Trajectory generation method, trajectory generation apparatus, and program

Abstract

To provide a method for generating a trajectory, a trajectory generation apparatus, and a program capable of easily obtaining reference data for accurately evaluating a positioning result of a positioning module.SOLUTION: The method for generating a trajectory includes: setting, by a positioning device that receives radio waves transmitted from positioning satellites to measure positions, a movement route of the positioning device including a plurality of specific points for which recording of measurement results is requested; associating measurement results recorded by the positioning device with the specific points; and generating a reference trajectory by setting, on the movement route, positions of reference points and times at reference time intervals on the basis of position information of the specific points and time information at which the recording of the associated measurement results was requested.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] There are positioning devices that perform positioning by receiving radio waves from positioning satellites of the Global Navigation Satellite System (GNSS). Improving positioning accuracy involves hardware challenges, such as the relative positions of antennas and electronic components within the positioning device, and software challenges, such as the positioning calculation algorithm. Furthermore, while a user is moving, especially while running or walking, the radio wave reception environment changes depending on the orientation of the positioning device, its position relative to the body, and surrounding obstructions. Therefore, positioning devices are required to achieve stable positioning accuracy by reducing the effects of these changes in the reception environment.

[0003] Conventionally, there is a technology for evaluating positioning accuracy according to the environment, which evaluates positioning accuracy based on the distance between two obtained positions and the elapsed time required to move between the two points, and determines the degree of movement of an appropriate distance according to the elapsed time (Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-68566 Summary of the Invention [Problem to be solved by the invention]

[0005] However, to evaluate software-related factors with high accuracy, accurate information on the received radio wave signal and the location where the radio wave is received is required. Conventionally, preparing such reference data has been time-consuming.

[0006] An object of the present invention is to provide a trajectory generation method, a trajectory generation device, and a program that can easily obtain data that serves as a reference for evaluating the positioning results of a positioning module with high accuracy. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention provides A positioning device receives radio waves transmitted from a positioning satellite to measure its position, and sets a movement route of the positioning device including a plurality of specific points for which recording of measurement results is requested; Associating the measurement results recorded by the positioning device with the specific points; generating a reference trajectory by setting positions and times of reference points on the movement path at reference time intervals based on the position information of the specific points and time information at which recording of the associated measurement results was requested; This is a trajectory generation method. [Effects of the Invention]

[0008] According to the present invention, it is possible to easily obtain data that serves as a reference for evaluating the positioning results of the positioning module with high accuracy. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an accuracy evaluation system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a functional configuration of the information processing device. [Figure 3] FIG. 10 is a diagram illustrating an evaluation procedure of a positioning module. [Figure 4] FIG. 10 is a diagram illustrating an example of a comparison between a positioning result and a reference trajectory. [Figure 5] 10 is a flowchart showing a control procedure for a reference trajectory generation process. [Figure 6] FIG. 10 is a diagram illustrating an example of generating a reference trajectory. [Figure 7] FIG. 10 is a diagram illustrating an example of generating a reference trajectory. [Figure 8] FIG. 10 is a diagram illustrating an example of generating a reference trajectory. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, an information processing device 1, which is a trajectory generation device of this embodiment, is included in an accuracy evaluation system 100. In addition, the accuracy evaluation system 100 includes a satellite radio wave recording device 5, a positioning device 6, and a positioning module 8.

[0011] The satellite radio wave recorder 5 records and stores radio wave signals obtained by receiving radio waves including radio waves transmitted from positioning satellites. The positioning satellites may be various positioning systems related to the GNSS (Global Navigation Satellite System), such as the GPS (Global Positioning System) or Galileo, or a combination of these. The satellite radio wave recorder 5 can reproduce the radio wave signals it stores, i.e., output them to an external device at the same speed as when they were received. The external device to which the signals are output is interchangeable. The satellite radio wave recorder 5 can reproduce and output the same radio wave signal repeatedly to each connected external device. Furthermore, the satellite radio wave recorder 5 can change the signal strength of the radio wave signal it outputs, and can output radio signals at multiple signal strengths to the same external device.

