Walking / non-walking positioning point section extraction device

Abstract

To obtain a walking positioning point section and a non-walking positioning point section at a high accuracy rate for each mobile body.SOLUTION: A walking / non-walking positioning point section extraction device includes: movement speed probability density function generation means for generating a movement speed probability density function being the probability density function of a movement speed calculated in each one of normal positioning point sections from movement speed-added normal positioning point section strings of the mobile bodies for each mobile body; starting point movement speed calculation means for calculating a starting point movement speed being the smallest movement speed among the movement speeds where the value of a generation probability is greater than zero in the movement speed probability density functions of the mobile bodies for each mobile body; first maximum value movement speed calculation means for calculating the first maximum value movement speed being the smallest movement speed among the movement speeds where the value of the generation probability is the maximum value in the movement speed probability density functions of the mobile bodies for each mobile body; and walking movement speed threshold determination means for determining a value obtained by subtracting the starting point movement speed from the speed twice greater than the first maximum value movement speed as a walking movement speed threshold of the mobile bodies for each mobile body.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present invention relates to a walking / non-walking positioning point section extraction device that extracts positioning point sections where the means of transportation is walking and positioning point sections where the means of transportation is non-walking from a positioning point sequence, which is a series of positioning points composed of position information and measurement times of moving bodies. [Background technology]

[0002] <Positioning point sequence> In recent years, by using the built-in GPS (Global Positioning System) in smartphones and Wi-Fi access points, it has become possible to measure the current location of moving objects such as people, animals, and luggage, and convert that location into appropriate coordinate values. Devices with this function are called positioning devices.

[0003] The data that associates the coordinate values ​​of a moving object obtained by a positioning device with the time at which they were measured is called a spatial point. For example, if the two-dimensional coordinate values ​​of a moving object measured at time t are (x, y), then (x, y, t) is a spatial point. A series of spatial points of a specific moving object is called a trajectory (see, for example, Non-Patent Document 1 and Non-Patent Document 2).

[0004] In the following, the coordinate values ​​of the positioning points are expressed in two dimensions (x, y), but the present invention can also be easily applied to one or three dimensions.

[0005] <Extraction of walking and non-walking positioning point sections> Up until now, attempts have been made to discover useful knowledge inherent in a sequence of positioning points (for an overview, see Non-Patent Document 1 and Non-Patent Document 2). For example, prediction of the movement area of ​​a mobile object (for example, see Patent Document 1) and estimation of the means of transportation of a mobile object (see Patent Document 2 and Non-Patent Document 3) can be mentioned.

[0006] In particular, since walking exercise is effective for maintaining and promoting health, several methods for extracting positioning point sections where the means of transportation is walking (i.e., walking positioning point sections) have been studied (see, for example, Non-Patent Document 4). Therefore, this invention focuses on a method for extracting walking positioning point sections and non-walking positioning point sections from a sequence of positioning points.

[0007] 28 shows a sequence of positioning points of a moving body. In FIG. 28, each of the sequence of positioning points {positioning point 111p 1,1 , Positioning point 112p 1,2 , Positioning point 113p 1,3 , Positioning point 114p 1,4 , Positioning point 115p 1,5 , Positioning point 116p 1,6} and {Positioning point 121p 2,1 , Positioning point 122p 2,2 , Positioning point 123p 2,3 , Positioning point 124p 2,4 , Positioning point 125p 2,5 , Positioning point 126p 2,6} indicates the positioning point section of walking movement 1 where the means of travel is "walking" (i.e., walking positioning point section) and the positioning point section of non-walking movement 2 where the means of travel is "non-walking" (i.e., non-walking positioning point section). For example, the walking positioning point section of the moving body 11 is (p 1,2 ,p 1,3 ), (p 1,5 ,p 1,6 ), and the non-walking positioning point section is (p 1,3 ,p 1,4 ), (p 1,4 ,p 1,5 )

[0008] Note that Figure 28 also shows an anomalous positioning point section 10201. A major example of an anomalous positioning point section is a positioning point section where the trajectory of a moving object is not reflected correctly because the moving object's power has been turned off for a long period of time, i.e., where no positioning points have been observed for a long period of time. In order to accurately extract walking / non-walking positioning point sections, it is necessary to delete such unreliable anomalous positioning point sections from the positioning point section sequence.

