Positioning device, positioning method, program, and storage device

Abstract

To provide a positioning device capable of improving positioning accuracy, a positioning method, a program, and a storage device.SOLUTION: A positioning device 20 includes a first position estimation unit 31, a second position estimation unit 33, and an information integration unit 36. The first position estimation unit 31 and the second position estimation unit 33 output first information and second information by positioning in different coordinate systems (a world geodetic system and a map coordinate system), respectively. The information integration unit 36 performs predetermined optimization processing relative to a combination of the first information and the second information recognized as the same time. The information integration unit 36 acquires difference (inter-coordinate difference) regarding information such as a position and a posture of a moving object between mutually different coordinate systems of the first information and the second information by predetermined optimization processing.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a positioning device, a positioning method, a program, and a storage device. [Background technology]

[0002] Conventionally, for example, a system is known that controls the automatic traveling of a mobile object based on the position of the mobile object based on a positioning signal obtained from a satellite and the position of the mobile object based on point cloud data obtained from a distance measurement sensor (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-146457 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional system, the increase in processing load and power consumption is suppressed by switching between satellite positioning and scan matching depending on the driving area. However, the coordinate system in the satellite positioning and the coordinate system in the scan matching are different from each other and have non-uniform errors, so that the desired position accuracy cannot be ensured, and the problem arises that it is difficult to appropriately switch.

[0005] An object of the present invention is to provide a positioning device, a positioning method, a program, and a storage device that can improve positioning accuracy. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the above object, the present invention employs the following aspects. (1): A positioning device according to one aspect of the present invention (e.g., positioning device 20 in the embodiment) includes a plurality of different positioning units (e.g., first position estimation unit 31, point cloud processing unit 32, and second position estimation unit 33 in the embodiment) that output position information (e.g., first information and second information in the embodiment) of a moving body (e.g., moving body M in the embodiment) by positioning in each of a plurality of different coordinate systems (e.g., the World Geodetic System and the map coordinate system in the embodiment), and a processing unit (e.g., information integration unit 36 ​​in the embodiment) that acquires a difference in the position information between the plurality of different coordinate systems based on a combination of the position information corresponding to a predetermined time among the position information output from the plurality of different positioning units, and acquires the position information of the moving body in a predetermined reference coordinate system by correcting the difference.

[0007] (2): The positioning device described in (1) above includes an inertial navigation processing unit (e.g., the inertial navigation processing unit 35 in the embodiment) that processes inertial navigation based on inertial information output from an inertial detection unit (e.g., the inertial detection unit 24 in the embodiment) mounted on the moving body, and the processing unit may correct the position difference caused by the time difference from the specified time in the position information corresponding to the specified time by the inertial navigation performed by the inertial navigation processing unit.

[0008] (3): In the positioning device described in (2) above, the multiple different positioning units include a first positioning unit (e.g., first position estimation unit 31 in the embodiment) and a second positioning unit (e.g., point cloud processing unit 32 and second position estimation unit 33 in the embodiment), the first positioning unit outputs the position information by positioning based on a positioning signal acquired from the outside, the second positioning unit outputs the position information by positioning based on point cloud information obtained in response to detection of an external object, and the processing unit may set the coordinate system of the second positioning unit to the specified reference coordinate system.

[0009] (4): In the positioning device described in (3) above, the second positioning unit may create a map using the point cloud information (e.g., a point cloud map in an embodiment) at least in an area where positioning is not performed by the first positioning unit.

[0010] (5): A positioning method according to one aspect of the present invention is a positioning method executed by an electronic device (e.g., positioning device 20, server 10 in the embodiments) having a processing unit (e.g., processing unit 27, processing unit 13 in the embodiments) that acquires position information (e.g., first information, second information in the embodiments) of a moving body (e.g., moving body M in the embodiments), and includes a positioning step (e.g., step S01 in the embodiments) of outputting position information of the moving body by positioning in each of a plurality of different coordinate systems (e.g., world geodetic system, map coordinate system in the embodiments), and an acquisition step (e.g., steps S05 to S08 in the embodiments) of acquiring a difference in the position information between the plurality of different coordinate systems based on a combination of the position information output in the positioning step that corresponds to a predetermined time, and acquiring the position information of the moving body in a predetermined reference coordinate system by correcting the difference.