[0012] The positioning device 6 records the time and location when an input operation is accepted. The positioning device 6 includes a positioning module, an operation accepting unit, a control unit, a memory unit, a timing unit, a communication unit, etc. The positioning module measures the location by receiving radio waves transmitted from the positioning satellites and calculating the current location based on the radio waves received from multiple positioning satellites. The positioning module outputs measurement results at a specified time interval, for example, every one second. The accuracy of the positioning point, which is the calculated current location, is not important. It is sufficient that the current location at the time of an input operation is distinguishable from the current location at the time of another input operation. The operation accepting unit accepts the input operation and outputs an operation signal to the control unit. The operation accepting unit may include, for example, a push button switch. The control unit includes a processor and can acquire the current location obtained most recently or immediately after the input of the operation signal from the positioning module in response to the input of the operation signal and record it in the memory as the location of the positioning point together with the time obtained from the timing unit when the input operation is accepted. The storage unit has a RAM and a non-volatile memory. The recorded time and the position of the positioning point may, for example, be stored in the RAM once and then written together to the non-volatile memory at an appropriate timing. The clock unit, for example, counts the current time at intervals of less than a second. The time counted by the clock unit may be corrected based on the date and time obtained by the positioning module. The communication unit has a connection terminal for connecting a cable for outputting data to an external device. The connection terminal may, for example, be a LAN connector or a USB (Universal Serial Bus) terminal.

[0013] The positioning module 8 has the function of receiving radio waves from positioning satellites and performing positioning based on the radio waves. The positioning module 8 demodulates the signals transmitted by each positioning satellite from the radio waves and performs positioning calculations based on the demodulated signals to calculate the current position. For the evaluation process described below, the positioning module 8 has its receiving antenna removed or is separated from the receiving antenna and its downstream components. The positioning module 8 may also be incorporated into an electronic device that includes the positioning module 8.

[0014] The information processing device 1 is a trajectory generation device of this embodiment, and generates a reference trajectory by acquiring the positioning results recorded by the positioning device 6 while the person in charge is driving and timing information of the recording request. The information processing device 1 acquires the positioning results obtained by the positioning module 8 to be evaluated based on the radio signal input from the satellite radio recording device 5, and compares them with the reference trajectory to evaluate the positioning module 8. The evaluation content may include, for example, but is not limited to, accuracy and stability, as well as the tendency of these to change according to signal strength.

[0015] As shown in FIG. 2, the information processing device 1 includes a CPU 11 (Central Processing Unit) (control unit), a RAM 12 (Random Access Memory), a storage unit 13, a display unit 14, an operation reception unit 15, a communication unit 16, and the like.

[0016] The CPU 11 is a processor that performs arithmetic processing and controls the overall operation of the information processing device 1. The CPU 11 may have a single processor or may have multiple processors that operate in parallel or independently for different purposes. The CPU 11 performs processing related to the generation of the reference trajectory described above and evaluation processing of the positioning module 8 based on the reference trajectory and the positioning result of the positioning module 8.

[0017] The RAM 12 provides a working memory space for the CPU 11 and stores temporary data. The RAM 12 may be a DRAM.

[0018] The storage unit 13 is a non-volatile memory that stores a program 131 and various data. The non-volatile memory may be, for example, a flash memory, a hard disk drive (HDD), or a combination of these. Furthermore, part or all of the storage unit 13 may be a network drive, cloud storage on the Internet, or the like. The program 131 includes a generation processing program for the above-mentioned base trajectory, and an evaluation processing program for the positioning module 8. The program may not be a standalone process, but may be a plug-in for third-party map display software, or the like. The stored data includes the generated base trajectory data 132.

[0019] The display unit 14 has a digital display screen and displays images under the control of the CPU 11. The digital display screen may be, for example, a liquid crystal display screen or an organic EL (Electro-Luminescent) screen.

[0020] The operation reception unit 15 receives an input operation from outside and outputs an electrical signal corresponding to the received operation to the CPU 11. The operation reception unit 15 has, for example, a keyboard and a pointing device. The pointing device may be a mouse. The operation reception unit 15 may also have a touch panel located over the digital display.