[0009] <Precedent Case> Up until now, methods have been proposed that use the speed of a moving object in each positioning point section (called the moving speed) to extract walking positioning point sections and non-walking positioning point sections (for example, Patent Document 2, Non-Patent Document 3, Non-Patent Document 4).

[0010] 29 shows an example of the configuration of a device that extracts walking and non-walking positioning point sections. Walking and non-walking positioning point section extraction device 1 uses the positioning point sequences of moving body 11 and moving body 12 to determine the walking positioning point section sequence and non-walking positioning point section sequence of each moving body, and provides them to operator 2. Positioning devices 131 and 132 are attached to moving body 11 and moving body 12, respectively. The positioning points of moving body 11 and moving body 12 obtained through positioning devices 131 and 132 are collected at base station 51 on communication network 50 and sent to walking and non-walking positioning point section extraction device 1.

[0011] The walking and non-walking positioning point section extraction device 1 includes a positioning point sequence creation unit 21 that creates a positioning point sequence from the acquired positioning points, a positioning point section sequence creation unit 22 that creates a positioning point section sequence that is a series of positioning point sections, each of which is a set of consecutive positioning points, from the created positioning point sequence, a normal positioning point section sequence creation unit 23 that creates positioning point sections (referred to as normal positioning point sections) by deleting abnormal positioning point sections from the created positioning point section sequence, a moving speed-attached normal positioning point section sequence creation unit 24 that creates positioning point sections (referred to as moving speed-attached normal positioning point sections) by assigning a moving speed to each created normal positioning point section, and a walking / non-walking positioning point section extraction unit 25 that extracts walking positioning point sections and non-walking positioning point sections from the created moving speed-attached normal positioning point section sequence.

[0012] Furthermore, the walking / non-walking positioning point section extraction device 1 has a positioning point sequence table 31 in which a positioning point sequence is stored, a positioning point section sequence table 32 in which a positioning point section sequence is stored, a normal positioning point section sequence table 33 in which a normal positioning point section sequence is stored, a normal positioning point section sequence table with moving speed 34 in which a normal positioning point section sequence with moving speed is stored, a walking positioning point section sequence table 35 in which a walking positioning point section sequence is stored, and a non-walking positioning point section sequence table 36 in which a non-walking positioning point section sequence is stored.

[0013] In addition, the walking / non-walking positioning point section extraction device 1 has an abnormal positioning time interval threshold register 41 that includes a threshold (called an abnormal positioning time interval threshold) used to delete an abnormal positioning point section from the positioning point section sequence, and a walking movement speed threshold register 42 that includes a threshold (called a walking movement speed threshold) used to extract a walking positioning point section.

[0014] In Patent Document 2, a candidate for the abnormal positioning time interval threshold is 20 minutes, and a candidate for the walking speed threshold is 1.8 m / sec.

[0015] Next, each processing unit will be described.

[0016] <Positioning point sequence creation unit 21> The positioning point sequence creation unit 21 updates the positioning point sequence table 31 using the positioning points obtained through the positioning device 131 and the positioning device 132 .

[0017] [Configuration example of positioning point sequence table 31] An example of the configuration of the positioning point sequence table 31 is shown in Fig. 30. The positioning point sequence table 31 is composed of n records (moving body identifier 201, positioning point sequence 202), the number of which is n. The value of the positioning point sequence 202 in the record where the value of the moving body identifier 201 is u, that is, the positioning point sequence 203P u is composed of the positioning points of (multiple) moving bodies u. The i-th positioning point 204p of moving body u u,i is the set (x u,i ,y u,i ,t u,i ) is given as (x u,i ,y u,i ) is the time t u,i are two-dimensional coordinate values ​​measured at

[0018] [Processing of the positioning point sequence creation unit 21] When the positioning point sequence creation unit 21 receives the positioning points via the communication network 50, it performs the following process.