[0011] (6): A program according to one aspect of the present invention causes a computer of an electronic device (e.g., positioning device 20, server 10 in the embodiments) having a processing unit (e.g., processing unit 27, processing unit 13 in the embodiments) that acquires position information (e.g., first information, second information in the embodiments) of a moving body (e.g., moving body M in the embodiments) to execute a positioning step (e.g., step S01 in the embodiments) of outputting position information of the moving body by positioning in each of a plurality of different coordinate systems (e.g., world geodetic system, map coordinate system in the embodiments), and an acquisition step (e.g., steps S05 to S08 in the embodiments) of acquiring difference in the position information between the plurality of different coordinate systems based on a combination of the position information output in the positioning step that corresponds to a predetermined time, and acquiring position information of the moving body in a predetermined reference coordinate system by correcting the difference.

[0012] (7): A storage device according to one aspect of the present invention is a computer-readable storage device storing the program described in (6) above. Effect of the Invention

[0013] According to (1) above, by providing a processing unit that corrects the difference between different coordinate systems of multiple positioning units, appropriate coordinate transformation can be performed even when non-uniform distortion exists in each coordinate system, and the position information of a moving body can be obtained with high accuracy.

[0014] In the case of (2) above, by providing a processing unit that uses inertial navigation to correct position differences resulting from time differences relative to a specified time for a combination of position information corresponding to a specified time, it is possible to appropriately correspond the position information with respect to time even if the position information output from multiple positioning units is asynchronous.

[0015] In the above case (3), the processing unit sets the coordinate system of the second positioning unit to a predetermined reference coordinate system, thereby enabling accurate acquisition of the position information of the mobile body even in cases where the accuracy of the positioning signal is reduced or reception is difficult due to the moving environment of the mobile body, for example.

[0016] In the case of (4) above, by providing a second positioning unit that creates a map using point cloud information at least in an area where positioning is not performed by the first positioning unit, the degree of dependency on the second positioning unit can be reduced even when the operation of the second positioning unit becomes cumbersome or complicated due to, for example, frequent changes in the moving environment of the mobile body.

[0017] According to the above (5), (6) or (7), when the robustness of the moving body to the moving environment is improved by a plurality of different positioning methods using an acquisition step of correcting the difference between a plurality of different coordinate systems, appropriate coordinate transformation can be performed even when non-uniform distortion is present in each coordinate system, and the position information of the moving body can be acquired with high accuracy. [Brief description of the drawings]

[0018] [Figure 1] 1 is a block diagram showing a functional configuration of a positioning system including a positioning device according to an embodiment of the present invention. [Diagram 2] FIG. 4 is a diagram showing an example of a pose graph formed by the positioning device according to the embodiment of the present invention. [Diagram 3]4 is a flowchart showing the operation of the positioning device according to the embodiment of the present invention. [Figure 4] FIG. 2 is a diagram showing an example of an optimization process performed by the positioning device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a positioning device and a positioning method according to an embodiment of the present invention will be described with reference to the accompanying drawings. The positioning device of the embodiment acquires information on the position and attitude of a moving body. The moving body is, for example, a manned or unmanned vehicle, a mobile work machine that performs a predetermined task while moving, or another robot. The moving body moves, for example, automatically or autonomously, moves according to manual operation by an operator (e.g., remote control, etc.), or moves according to driving operation by an occupant.