[0021] The communication unit 16 controls communication with the outside via a LAN (Local Area Network) or the Internet in accordance with a predetermined communication standard. The communication unit 16 may have a connection terminal such as a USB (Universal Serial Bus). In this case, the communication unit 16 can control data communication performed directly with an external device via a cable connected to the connection terminal. Additionally or alternatively, the communication unit 16 may be capable of controlling transmission and reception of data via short-range wireless communication such as Bluetooth (registered trademark). The communication unit 16 may also have an insertion slot for a portable recording medium such as an SD card, and may be able to read and write data from and to the portable recording medium.

[0022] The storage unit 13, the display unit 14, the operation reception unit 15, etc. may be peripheral devices externally attached to the main body of the computer having the CPU 11 and the RAM 12.

[0023] Next, a description will be given of the evaluation of the positioning module 8. As shown in Fig. 3, in the evaluation of the positioning module 8, processes S1 to S3 are executed as a preparation stage, and then processes S4 and S5 relating to the evaluation are executed.

[0024] In process S1, as described above, the person in charge holds the satellite radio wave recording device 5 and the positioning device 6, operates the satellite radio wave recording device 5 to receive radio waves transmitted from the positioning satellite, and drives along an appropriate route while recording the radio wave signals. The driving route is preferably determined according to highly accurate and easy-to-set criteria, as described below. The person in charge performs a predetermined input operation on the positioning device 6 when passing through a characteristic location (characteristic point) or at a stop position due to a stop signal or the like (collectively referred to as a specific point). The positioning device 6 regards the time at which the input operation is received as the time at which a request to record the positioning result is made (passing time) and records this time and location information. There may be multiple specific points, including at least the start and end points of measurement. Characteristic locations may be features of the road itself, such as intersections, crosswalks, railroad crossings, corners, and bridges, as well as roadside control boxes, manholes, characteristic roadside buildings, signs, objects, and structures, and may be points that the person in charge can easily identify on a map. Different types of maps may be used depending on the type of characteristic point. The map may be an orthoimage obtained from an aerial photograph, satellite photograph, or the like. When a train stops at a traffic light or railroad crossing, the train operator performs input operations twice, at approximately the same location: at the time of the stop and when the train resumes traveling. The location information is the result of positioning (measured position) performed by the positioning device 6 and may be latitude and longitude information. As is well known, the positioning result may include errors due to the radio wave reception state depending on the holding state of the user (in this embodiment, the train operator) and the surrounding environment, as well as errors due to the receiving circuit and positioning calculation algorithm. Here, it is sufficient that the position is obtained with enough accuracy to distinguish between specific points. As such, process S1 can, in principle, be performed by a single train operator and does not require a large number of personnel or diverse equipment. If the train operator has a high ability to run at a constant speed, the number of feature points may be small compared to the running time. If the train operator is not confident in their ability to run at a constant speed, a large number of feature points may be set compared to the running time.

[0025] In process S2, the user (person in charge) causes the positioning device 6 to transmit the recorded measurement data, i.e., information on the time of passing and the position of a specific point, to the information processing device 1. For transmission, any of the Internet or LAN line, short-range wireless communication, a data transmission cable, or a portable recording medium may be used, as described above. The position information included in the measurement data may be data suitable for map display, for example, data in kml format. Alternatively, data written in another format, for example, CSV format, may be converted to kml format by the information processing device 1.

[0026] In step S3, the CPU 11 generates a reference trajectory using the received measurement data. The details of step S3 will be described later.

[0027] In process S4, the positioning module 8 is connected to the satellite radio wave recorder 5, and the radio wave signal is reproduced by the satellite radio wave recorder 5. The radio wave signal is input to the positioning module 8, which performs a positioning operation and obtains a positioning result. As with the positioning module of the positioning device 6, the positioning result is obtained at specified intervals, for example, at one-second intervals with zero fractions, and therefore includes data that coincides with each time set in the reference trajectory described below. The positioning result is transmitted to the information processing device 1 in real time or all at once after completion.

[0028] In process S5, the information processing device 1 compares the positioning results from the positioning module 8 with the reference trajectory to evaluate the positioning module 8. Processes S4 and S5 may be repeatedly executed a set number of times for each signal strength output by the satellite radio wave recorder 5 as described above and for each positioning module 8 to be evaluated. This makes it possible to compare the evaluation results of each positioning module 8 for radio signals under the same conditions.