[0019] 1. The identifier of the moving object at the received positioning point is calculated and the value is set as u. 2. The positioning point sequence table 31 is searched for a record in which the value of the moving body identifier 201 is u. 3. The value of the positioning point sequence 202 in the record, i.e., the positioning point sequence 203P u Add the received position points to the

[0020] <Positioning point section sequence creation unit 22> The positioning point section sequence creation unit 22 uses the positioning point sequence table 31 to update the positioning point section sequence table 32 .

[0021] The positioning point section sequence table 32 is updated when an update instruction is received from the operator 2 or when the update of the positioning point sequence table 31 is completed, for example.

[0022] [Configuration example of positioning point interval table 32] An example of the configuration of the positioning point section sequence table 32 is shown in Fig. 31. The positioning point section sequence table 32 is composed of n records (moving body identifier 211, positioning point section sequence 212), the number of which is n. The value of the positioning point section sequence 212 in the record where the value of the moving body identifier 211 is u, i.e., the positioning point section sequence 213R u is composed of the positioning point sections of (multiple) mobile units u. The i-th positioning point section r of mobile unit u u,i 214 is a group (p u,i ,p u,i+1 ), that is, {(x u,i ,y u,i ,t u,i ),(x u,i+1 ,y u,i+1 ,t u,i+1 )}.

[0023] [Processing of the positioning point section sequence creation unit 22] The positioning point section sequence creation unit 22 performs the following process for all records in the positioning point sequence table 31.

[0024] 1. In the positioning point sequence table 31, the value u of the moving object identifier 201 of the target record and the value of the positioning point sequence 202, that is, the positioning point sequence 203Pu Get. 2. Acquired positioning point sequence 203P u All elements in "mobile unit u's i-th positioning point p u,i 204", the following process is performed.

[0025] (a) Positioning point sequence 203P u In this case, the i-th positioning point p of the moving object u is u,i Get. (b) Positioning point sequence 203P u In this case, the (i+1)th positioning point p u,i+1 However, the i+1th positioning point p u,i+1 If it does not exist, the following processes (c) and (d) are skipped. (c) Obtained p u,i and p u,i+1 Using the set (p u,i ,p u,i+1 ) is created, and the set is divided into the i-th positioning point section r u,i Let's say. (d)r u,i The positioning point section column 213R of the record in which the value of the moving body identifier 211 in the positioning point section column table 32 is u u Save to.

[0026] <Normal positioning point section sequence creation unit 23> The normal positioning point section sequence creation unit 23 updates a normal positioning point section sequence table 33 that stores a normal positioning point section sequence, which is a sequence of normal positioning point sections, using the positioning point section sequence table 32. Here, a normal positioning point section refers to a positioning point section in which the positioning time interval, which is the time from the measurement time of the starting positioning point to the measurement time of the ending positioning point, is less than the abnormal positioning time interval threshold.

[0027] The normal positioning point section sequence table 33 is updated when an update instruction is received from the operator 2 or when updating of the positioning point section sequence table 32 is completed, for example.

[0028] [Configuration example of normal positioning point interval table 33] An example of the configuration of the normal positioning point section sequence table 33 is shown in Fig. 32. The normal positioning point section sequence table 33 is made up of n records (moving object identifier 221, normal positioning point section sequence 222), the number of which is n. The value of the normal positioning point section sequence 222 in the record in which the value of the moving object identifier 221 is u, i.e., the normal positioning point section sequence 223S u is composed of the normal positioning point sections of (multiple) mobile units u. The i-th normal positioning point section s of mobile unit u u,i 224 is a normal positioning point section, {(x u,i ,y u,i ,t u,i ),(x u,i+1 ,y u,i+1 ,t u,i+1 )}, while in the case of an abnormal positioning point section, it is given as an abnormal positioning point section.

[0029] [Processing of the normal positioning point section sequence creation unit 23] The normal positioning point section sequence creation unit 23 performs the following process.

[0030] 1. Obtain the abnormal positioning time interval threshold stored in the abnormal positioning time interval threshold register 41 and set the value to t invalid Let's say. 2. The following process is performed for all records in the positioning point section sequence table 32.