[0020] FIG. 1 is a block diagram showing a functional configuration of a positioning system 1 including a positioning device 20 according to an embodiment. 1, the positioning system 1 includes, for example, a server 10 and a positioning device 20 mounted on a mobile object M. The server 10 and the positioning device 20 of the mobile object M are connected to each other via, for example, a wired and wireless communication network (network) NW. The communication network NW is, for example, the Internet, a mobile communication network, a LAN (Local Area Network), and a WAN (Wide Area Network). For example, the LAN is a wired LAN (Local Area Network) of a predetermined standard such as Ethernet, or a wireless LAN of various standards such as Wi-Fi and Bluetooth (registered trademark).

[0021] The server 10 includes, for example, a communication unit 11, a storage unit 12, and a processing unit 13. The communication unit 11 communicates with a positioning device 20 of a moving object M, for example. The storage unit 12 stores, for example, various types of information and predetermined programs. The processing unit 13 includes a software function unit that functions when a processor such as a CPU (Central Processing Unit) executes a predetermined program. The software function unit is an ECU (Electronic Control Unit) that includes a processor such as a CPU, a ROM (Read Only Memory) that stores programs, a RAM (Random Access Memory) that temporarily stores data, and electronic circuits such as a timer. At least a part of the processing unit 13 may be an integrated circuit such as an LSI (Large Scale Integration).

[0022] The positioning device 20 includes, for example, a communication unit 21, a positioning signal receiving unit 22, an object detection unit 23, an inertial detection unit 24, an input / output unit 25, a storage unit 26, and a processing unit 27. The processing unit 27 includes, for example, a first position estimation unit 31, a point cloud processing unit 32, a second position estimation unit 33, an attitude estimation unit 34, an inertial navigation processing unit 35, and an information integration unit 36.

[0023] The communication unit 21 communicates with the server 10, for example. The positioning signal receiving unit 22 includes an antenna for a satellite positioning system (GNSS: Global Navigation Satellite System) such as a Global Positioning System (GPS). The positioning signal receiving unit 22 outputs, to the first position estimating unit 31, predetermined information obtained from a positioning signal received by the antenna or information on a position and attitude obtained by a predetermined calculation based on the positioning signal.

[0024] The object detection unit 23 is, for example, a sonar, a radar device, a finder, etc., and acquires three-dimensional point cloud data. The finder is, for example, a LIDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging). The object detection unit 23 detects the distance to the object or the position of the object, for example, by emitting ultrasonic waves, electromagnetic waves, or light around the target object and detecting reflection or scattering by the object. The object detection unit 23 acquires a collection of points (point cloud data) having position information, for example, by scanning the object in three-dimensional space. The object detection unit 23 outputs the acquired point cloud data to the point cloud processing unit 32.

[0025] The inertial detection unit 24 is, for example, an inertial measurement unit (IMU) or the like, and detects the inertial motion of the moving body M. The inertial detection unit 24 includes, for example, an acceleration sensor that detects the acceleration of the moving body M, and a gyro sensor that detects the angular velocity of the moving body M. The inertial detection unit 24 outputs inertial information obtained by detection to the attitude estimation unit 34.

[0026] The input / output unit 25 includes, for example, an input / output device that is a user interface, and connection terminals that are connected to various external devices. The input / output device includes, for example, a display device such as a liquid crystal display or an organic EL (Electro Luminescence) display, an input device such as a button or a touch panel that accepts an input operation by an operator's finger, a microphone for voice input, and a speaker for sound output. The storage unit 26 stores, for example, various types of information and predetermined programs.

[0027] The processing unit 27 includes a software function unit that functions when a processor such as a CPU (Central Processing Unit) executes a predetermined program. The software function unit is an ECU (Electronic Control Unit) that includes a processor such as a CPU, a ROM (Read Only Memory) that stores programs, a RAM (Random Access Memory) that temporarily stores data, and electronic circuits such as a timer. At least a part of the processing unit 27 may be an integrated circuit such as an LSI (Large Scale Integration).

[0028] The processing unit 27 acquires information such as the position and attitude of the moving body M by performing various types of arithmetic processing based on information acquired from, for example, the communication unit 21, the positioning signal receiving unit 22, the object detection unit 23, the inertia detection unit 24, the input / output unit 25 and the memory unit 26.