[0029] As shown in Fig. 4, the positioning result Rd and the reference trajectory Rs obtained by the positioning module 8 have positions Pd and comparison reference points Ps (reference points) obtained at equal timing and time intervals. Accuracy is evaluated based on the difference between the positions Pd and comparison reference points Ps at each timing. In particular, since the difference is obtained between individual points rather than the distance from the reference trajectory Rs, deviations in the direction along the reference trajectory Rs can also be evaluated.

[0030] The reference trajectory Rs to be compared with the positioning result Rd in the above process is obtained by setting passage timings based on measurement data for a route Ws set by the user (see FIG. 6(a)). The reference trajectory generation process for this setting includes the trajectory generation method of this embodiment and is performed according to the procedure shown in FIG.

[0031] The CPU 11 displays a map image of the area including the route Ws to be set (S11). The map image may be displayed using, for example, Google Earth (registered trademark) or other map display software provided online. In this case, the user simply inputs information to display the map image of the area including the route Ws. The user then performs input operations on the map image, such as drawing a line or setting discrete points using the operation receiving unit 15, to determine the route Ws. The CPU 11 receives the input operations and draws and sets the route Ws according to the received information (S12; route setting means). As shown in FIG. 6(a), the route Ws is set on the map according to the input operations, and the display unit 14 draws and displays the set route Ws on the digital display screen under the control of the CPU 11.

[0032] The route Ws to be set is a polygonal line connecting multiple paths. Because this route Ws directly represents the travel route along which the person in charge will record radio signals, the route Ws is set as accurately as possible. For example, if certain conditions are met, such as staying near the center of the sidewalk and approximately 1 m from the right edge of the road, the route can be easily set according to those conditions. When input operations are performed at discrete points, adjacent points are the ends of a line segment. Hereinafter, each line segment will be referred to as a "path." The CPU 11 stores the set line as route data in the form of numerical data suitable for map display, such as in a kml format. The route data may be generated using the functions of the map display software. If the map display software does not output data in the desired format, the CPU 11 may convert data written in another format into the desired format.

[0033] The CPU 11 acquires measurement data from the positioning device 6 (S13). The CPU 11 reads the measurement data and displays the measurement positions of the specific points with specific markers along with the time on the displayed map image (S14). As shown in FIG. 6(b), along with the route Ws, markers C1 to C3 of positioning points, which are positions indicated by the measurement results requested to be recorded at the specific points based on the acquired measurement data, are displayed. The time is also displayed along with each of the markers C1 to C3. Here, marker C1 indicates the starting point of the travel measurement, and marker C3 indicates the end point of the travel measurement. That is, the route Ws may be a circular route. Alternatively, the start and end points of the route Ws may be different, and the route may have overlapping or round-trip portions. The markers C1 to C3 may each be located several meters away from the route Ws. As described above, a positional deviation (error) is allowed within a range that allows the user to identify the specific points. That is, as long as the positioning device 6 is capable of positioning while traveling, the person in charge does not need to consider fluctuations in its accuracy.

[0034] The CPU 11 receives an input operation via the operation receiving unit 15 to move the position of the marker of the positioning point, i.e., the measurement position, to the correct position of the specific point. That is, when the user performs a movement operation to move the measurement position via the operation receiving unit 15, the operation receiving unit 15 outputs an operation signal corresponding to the movement operation to the CPU 11. The CPU 11 moves the feature point marker along the set route in accordance with the received movement operation (S15). The movement operation may be an operation of dragging a selected marker with a mouse or the like. Alternatively, the movement operation may be an operation of moving the selected marker up, down, left, or right on the display screen by a certain amount using arrow keys on a keyboard or the like. The CPU 11 acquires the coordinates of the moved feature point position from the map data and updates the information on the feature point position (S16). Specifically, as shown in FIG. 7 , the user performs an operation to move the markers C1 to C3 to the correct specific points C1r to C3r on the route Ws, i.e., the positions where the user actually performed an input operation on the positioning device 6, as determined in advance by the user or as set and stored while traveling. As described above, the start and end points indicated by the markers C1 and C3 are originally at the same position, and are operated to move to the exact same specific points C1r and C3r. After setting the movement of the marker C1 to the specific point C1r, an operation may be defined to move the marker C3 to the same position as the set specific point C1r. The marker C2 is operated to move to the exact specific point C2r. This operation associates the data related to the markers C1 to C3 with the specific points C1r to C3r. In other words, the time when each of the specific points C1r to C3r identified on the map image was passed is identified as the time when the recording of the measurement results of the markers C1 to C3 was requested.