[0031] (a) In the positioning point section sequence table 32, the value u of the moving object identifier 211 of the target record and the value of the positioning point section sequence 212, that is, the positioning point section sequence 213R u Get. (b) Obtained positioning point section sequence 213R u All elements of the i-th positioning point section r of the mobile unit u u,i 214, the following processing is performed.

[0032] ir u,i The starting point of the positioning point (x u,i ,y u,i ,t u,i ) to get the ii.r u,i The end point of the positioning point (x u,i+1 ,yu,i+1 ,t u,i+1 ) to get the iii. The acquired t u,i and t u,i+1 Using the i-th positioning interval t u,i+1 -t u,i is calculated, and the following processing is performed according to the value.

[0033] t u,i+1 -t u,i The value of t invalid When less than s u,i (x u,i+1 ,y u,i+1 ,t u,i+1 ) t u,i+1 -t u,i The value of t invalid When the above occurs, s u,i is the abnormal positioning point section.

[0034] iv.s u,i , and the normal positioning point interval sequence 223S of the moving object u in the normal positioning point interval sequence table 33. u Add to.

[0035] <Movement speed-attached normal positioning point section sequence creation unit 24> The moving speed-attached normal positioning point section sequence creation unit 24 uses the normal positioning point section sequence table 33 to update the moving speed-attached normal positioning point section sequence table 34 .

[0036] The movement speed-attached normal measurement point interval sequence table 34 is updated when an update instruction is received from the operator 2 or when the update of the normal measurement point interval sequence table 33 is completed, for example.

[0037] [Configuration example of table 34 of normal positioning point intervals with moving speed] An example of the configuration of the table 34 of normal measurement point intervals with moving speed is shown in Fig. 33. The table 34 of normal measurement point intervals with moving speed is composed of records (moving body identifier 231, normal measurement point intervals with moving speed 232) of which the number of moving bodies is n. The value of the normal measurement point intervals with moving speed in the record where the value of the moving body identifier 231 is u, that is, the normal measurement point intervals with moving speed 233Svu is composed of the normal positioning point section with the moving speed of (multiple) moving bodies u. The i-th normal positioning point section with the moving speed of moving body u 234sv u,i is (p u,i ,p u,i+1 ,v u,i ), that is, ((x u,i ,y u,i ,t u,i ),(x u,i+1 ,y u,i+1 ,t u,i+1 ),v u,i ) where v u,i is the speed of the moving object in the relevant positioning point section,

[0038] JPEG2025176957000002.jpg27119 (1)

[0039] is defined as:

[0040] [Processing of the moving speed and normal positioning point section sequence creation unit 24] The moving speed-attached normal positioning point section sequence creation unit 24 performs the following process for all records in the normal positioning point section sequence table 33.

[0041] 1. In the normal positioning point section column table 33, the value u of the moving object identifier 221 of the target record and the value of the normal positioning point section column 222, that is, the normal positioning point section column 223S u Get. 2. Acquired normal positioning point section sequence 223S u All elements in the normal positioning point section 224s of the mobile unit u u,i ", the following processing is performed.

[0042] (a) Normal positioning point section sequence 223S u In the i-th normal positioning point section 224s of the moving object u, u,i Get. The obtained s u,i If the value of is "abnormal positioning point section", the i-th moving speed normal positioning point section sv u,i is set to Null. On the other hand, s u,i If the value is not "Abnormal positioning point section", the following process is performed. is u,i From x u,i ,y u,i ,t u,i ,x u,i+1 ,y u,i+1 ,t u,i+1 Get the value of . ii. Obtained x u,i ,y u,i ,t u,i ,x u,i+1 ,y u,i+1 ,t u,i+1 Using the value of and equation (1), the velocity of the moving object v u,i Ask for. iii. Required v u,i Using the tuple {(x u,i ,y u,i ,t u,i ),(x u,i+1 ,y u,i+1 ,t u,i+1 ),v u,i}, and the set is used as the i-th normal positioning point section sv u,i Let's say.

[0043] (b)sv u,i The value of the normal positioning point section with moving speed column 233Sv of the record in which the value of the moving body identifier 231 in the normal positioning point section with moving speed column table 34 is u. u Save to.

