation means for calculating a cumulative error when the longitude values ​​for each latitude line are accumulated for one revolution in the latitude direction of the celestial body; a longitude value grid error calculation means for calculating an error per unit three-dimensional grid for each of the latitude lines based on an accumulated error calculated for each of the latitude lines; a latitude direction grid number specifying means for specifying the number of unit three-dimensional grids included in the latitude direction of one three-dimensional block for each latitude line based on the calculated error per unit three-dimensional grid so that a reference error per one three-dimensional block is 1 / 1000 of an accumulated error or less; a reference longitude setting means for sequentially setting a reference longitude for each latitude line for each three-dimensional block determined by the specified number of unit three-dimensional grids; a reference point specifying means for sequentially specifying reference points from the coordinate origin based on the set reference latitude and reference longitude; The information processing apparatus according to claim 1 , further comprising:

6. An information processing method that can be executed by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and interpolates and visualizes transitions of fluctuations in physical quantities discretely acquired by a moving body within the position space, comprising: The information processing device, A first step of accepting a setting of an arbitrary coordinate origin; a second step of calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and longitude directions based on the coordinate origin that has been set; A third step of assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices; a fourth step of storing information about the position space including coordinate information of at least eight vertices in association with the identifier; a fifth step of discretely acquiring a predetermined physical quantity; a sixth step of acquiring coordinate values ​​at a time point when the physical quantities are acquired; A seventh step of identifying an identifier of a unit three-dimensional grid that contains the obtained coordinate values; an eighth step of specifying a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers based on the specified identifiers, and calculating by interpolation physical quantities in unit three-dimensional grids corresponding to one or more identifiers existing between the pair of identifiers for which physical quantities have not been acquired; 13. An information processing method comprising:

7. The information processing device, in the eighth step, A ninth step of identifying a unit three-dimensional block from which the physical quantity was obtained; A tenth step of acquiring coordinates of a representative point of the identified unit three-dimensional block; Including, 7. The information processing method according to claim 6, wherein the information processing device interpolates the physical quantity between the coordinates of the representative point at which the physical quantity was obtained and the coordinates of the representative point at which the physical quantity to be interpolated was obtained.

8. An information processing method that can be executed by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and interpolates and visualizes transitions of fluctuations in physical quantities discretely acquired by a moving body within the position space, comprising: The information processing device, A first step of accepting a setting of an arbitrary coordinate origin; a second step of calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and longitude directions based on the coordinate origin that has been set; A third step of assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices; a fourth step of storing information about the position space including coordinate information of at least eight vertices in association with the identifier; a fifth step of discretely acquiring a predetermined physical quantity; an eleventh step of assigning, to a physical quantity whose coordinate value cannot be acquired at the time when the physical quantity is acquired, an identifier of a unit three-dimensional grid including the coordinate value at which the physical quantity is acquired; 13. An information processing method comprising:

9. The information processing device, in the eleventh step, a twelfth step of calculating a physical quantity distribution in a three-dimensional space by linear interpolation based on the physical quantities whose coordinate values ​​can be acquired at the time point when the physical quantities are acquired; a thirteenth step of specifying coordinate values ​​in each of three axial directions in a three-dimensional space from a calculated physical quantity distribution based on a physical quantity whose coordinate values ​​cannot be obtained at the time when the physical quantity is obtained; 9. The information processing method according to claim 8, further comprising the step of: allocating an identifier for a unit three-dimensional grid that includes the specified coordinate values.

10. In the second step, the information processing device a fifteenth step of dividing the meridian passing through the set coordinate origin by the length of one side of the unit three-dimensional grid, and calculating latitude values ​​between the divided unit three-dimensional grids; a sixteenth step of calculating an accumulated error when latitude values ​​between unit three-dimensional grids are accumulated in a direction along the meridian of the celestial body for one revolution; a seventeenth step of calculating an error per unit three-dimensional grid based on the calculated cumulative error; an eighteenth step of determining the number of unit three-dimensional grids included in the meridian direction of one three-dimensional block based on the calculated error per unit three-dimensional grid so that the reference error per one three-dimensional block is equal to or smaller than 1 / 1000 of the cumulative error; a nineteenth step of sequentially setting a reference latitude from the coordinate origin for each three-dimensional block determined by the specified number of unit three-dimensional grids; a twentieth step of dividing a latitude line for each of the reference latitudes from the coordinate origin that has been set by the acceptance by a length of one side of a unit three-dimensional grid, and calculating a longitude value between the unit three-dimensional grids divided for each of the latitude lines; A twenty-first step of calculating an accumulated error when the longitude values ​​for each latitude line are accumulated for one revolution in the latitude direction of the celestial body; a twenty-second step of calculating an error per unit three-dimensional grid for each of the latitude lines based on the cumulative error calculated for each of the latitude lines; a twenty-third step of determining the number of unit three-dimensional grids included in the latitude direction of one three-dimensional block for each latitude line based on the calculated error per unit three-dimensional grid, so that the reference error per one three-dimensional block is equal to or smaller than 1 / 1000 of the cumulative error; a twenty-fourth step of sequentially setting a reference longitude for each of the latitude lines for each three-dimensional block determined by the specified number of unit three-dimensional grids; a twenty-fifth step of sequentially specifying reference points from the coordinate origin based on the set reference latitude and reference longitude; 10. The information processing method according to claim 6, further comprising:

11. A computer program executable by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and that interpolates and visualizes transitions of fluctuations in physical quantities discretely acquired by a moving body within the position space, comprising: The information processing device, a coordinate origin receiving means for receiving a setting of an arbitrary coordinate origin; a reference point calculation means for calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and longitude directions based on the coordinate origin that has been set; an identifier assigning means for assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices; an information storage means for storing information about a position space including coordinate information of at least eight vertices in association with the identifier; a physical quantity acquiring means for discretely acquiring a predetermined physical quantity; a coordinate value acquisition means for acquiring coordinate values ​​at a time point when the physical quantity is acquired; an identifier specifying means for specifying an identifier of a unit three-dimensional grid including the acquired coordinate values; and a physical quantity interpolation means for specifying a pair of identifiers to be interpolated and one or more identifiers existing between the pair of identifiers based on the specified identifiers, and calculating by interpolating physical quantities in unit three-dimensional grids corresponding to one or more identifiers existing between the pair of identifiers for which physical quantities have not been acquired. A computer program characterized by causing the computer to function as follows.

12. The physical quantity interpolation means A block identification means for identifying a unit three-dimensional block from which the physical quantity is obtained; A representative coordinate acquisition means for acquiring the coordinates of a representative point of the identified unit three-dimensional block; and A means for interpolating a physical quantity between the coordinates of a representative point at which the physical quantity was obtained and the coordinates of a representative point at which the physical quantity to be interpolated was obtained.

12. The computer program product according to claim 11, characterized in that the computer program product functions as follows:

13. A computer program executable by an information processing device that stores identifiers associated with each three-dimensional grid obtained by dividing a position space on the earth together with information about the position space, and that interpolates and visualizes transitions of fluctuations in physical quantities discretely acquired by a moving body within the position space, comprising: The information processing device, a coordinate origin receiving means for receiving a setting of an arbitrary coordinate origin; a reference point calculation means for calculating a reference point determined from the number of blocks at which an error converges within a predetermined range when three-dimensional blocks are arranged in the latitude and longitude directions based on the coordinate origin that has been set; an identifier assigning means for assigning a unique identifier to each unit three-dimensional grid constituting a three-dimensional block having the calculated reference points as eight vertices; an information storage means for storing information about a position space including coordinate information of at least eight vertices in association with the identifier; A physical quantity acquiring means for acquiring a predetermined physical quantity discretely while moving; and An identifier assignment means for assigning, to a physical quantity whose coordinate value cannot be acquired at the time when the physical quantity is acquired, an identifier of a unit three-dimensional grid including the coordinate value where the physical quantity is acquired. A computer program characterized by causing the computer to function as follows.

14. The identifier assignment means, a physical quantity distribution calculation means for calculating a physical quantity distribution in a three-dimensional space by linear interpolation based on the physical quantities whose coordinate values ​​can be acquired at the time point when the physical quantities are acquired; and A means for specifying coordinate values ​​in each of three axial directions in a three-dimensional space from a distribution of calculated physical quantities based on physical quantities whose coordinate values ​​cannot be obtained at the time when the physical quantities are obtained. Functioning as a 14. The computer program according to claim 13, wherein the information processing device is caused to function as a unit for assigning an identifier of a unit three-dimensional grid that contains the identified coordinate values.

15. The reference point calculation means, latitude value calculation means for dividing a meridian passing through the set coordinate origin by the length of one side of a unit three-dimensional grid, and calculating latitude values ​​between the divided unit three-dimensional grids; a latitude value cumulative error calculation means for calculating a cumulative error when the latitude values ​​between unit three-dimensional grids are accumulated for one revolution in the meridian direction of the celestial body; a latitude value grid error calculation means for calculating an error per unit three-dimensional grid based on the calculated cumulative error; a meridian direction grid number specifying means for specifying the number of unit three-dimensional grids included in the meridian direction of one three-dimensional block based on the calculated error per unit three-dimensional grid so that a reference error per one three-dimensional block is 1 / 1000 or less of an accumulated error; a reference latitude setting means for sequentially setting a reference latitude from the coordinate origin for each three-dimensional block determined by the specified number of unit three-dimensional grids; a longitude value calculation means for dividing a latitude line for each of the reference latitudes from the coordinate origin that has been set by the received setting by the length of one side of a unit three-dimensional grid, and calculating a longitude value between the unit three-dimensional grids divided for each of the latitude lines; a longitude value cumulative error calculation means for calculating a cumulative error when the longitude values ​​for each latitude line are accumulated for one revolution in the latitude direction of the celestial body; a longitude value grid error calculation means for calculating an error per unit three-dimensional grid for each of the latitude lines based on an accumulated error calculated for each of the latitude lines; a latitude direction grid number specifying means for specifying the number of unit three-dimensional grids included in the latitude direction of one three-dimensional block for each latitude line based on the calculated error per unit three-dimensional grid so that a reference error per one three-dimensional block is equal to or smaller than 1 / 1000 of an accumulated error; a reference longitude setting means for sequentially setting a reference longitude for each latitude line for each three-dimensional block determined by the specified number of unit three-dimensional grids; A reference point specifying means for sequentially specifying a reference point from the coordinate origin based on a set reference latitude and reference longitude.

15. The computer program product according to claim 11, further comprising:

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