[0035] The CPU 11 calculates the length of each path based on the start and end positions of each path, starting from the starting point of the travel measurement (S17). If a specific point is set along the path, the path may be divided at the specific point. The points where travel is paused and resumed are considered to be the same. If two measurement positions are within a reference distance, the CPU 11 may determine that the pair is a pause and resume point and automatically move them to the same position on the route Ws. In this case, the elapsed time from the pause to the resume is excluded from the travel time. The CPU 11 calculates the distance between each specific point by integrating the distance of each path from the position of the most recently passed specific point. The CPU 11 also calculates the average speed between each specific point based on the distance between the specific points and the required time between the specific points, calculated from the difference in the time of passage between the specific points (S18).

[0036] The CPU 11 identifies positions at a specified time interval (reference time interval) based on the speed between each specific point (S19). The reference time interval may be, for example, one second. In this case, the point of the reference time interval may be fixed to a timing when the value of the lowest digit is a specific value, for example, when the decimal point of the second value is zero (exact seconds), regardless of the time of passing through the specific point. This timing is set as the timing when the positioning module 8 outputs the positioning result in the above-mentioned process S4. In other words, the identified position does not need to coincide with the specific point or the end point of the path. The position identified in this way is the comparison reference point Ps. It is assumed that the moving speed is constant in the section (path) between adjacent specific points. In other words, the CPU 11 sets a comparison reference point Ps on each path for each reference time interval based on the average speed between each specific point and the distance between the specific points.

[0037] That is, in steps S16 to S19, as shown in FIG. 8, paths Wp(m) to Wp(m+3), the start positions Pp(m) to Pp(m+4) of each path, and accurate specific points C(k)r and C(k+1)r are first determined. Based on these, comparison reference points Ps(n) to Ps(n+11) are determined on the path Ws at specified time intervals, here, at one-second intervals and exactly on the second. As described above, the speed between specific point C(k)r and specific point C(k+1)r is assumed to be constant, and comparison reference points Ps(n+3) to Ps(n+9) are set at equal distance intervals along the path Ws. A reference trajectory Rs is generated as an arrangement of the positions and times of comparison reference points Ps obtained in this manner. At least step S16 corresponds to the correspondence setting means in the program 131 of this embodiment. The correspondence setting means may include some or all of steps S14 to S15. The process S19 corresponds to the generating means in the program 131 of this embodiment. The generating means may include some or all of the processes S17 to S18.

[0038] When the comparison reference points Ps are identified between all the specific points, the CPU 11 arranges the times and positions of the comparison reference points Ps and stores them in the storage unit 13 as the reference trajectory data 132 (S20). Then, the CPU 11 ends the reference trajectory generation process.

[0039] As described above, the trajectory generation method of this embodiment performs the following steps: (1) The positioning device 6, which receives radio waves transmitted from positioning satellites to measure its position, sets a route Ws of movement of the positioning device 6, including multiple specific points Cr for which recording of measurement results is requested. (2) The measurement results recorded by the positioning device 6 are associated with the specific points Cr. (3) Based on the position information of the specific points Cr and the time information at which recording of the associated measurement results is requested, positions and times are set on the route Ws at reference time intervals to generate a reference trajectory Rs. In this way, with this trajectory generation method, a single person can easily set a route Ws along which measurement results are recorded while the positioning device 6 moves, and obtain a correspondence between the time at which recording of the measurement results is requested and the specific points Cr on the route Ws based on the measurement results. Based on this correspondence, comparison reference points Ps are determined, and a reference trajectory Rs is obtained. Therefore, reference data for evaluation of the positioning module 8 can be easily obtained.