[0044] <Walking / non-walking positioning point section extraction unit 25> The walking / non-walking positioning point section extraction unit 25 updates the walking positioning point section sequence table 35 and the non-walking positioning point section sequence table 36 using the normal positioning point section sequence table 34 with moving speed.

[0045] The walking positioning point section sequence table 35 and the non-walking positioning point section sequence table 36 are updated when an update instruction is received from the operator 2 or when the update of the normal positioning point section sequence table with moving speed 34 is completed, etc.

[0046] [Example of configuration of walking positioning point interval sequence table 35] An example of the structure of the walking position measurement point section sequence table 35 is shown in Fig. 34. The walking position measurement point section sequence table 35 is composed of n records (moving body identifier 241, walking position measurement point section sequence 242), the number of which is n. The value of the walking position measurement point section sequence in the record where the value of the moving body identifier 241 is u, i.e., the walking position measurement point section sequence 243W u is the walking positioning point section 244 of the moving object u (for example, w in FIG. 34). u,i )

[0047] [Configuration example of non-walking positioning point interval sequence table 36] An example of the configuration of the non-walking positioning point section sequence table 36 is shown in Fig. 35. The non-walking positioning point section sequence table 36 is composed of records (mobile body identifier 251, non-walking positioning point section sequence 252) of which the number of moving bodies is n. The value of the non-walking positioning point section sequence in the record where the value of the mobile body identifier 251 is u, i.e., the non-walking positioning point section sequence 253NW u is the non-walking positioning point section 254 of the moving object u (for example, nw u,1 )

[0048] [Processing of walking / non-walking positioning point section extraction unit 25] The walking / non-walking positioning point section extraction unit 25 performs the following process.

[0049] 1. Obtain the walking speed threshold stored in the walking speed threshold register 42 and set the value to v walk Let's say. 2. The following process is performed for all records in the table 34 of normal measurement point intervals with travel speed.

[0050] (a) In the table 34 of the normal positioning point intervals with moving speed, the value u of the moving object identifier 231 of the target record and the value of the normal positioning point intervals with moving speed column 232, that is, the normal positioning point intervals with moving speed column 233Sv u Get. (b) Obtained normal positioning point section sequence with moving speed 233Sv u All elements in the normal positioning point section 234sv with the moving speed of the moving object u u,i ", the following processing is performed.

[0051] sv u,i If the value is Null, skip the following processing. sv u,i V in u,i The value of v walk In the following cases, sv u,i The value of the walking positioning point section sequence 243W of the moving body u of the record in which the value of the moving body identifier 241 in the walking positioning point section sequence table 35 is u. u On the other hand, sv u,i V in u,i The value of v walk If greater than sv u,i The value of the non-walking positioning point section sequence 253NW of the moving body u of the record in which the value of the moving body identifier 251 in the non-walking positioning point section sequence table 36 is u. u Save to. [Prior art documents] [Patent documents]

[0052] [Patent Document 1] Patent No. 6877677 [Patent Document 2] US20090216704A1 [Non-patent literature]

[0053] [Non-Patent Document 1] Y, Zheng, “Trajectory Data Mining: An Overview”, ACM Transaction on Intelligent Systems and Technology, Vol.6, No.3, pp.29-41, 2015. [Non-patent document 2] JD Mazimpaka, S. Timpf, “Trajectory data mining: A review of methods and applications”, Journal of Spatial Information Science, no. 13, pp.61-99, 2016. [Non-licensed document 3] Y. Zheng, L. Liu, L. Wang, and X. Xie, “Learning transportation mode from raw GPS data for geographic applications on the Web”, In Proceedings of the 17th international conference on World Wide Web (WWW '08), pp.247-256, 2008.

Non-licensed Document 4

Non-licensed Document 5

Non-licensed Document 6

Non-licensed Document 7

Non-Patent Document 8

Summary of the Invention

Problems to be Solved by the Invention

[0054] In the conventional method, the following problems exist.

[0055] <Problem P1> The above-described walking movement speed threshold value is the same regardless of the moving body. On the other hand, the distribution of the moving speed of the moving body varies for each moving body. For example, when the moving body is a pedestrian, it is known that the age, gender, type of shoes, region, etc. of the pedestrian affect the walking movement speed (see Non-Patent Document 5). Therefore, in order to improve the accuracy rate of the estimated walking measurement point interval for each moving body, it is necessary to set a walking movement speed threshold value suitable for each moving body.