[0029] The first position estimation unit 31 acquires information (first information) such as the position and attitude of the moving object M by predetermined positioning based on information acquired from the positioning signal receiving unit 22. The first position estimation unit 31 outputs the acquired first information to the storage unit 26, the information integration unit 36, or the like.

[0030] The point cloud processing unit 32 performs so-called scan matching by comparing the point cloud data acquired from the object detection unit 23 with previously acquired reference point cloud data (point cloud map). The point cloud processing unit 32 acquires relative displacements (deviations in position, attitude, etc.) between different point cloud data by scan matching. The point cloud processing unit 32 outputs the acquired relative displacements to the second position estimation unit 33. The second position estimation unit 33 acquires information (second information) such as the position and attitude of the moving object M by predetermined positioning based on the point cloud data acquired from the point cloud processing unit 32 and the relative displacement. The second position estimation unit 33 outputs the acquired second information to the storage unit 26, the information integration unit 36, or the like.

[0031] The attitude estimation unit 34 acquires information on the attitude of the moving body M by a predetermined calculation based on the inertial information acquired from the inertial detection unit 24. The attitude estimation unit 34 calculates the attitude angles (roll and pitch) and azimuth angle (yaw) of the moving body M based on, for example, the three-axis acceleration and the three-axis angular velocity. The attitude estimation unit 34 outputs the acquired attitude information to the inertial navigation processing unit 35. The inertial navigation processing unit 35 acquires information (third information) such as the position, speed, and attitude of the moving body M by a predetermined inertial navigation calculation or the like based on the information on the attitude of the moving body M acquired from the attitude estimation unit 34. The inertial navigation processing unit 35 outputs the acquired third information to the storage unit 26, the information integration unit 36, or the like.

[0032] The information integration unit 36 ​​acquires position information of the moving body M in a specified reference coordinate system, for example, by integrating information such as the position and attitude of the moving body M outputted from each of the first position estimation unit 31, the second position estimation unit 33 and the inertial navigation processing unit 35. The information integration unit 36, for example, in advance distinguishes between areas in which the first information is not valid and areas in which the first information is valid in the movement area of ​​the mobile object M, and allows the point cloud processing unit 32 to acquire point cloud data and create a point cloud map only in the areas in which the first information is not valid and a part of the areas in which the first information is valid. The areas in which the first information is not valid include areas including areas in which it is difficult to acquire the first information or areas in which the error of the first information is equal to or greater than a predetermined value. The information integration unit 36 ​​integrates the first information, the second information, and the third information, for example, only in the areas in which the first information is not valid and a part of the areas in which the first information is valid.

[0033] The information integration unit 36 ​​extracts a combination of the first information and the second information that are recognized as information at the same time, for example, from the first information output from the first position estimation unit 31 and the second information output from the second position estimation unit 33. The information at the same time is, for example, information obtained by measuring the state of the moving body M at the same time, and corresponds to the timing when the positioning signal received by the positioning signal receiving unit 22 is transmitted from a satellite or the like and the timing when the object detection unit 23 acquires the point cloud data are the same.

[0034] For example, for a combination of first information and second information that are recognized as information from the same time, the information integration unit 36 ​​corrects differences in the position and attitude of the moving body M caused by differences in the timing of generation or output of each piece of information, based on the third information output from the inertial navigation processing unit 35. For example, when the information integration unit 36 ​​recognizes that the first information output at a specified time t and the second information output an appropriate time α after the specified time t are information from the same measurement timing, it corrects the differences in the position and attitude of the moving body M corresponding to the appropriate time α between the first information and the second information by inertial navigation. The information integration unit 36 ​​sets a predetermined upper threshold for the time difference between the first information and the second information that are to be recognized as information of the same time, for example, the difference in timing of generation or output of each piece of information, such as the above-mentioned appropriate time α. For example, the information integration unit 36 ​​prohibits a combination of the first information and the second information having a time difference larger than the predetermined upper threshold from being recognized as information of the same time.