[0040] Furthermore, in this trajectory generation method, a positioning point indicating the position of the measurement result and a map image may be superimposed and displayed on the display screen, and the measurement position may be moved to a specific point on the map image, and the measurement result may be associated with the specific point Cr. By looking at the positioning point on the map image, a person in charge can easily determine the corresponding specific point Cr even if it is slightly off. Therefore, this trajectory generation method makes it easier to set the accurate specific point Cr and the time of passing through it.

[0041] Furthermore, a request to record the measurement results may be received by an input operation to an operation receiving unit of the positioning device 6. It is desirable that the user's operation while moving the positioning device 6 is as simple as possible. By simply performing a certain input operation, the positioning results are recorded, and the passing time of the specific point Cr can be easily obtained with high accuracy, and the recorded content of the requested positioning results can be associated with this passing time.

[0042] Alternatively, the route Ws may be set by receiving an input operation by the user to draw the movement route of the positioning device 6 on a map image displayed on the display screen. The route Ws of the reference trajectory can be easily set by the operation of drawing on the map image.

[0043] Furthermore, the reference trajectory Rs may be determined by determining the position at a reference time interval with a constant moving speed between adjacent specific points. The specific points may be determined at a set frequency according to the distance that can be traveled at a roughly constant speed depending on the running ability of the person in charge. In other words, even if all comparison reference points and passage times are not explicitly measured and specified, the passage times of the comparison reference points can be easily determined with sufficient accuracy.

[0044] Furthermore, the decimal point of each time in the reference time interval may be zero. Unlike the passing time of a specific point specified by user operation, the time of the comparison reference point and the positioning result obtained by the positioning module 8 to be evaluated must match. Therefore, by setting the comparison reference point at the exact second, independently of the passing time of a specific point, the positioning module 8 can be easily and accurately evaluated.

[0045] The information processing device 1, which is a trajectory generating device of this embodiment, also includes a CPU 11. The CPU 11 sets a route Ws of movement of the positioning device 6, which receives radio waves transmitted from positioning satellites to measure its position, including multiple specific points Cr for which the positioning device 6 is requested to record measurement results. The CPU 11 associates the measurement results recorded by the positioning device 6 with the specific points Cr based on the measurement results. The CPU 11 sets the positions and times of comparison reference points Ps at reference time intervals on the route Ws based on the original position information of the specific points Cr and the time information at which the associated measurement results were requested to be recorded, thereby generating a reference trajectory Rs. In this way, the information processing device 1 allows a single person to easily record radio signals on the route Ws and associate the measurement results with the specific points Cr on the route Ws of movement of the positioning device 6, which requested the measurement device 6 to record the measurement results at the specific points Cr. The information processing device 1 can then easily obtain the reference trajectory Rs based on the time of passing through the specific points Cr, i.e., the time at which the measurement results were requested to be recorded. Therefore, data that serves as a reference for evaluation of the positioning module 8 can be easily obtained using the information processing device 1.

[0046] Furthermore, by installing and executing the program 131 including the base trajectory generation process according to the trajectory generation method of this embodiment in a computer, the base trajectory can be easily generated using the computer.

[0047] The present invention is not limited to the above-described embodiment, and various modifications are possible. For example, the position measurement (positioning) of the specific point may not be performed. The specific point corresponding to the passage time may be directly set by a user operation, etc.

[0048] Furthermore, the setting of the route Ws and the movement of the specific point do not have to be performed by GUI (Graphical User Interface) operations. For example, the user may create a list of latitude and longitude in advance and have the CPU 11 read it, thereby setting the route Ws and moving the specific point. Alternatively, the positioning point does not necessarily have to be moved to the specific point on the display. It is sufficient that the positioning point is associated with the specific point on the route Ws. For example, the positioning point can be associated by selecting the positioning point and then setting the position of the specific point on the route Ws. In this case, the associated positioning point may be displayed with a mark of the same color or shape as the positioning point, without being moved.