[0056] <Problem P2> In the conventional method, when the positioning time interval of the measurement point interval is greater than or equal to the abnormal positioning time interval threshold value, the measurement point interval is regarded as abnormal, and the measurement point interval is deleted from the measurement point interval sequence to be the extraction target of the walking / non-walking measurement point interval (see the processing of the normal measurement point interval sequence creation unit 23). In reality, in addition to the measurement point intervals regarded as abnormal according to this definition, there are measurement point intervals regarded as abnormal according to the following definition.

[0057] A1: A measurement point interval with an extremely small positioning time interval The moving speed of the measurement point interval is given as the moving distance / positioning time interval (see Equation (1)). Since the measured coordinate values usually include errors, the moving distance obtained from the two coordinate values also includes errors. Therefore, when the positioning time interval is extremely small, the error of the moving speed of the measurement point interval becomes large.

[0058] A2: A measurement point interval with a sufficiently small moving speed In a positioning point section where the moving speed is sufficiently small, it can be assumed that the moving object in the positioning point section is staying (that is, not moving).

[0059] Therefore, in order to improve the accuracy rate of the estimated walking positioning point sections, it is necessary to exclude the above positioning point sections A1 and A2 in advance.

[0060] The present invention has been made to solve the above problems P1 and P2, and aims to provide a walking / non-walking positioning point section extraction device that can determine walking positioning point sections and non-walking positioning point sections for each moving object with a high accuracy rate. [Means for solving the problem]

[0061] In order to solve the above problem P1, the walking and non-walking positioning point section extraction device according to the present invention includes a positioning point sequence creation means that collects positioning points, which are pairs of position information of a moving body and measurement times measured for each moving body, and creates a positioning point sequence, which is a sequence of positioning points of each moving body; a positioning point section sequence creation means that creates, for each moving body, a positioning point section sequence, which is a sequence of positioning point sections, which are pairs of consecutive positioning points, from the positioning point sequence of the moving body; and a normal positioning point sequence creation means that creates, for each moving body, a normal positioning point section sequence, which is a sequence of normal positioning point sections, which are normal positioning point sections, from the positioning point section sequence of the moving body. a normal positioning point section sequence creating means for creating a normal positioning point section sequence with moving speed, which is a sequence of normal positioning point sections with moving speeds added to the normal positioning point sections, with the normal positioning point section sequence with moving speeds added, and a walking positioning point section extracting a walking positioning point section sequence, which is a sequence of normal positioning point sections with moving speeds added, with the moving speeds added to the normal positioning point sections with moving speeds equal to or less than a predetermined walking moving speed threshold value, from the normal positioning point section sequence with moving speeds of the normal positioning point section sequence of the mobile body; In an apparatus having a positioning point section sequence extraction means, and a means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a non-walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is a value greater than the walking moving speed threshold, the apparatus further comprising: a moving speed probability density function creation means for creating, for each moving body, a moving speed probability density function which is a probability density function of the moving speed calculated in each normal positioning point section from the moving speed-attached normal positioning point section sequence of the moving body; The system is characterized by comprising an origin movement speed calculation means for calculating an origin movement speed, which is the smallest movement speed among movement speeds whose occurrence probability takes a value greater than 0 in the probability density function; a first maximum movement speed calculation means for calculating, for each moving body, a first maximum movement speed, which is the smallest movement speed among movement speeds whose occurrence probability takes a maximum value in the movement speed probability density function of the moving body; and a walking movement speed threshold determination means for determining, for each moving body, a value obtained by subtracting the origin movement speed from twice the first maximum movement speed as a walking movement speed threshold for the moving body.