[0035] The information integration unit 36 ​​acquires differences (inter-coordinate differences) regarding information such as the position and attitude of the moving body M between the mutually different coordinate systems of the first information and the second information, for example, by performing a predetermined optimization process on a combination of the first information and the second information after correction regarding time. The differences (inter-coordinate differences) between the different coordinate systems include, for example, non-uniform deviations caused by distortions of each coordinate system due to disturbances during measurement and the passage of time. The information integration unit 36, for example, of the coordinate system of the first information (world geodetic system) and the coordinate system of the second information (map coordinate system), sets the map coordinate system as a predetermined reference coordinate system. For example, in an area where the first information is valid, the information integration unit 36 ​​first converts the world geodetic system of the first information into the map coordinate system according to the correspondence between the origin of the map coordinate system (such as the measurement start point of the point cloud map) and the coordinate values ​​of the world geodetic system. Then, the information integration unit 36 ​​acquires the coordinate difference by performing a predetermined optimization process in an area where a combination of the first information and the second information that is recognized as being the same time is obtained between an area where the first information is not valid and a part of an area where the first information is valid.

[0036] FIG. 2 is a diagram showing an example of a pose graph 40 formed by the positioning device 20 of the embodiment. As shown in FIG. 2, the information integration unit 36 ​​acquires coordinate differences by, for example, optimizing a pose graph 40. The pose graph 40 includes, for example, a plurality of nodes 41, a plurality of edges 42, and a plurality of observables 43. The plurality of nodes 41 indicate, for example, a plurality of pieces of information such as positions and attitudes of a moving object M obtained in a time series (position and attitude X0, X1, X2, X3, . . .). The plurality of edges 42 connect, for example, adjacent nodes 41 in a time series. The plurality of edges 42 relatively constrain adjacent nodes 41 by, for example, a plurality of pieces of first information obtained in a time series. The plurality of observables 43 absolutely constrain each node 41 by, for example, each of a plurality of pieces of second information obtained in a time series (second information F1, F2, F3, . . .).

[0037] For example, the information integration unit 36 ​​acquires the coordinate difference by sequentially executing the optimization process each time a combination of the first information and the second information is obtained. The information integration unit 36 ​​calculates a coordinate transformation matrix that transforms the world geodetic system into a map coordinate system (predetermined reference coordinate system) according to the coordinate difference acquired by the optimization process. The information integration unit 36 ​​transforms the first information using the coordinate transformation matrix.

[0038] FIG. 3 is a flowchart showing the operation of the positioning device 20 in the embodiment. First, in step 01 shown in FIG. 3, the information integration unit 36 ​​acquires each of the first information, the second information, and the third information. Next, in step S02, the information integration unit 36 ​​determines whether or not it is necessary to execute an optimization process on the first information and the second information. If the result of this determination is "NO", the information integration unit 36 ​​advances the process to step S03. On the other hand, if the result of this determination is "YES", the information integration unit 36 ​​advances the process to step S04.

[0039] Next, in step S03, the information integration unit 36 ​​acquires coordinate transformation matrices for each of the first information and the second information stored in advance in the storage unit 12 of the server 10 or the storage unit 26 of the positioning device 20. Then, the information integration unit 36 ​​advances the process to step S06, which will be described later. Furthermore, in step S04, the information integration unit 36 ​​stores each of the acquired first information, second information, and third information in, for example, the storage unit 26 of the positioning device 20 or the storage unit 12 of the server 10.

[0040] Next, in step S05, the information integration unit 36 ​​extracts combinations (data pairs) of the first information and the second information that are recognized as information of the same time from each piece of information stored in, for example, each storage unit 26, 12, etc. The information integration unit 36 ​​deletes unnecessary information other than the data pairs from each piece of information stored in, for example, each storage unit 26, 12, etc. Next, in step S06, the information integration unit 36 ​​executes an optimization process to obtain the coordinate difference. Next, in step S07, the information integration unit 36 ​​calculates a coordinate transformation matrix according to the coordinate difference acquired by the optimization process. Next, in step S08, the information integration unit 36 ​​executes coordinate transformation using the coordinate transformation matrix, and then the information integration unit 36 ​​advances the process to the end.