[0049] Alternatively, the route Ws may not be generated from scratch, but may be obtained by correcting the results of intermittent positioning along the route Ws. In this case, for example, the measured points may be thinned out as appropriate in straight sections, and points may be added as appropriate in curved sections.

[0050] In the above description, the moving speed is the same for each path, but this is not limiting. For example, if the average speed differs between adjacent paths, the speed may be determined to change at a constant acceleration.

[0051] In the above description, comparison reference points are set at 1-second intervals at the timing of every second on the hour, but this is not limited to this. The comparison reference points may be set at intervals greater than 1 second, for example, 2 seconds. Alternatively, the comparison reference points may be set at 0.5-second intervals, including times when the decimal point of a second is 0.50. Not all comparison reference points need to be compared with the results of the positioning module 8. In other words, the positioning results output by the positioning module 8 may be set at intervals greater than the reference time interval of the comparison reference points. Therefore, the comparison reference points may be set according to the shortest time interval at which the positioning module 8 to be evaluated can output positioning results.

[0052] In the above description, the information processing device 1 generates the base trajectory and evaluates the positioning module 8, but this is not limited to this. Each process may be executed by a different information processing device. Furthermore, a part of each process may be divided and executed by another information processing device. Furthermore, in generating the base trajectory, the display of the route Ws and specific points, and the reception of setting operations may be performed by a display unit or an operation reception unit of another different information processing device under the control of the information processing device 1.

[0053] In the above description, the storage unit 13 is exemplified by a nonvolatile memory such as an HDD or flash memory as a computer-readable medium for storing the program 131 related to the control of the generation of a reference trajectory of the present invention, but is not limited to these. Other computer-readable media that can be used include other nonvolatile memories such as MRAM and portable recording media such as CD-ROMs and DVD discs. Furthermore, a carrier wave can also be used as a medium for providing data of the program according to the present invention via a communication line.

[0054] In addition, the specific configurations, contents and procedures of the processing operations, etc. shown in the above embodiments can be modified as appropriate without departing from the spirit of the present invention. The scope of the present invention includes the scope of the invention described in the claims and its equivalents. [Explanation of symbols]

[0055] 6 Positioning device, Cr Specific point, Ps Comparison reference point, Rs Reference trajectory, Ws Route

Claims

1. A positioning device receives radio waves transmitted from a positioning satellite to measure its position, and sets a movement route of the positioning device including a plurality of specific points for which recording of measurement results is requested; Associating the measurement results recorded by the positioning device with the specific points; generating a reference trajectory by setting positions and times of reference points on the movement path at reference time intervals based on the position information of the specific points and time information at which recording of the associated measurement results was requested; Trajectory generation method.

2. a map image is displayed on a display screen in such a manner that the positioning points indicating the positions of the measurement results are superimposed on the map image; moving the positioning point to the specific point on the map image and associating the measurement result with the specific point; The trajectory generation method according to claim 1 .

3. the request to record the measurement results is received by a certain input operation to the positioning device; The trajectory generation method according to claim 1 .

4. setting the travel route by accepting an input operation for drawing the travel route on a map image displayed on a display screen; The trajectory generation method according to claim 1 .

5. The trajectory generating method according to claim 1 , wherein the position of the reference point is determined by setting a constant moving speed between adjacent specific points.

6. The trajectory generation method according to claim 1 , wherein the number of decimal points of each time of the reference point is zero.

7. A positioning device receives radio waves transmitted from a positioning satellite to measure its position, and sets a movement route of the positioning device including a plurality of specific points for which recording of measurement results is requested; Associating the measurement results recorded by the positioning device with the specific points; generating a reference trajectory by setting positions and times of reference points on the movement path at reference time intervals based on the position information of the specific points and time information at which recording of the associated measurement results was requested; A trajectory generating device including a control unit.

8. Computer, a route setting means for setting a travel route of the positioning device, which receives radio waves transmitted from positioning satellites to measure its position, including a plurality of specific points for which recording of measurement results is requested by the positioning device; a correspondence setting means for associating the measurement results recorded by the positioning device with the specific points; a generating means for generating a reference trajectory by setting positions and times of reference points at reference time intervals on the movement path based on position information of the specific points and time information at which recording of the associated measurement results is requested; A program that functions as a

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