[0062] The walking / non-walking positioning point section extraction device according to the present invention includes a positioning point sequence creation means for collecting positioning points, which are pairs of position information of a moving body and measurement time measured for each moving body, and creating a positioning point sequence, which is a sequence of positioning points of each moving body; a positioning point section sequence creation means for creating, for each moving body, a positioning point section sequence, which is a sequence of positioning point sections, which are pairs of consecutive positioning points, from the positioning point sequence of the moving body; and a normal positioning point section creation means for creating, for each moving body, a normal positioning point section, which is a sequence of normal positioning point sections, from the positioning point sequence of the moving body. a normal positioning point section sequence creating means for creating a normal positioning point section sequence; a normal positioning point section sequence with moving speed creating means for calculating, for each moving body, a moving speed in each normal positioning point section from the normal positioning point section sequence of the moving body, and creating a normal positioning point section sequence with moving speed, which is a series of normal positioning point sections with moving speeds added to the normal positioning point sections, with the calculated moving speeds added to the normal positioning point sections; and a normal positioning point section sequence with moving speed creating means for calculating, for each moving body, the moving speeds added to each normal positioning point section with moving speeds from the normal positioning point section sequence with moving speeds of the moving body. a walking positioning point section sequence extraction means for extracting a walking positioning point section sequence, which is a sequence of normal positioning point sections with moving speeds that are equal to or less than a walking movement speed threshold; and a non-walking positioning point section sequence extraction means for extracting, for each moving body, from the normal positioning point section sequence with moving speed of the moving body, a non-walking positioning point section sequence, which is a sequence of normal positioning point sections with moving speeds that are greater than the walking movement speed threshold, the device is characterized by having: a moving speed probability density function creation means for creating, for each moving body, a moving speed probability density function that is a probability density function of the moving speeds calculated in each normal positioning point section from the normal positioning point section sequence with moving speed of the moving body; a sudden drop moving speed calculation means for calculating, for each moving body, a sudden drop moving speed that is the smallest moving speed among moving speeds at which the occurrence probability suddenly drops in the moving speed probability density function of the moving body; and a walking movement speed threshold determination means for determining, for each moving body, the sudden drop moving speed as the walking movement speed threshold of the moving body.

[0063] The walking and non-walking positioning point section extraction device according to the present invention includes a first minimum value moving speed calculation means for calculating, for each moving body u, a first minimum value moving speed, which is the smallest moving speed among moving speeds whose occurrence probability takes a minimum value in a moving speed probability density function of the moving body u; a maximum value calculation means for calculating, for each moving body u, a first maximum value, which is the occurrence probability corresponding to a first maximum value moving speed in the moving speed probability density function of the moving body u; and a normalization error E u,normalize a normalized error calculation means for calculating a normalized error E u,normalize is equal to or less than a given value, the walking speed threshold value may further include a selection means for selecting a flat distribution as an approximate distribution of the moving speed probability density function used when determining the walking moving speed threshold value.

[0064] JPEG2025176957000003.jpg1985 (2) JPEG2025176957000004.jpg1978 (3)

[0065] However, f u (v), v u,init、 v u,max、 f u,max are the moving speed probability density function of the moving object u, the starting moving speed in the moving speed probability density function, the first maximum moving speed in the moving speed probability density function, and the first maximum value in the moving speed probability density function, respectively.

[0066] Furthermore, the walking and non-walking positioning point section extraction device according to the present invention is configured to extract, for each moving body u, a first minimum value moving speed v of the moving speed probability density function of the moving body u. u,min a first minimum value moving speed calculation means for calculating a first peak moving speed probability density function _f of the moving object u according to the following equation (4): u (v) A means for calculating a probability density function of first-peak movement velocity (in this document, underscores in the symbols in the formulas are represented by "_"), and a means for calculating the kurtosis K of the probability density function of first-peak movement velocity according to the following formulas (5), (6), and (7). uand a kurtosis calculation means for calculating the kurtosis K u is equal to or less than a value in the range [1.8, 3), the method may further comprise means for selecting a flat distribution as an approximate distribution of the movement speed probability density function used when determining the walking movement speed threshold.