[0041] FIG. 4 is a diagram illustrating an example of an optimization process performed by the positioning device 20 according to the embodiment. 4, the position of the moving object M is defined in a two-dimensional orthogonal coordinate system of the X-axis and the Y-axis, and the moving object M moves along the X-axis direction from time t1 to time t2. The combinations recognized as information of the same time at each of time t1 and time t2 are a position G(t1) based on the first information and a position F(t1) based on the second information at time t1, and a position G(t2) based on the first information and a position F(t2) based on the second information at time t2. The information integration unit 36 ​​executes a predetermined optimization process to minimize the difference between the first information and the second information at each of time t1 and time t2. The coordinate difference dG obtained by the optimization process is, for example, the average value of the difference between the position G(t1) and the position F(t1) at time t1 and the difference between the position G(t2) and the position F(t2) at time t2. The information integration unit 36, for example, corrects each of the positions G(t1) and G(t2) of the first information by the coordinate difference dG, thereby acquiring corrected positions GC(t1) and GC(t2).

[0042] As described above, according to the positioning device 20 and the positioning method of the embodiment, by providing the information integration unit 36 ​​that corrects the difference between the different coordinate systems (world geodetic system and map coordinate system) of the first position estimation unit 31 and the second position estimation unit 33, it is possible to acquire the position information of the moving body M with high accuracy. In this way, when the robustness of the moving body to the moving environment is improved by the multiple positioning units, that is, when the robustness of the moving body M to the moving environment is improved by the first position estimation unit 31 and the second position estimation unit 33, it is possible to perform appropriate coordinate conversion even when non-uniform distortion exists in each coordinate system.

[0043] By providing an information integration unit 36 ​​that uses inertial navigation to correct position differences caused by time differences for combinations of first information and second information that are recognized as having the same time, it is possible to appropriately correspond the time even if the first information and second information output from the first position estimation unit 31 and the second position estimation unit 33 are asynchronous.

[0044] By setting the map coordinate system to a specified reference coordinate system, the information integration unit 36 ​​can accurately acquire location information of the moving body M even in cases where the accuracy of the positioning signal is reduced or reception is difficult due to the moving environment of the moving body M.

[0045] By providing a point cloud processing unit 32 that creates a point cloud map using point cloud data at least in areas where positioning is not performed by the first position estimation unit 31 (areas where the first information is not valid), the degree of dependency on the second position estimation unit 33 can be reduced even when the operation of the point cloud processing unit 32 and the second position estimation unit 33 becomes complicated or cumbersome due to, for example, frequent changes in the moving environment of the moving body M.

[0046] (Modification) Modifications of the embodiment will be described below. Note that the same parts as those in the above-described embodiment will be denoted by the same reference numerals and descriptions thereof will be omitted or simplified. In the embodiment described above, the information integration unit 36 ​​acquires the coordinate difference by optimizing the pose graph 40, but this is not limiting. The information integration unit 36 ​​may acquire the coordinate difference by other optimization processes such as an extended Kalman filter.

[0047] In the above embodiment, the information integration unit 36 ​​uses the map coordinate system as the predetermined reference coordinate system, but is not limited thereto, and may use, for example, a coordinate system other than the world geodetic system and the map coordinate system as the predetermined reference coordinate system. The information integration unit 36 ​​may convert each coordinate system into the predetermined reference coordinate system, for example, by using a coordinate transformation matrix set for each of the first information and the second information. In the above-described embodiment, the information integration unit 36 ​​calculates a coordinate transformation matrix, but this is not limited thereto. The information integration unit 36 ​​may acquire a coordinate transformation matrix calculated at an appropriate position by a positioning device 20 mounted on another mobile body. The coordinate transformation matrix calculated by the positioning device 20 of the other mobile body may be stored in, for example, the storage unit 12 of the server 10.

[0048] In the above-described embodiment, the positioning device 20 includes the positioning signal receiving unit 22 and the object detecting unit 23, but is not limited thereto, and may include other devices, such as a camera, that output detection information related to information such as the position and attitude of the moving object M. The information integration unit 36 ​​may obtain the difference between coordinates using information such as the position and attitude of the moving object M obtained based on the detection information output from the other devices.

[0049] In the above-described embodiment, all or part of the processing executed by the processing unit 27 of the positioning device 20 may be executed by the processing unit 13 of the server 10.

[0050] In addition, a program for realizing all or part of the functions of the positioning system 1 of the present invention may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read into a computer system and executed to perform all or part of the processing performed by the positioning system 1. In addition, the term "computer system" as used herein includes hardware such as an OS and peripheral devices. The term "computer system" also includes a WWW system equipped with a homepage providing environment (or display environment). The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" also refers to a storage device that holds a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line.

[0051] The above program may also be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium, or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The above program may also be for realizing part of the above-mentioned functions. Furthermore, it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0052] The embodiments of the present invention are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as the scope and spirit of the invention. [Explanation of symbols]

[0053] 10...server (electronic device), 11...communication unit, 12...memory unit, 13...processing unit, 20...positioning device (electronic device), 21...communication unit, 22...positioning signal receiving unit, 23...object detection unit, 24...inertial detection unit, 25...input / output unit, 26...memory unit, 27...processing unit, 31...first position estimation unit (positioning unit, first positioning unit), 32...point cloud processing unit (positioning unit), 33...second position estimation unit (positioning unit, second positioning unit), 34...attitude estimation unit, 35...inertial navigation processing unit, 36...information integration unit (processing unit), 40...pose graph, M...moving body.

Claims

1. a plurality of different positioning units that output position information of a moving object by performing positioning in each of a plurality of different coordinate systems; a processing unit that acquires differences in the position information between a plurality of different coordinate systems based on a combination of the position information output from the plurality of different positioning units, the differences being corrected to acquire position information of the moving body in a predetermined reference coordinate system; A positioning device comprising:

2. an inertial navigation processing unit that processes inertial navigation based on inertial information output from an inertial detection unit mounted on the moving body; The processing unit includes: A position difference caused by a time difference from the predetermined time in the position information corresponding to the predetermined time is corrected by the inertial navigation by the inertial navigation processing unit. The positioning device according to claim 1 .

3. The plurality of different positioning units include a first positioning unit and a second positioning unit, The first positioning unit outputs the position information by positioning based on a positioning signal acquired from an external device, The second positioning unit outputs the position information by positioning based on point cloud information obtained in response to detection of an external object; The processing unit sets the coordinate system of the second positioning unit to the predetermined reference coordinate system. The positioning device according to claim 2.

4. The second positioning unit creates a map based on the point cloud information at least in an area where positioning is not performed by the first positioning unit. The positioning device according to claim 3.

5. A positioning method executed by an electronic device having a processing unit for acquiring position information of a moving object, a positioning step of outputting position information of the moving object by performing positioning in each of a plurality of different coordinate systems; an acquisition step of acquiring differences regarding the position information among a plurality of different coordinate systems based on a combination of the position information corresponding to a predetermined time among the position information outputted in the positioning step, and acquiring position information of the moving body in a predetermined reference coordinate system by correcting the differences; A positioning method including:

6. A computer of an electronic device having a processing unit for acquiring location information of a moving object, a positioning step of outputting position information of the moving object by performing positioning in each of a plurality of different coordinate systems; an acquisition step of acquiring differences regarding the position information among a plurality of different coordinate systems based on a combination of the position information corresponding to a predetermined time among the position information outputted in the positioning step, and acquiring position information of the moving body in a predetermined reference coordinate system by correcting the differences; A program that executes the following.

7. A computer-readable storage device storing the program according to claim 6.

Images