[0067] JPEG2025176957000005.jpg3297 (4) JPEG2025176957000006.jpg3092 (5) JPEG2025176957000007.jpg2374 (6) JPEG2025176957000008.jpg2591 (7)

[0068] The walking / non-walking positioning point section extraction device according to the present invention includes a positioning point sequence creation means for collecting positioning points, which are pairs of position information of a moving body and measurement time measured for each moving body, and creating a positioning point sequence, which is a sequence of positioning points of each moving body; a positioning point section sequence creation means for creating, for each moving body, a positioning point section sequence, which is a sequence of positioning point sections, which are pairs of consecutive positioning points, from the positioning point sequence of the moving body; a normal positioning point section sequence creation means for creating, for each moving body, a normal positioning point section sequence, which is a sequence of normal positioning point sections, which are normal positioning point sections, from the positioning point section sequence of the moving body; a movement speed-attached normal positioning point section sequence creation means for calculating a movement speed in each normal positioning point section from the movement speed-attached normal positioning point section sequence of the moving body, and creating a movement speed-attached normal positioning point section sequence that is a sequence of movement speed-attached normal positioning point sections to which the calculated movement speed is assigned for the normal positioning point section; a walking positioning point section sequence extraction means for extracting, for each moving body, a walking positioning point section sequence that is a sequence of movement speed-attached normal positioning point sections in which the movement speed assigned to each movement speed-attached normal positioning point section is equal to or less than a predetermined walking movement speed threshold value from the movement speed-attached normal positioning point section sequence of the moving body; a non-walking positioning point section sequence extraction means for extracting, from the moving speed-attached normal positioning point section sequence of the moving body, a non-walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is a value greater than the walking moving speed threshold value, the device further comprising: a moving speed cumulative distribution function creation means for creating, for each moving body, a moving speed cumulative distribution function which is a cumulative distribution function of the moving speed calculated in each normal positioning point section from the moving speed-attached normal positioning point section sequence of the moving body; The system is characterized by comprising: cumulative distribution starting point moving speed calculation means for calculating a cumulative distribution starting point moving speed, which is the smallest moving speed among moving speeds that take a value greater than 0; cumulative distribution first inflection point moving speed calculation means for calculating, for each moving body, a cumulative distribution first inflection point moving speed, which is the smallest moving speed among moving speeds that take an inflection point in the moving speed cumulative distribution function of the moving body; and walking moving speed threshold calculation means for determining, for each moving body, a value obtained by subtracting the cumulative distribution starting point moving speed from twice the cumulative distribution first inflection point moving speed as a walking moving speed threshold of the moving body.

[0069] The walking / non-walking positioning point section extraction device according to the present invention includes a positioning point sequence creation means for collecting positioning points, which are pairs of position information of a moving body and measurement time measured for each moving body, and creating a positioning point sequence, which is a sequence of positioning points of each moving body; a positioning point section sequence creation means for creating, for each moving body, a positioning point section sequence, which is a sequence of positioning point sections, which are pairs of consecutive positioning points, from the positioning point sequence of the moving body; a normal positioning point section sequence creation means for creating, for each moving body, a normal positioning point section sequence, which is a sequence of normal positioning point sections, which are normal positioning point sections, from the positioning point section sequence of the moving body; a moving speed-attached normal positioning point section sequence creation means for calculating a moving speed in each normal positioning point section from the moving body's moving speed-attached normal positioning point section sequence, and creating a moving speed-attached normal positioning point section sequence that is a sequence of moving speed-attached normal positioning point sections to which the calculated moving speed is assigned for each normal positioning point section; a walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a walking positioning point section sequence that is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is equal to or less than a predetermined walking moving speed threshold; a non-walking positioning point section sequence extraction means for extracting a non-walking positioning point section sequence which is a sequence of normal positioning point sections with moving speeds in which the moving speeds assigned to each normal positioning point section with moving speeds are greater than the walking movement speed threshold value from the normal positioning point section sequence with moving speeds of the moving body, a moving speed cumulative distribution function creation means for creating, for each moving body, a moving speed cumulative distribution function which is a cumulative distribution function of the moving speeds calculated in each normal positioning point section from the normal positioning point section sequence with moving speeds of the moving body, an inflection point section sequence calculation means for calculating an inflection point section sequence which is a sequence of inflection point sections separated by inflection points; a slope calculation means for calculating, for each moving body, the slope of each inflection point section in the inflection point section sequence of the moving body; an inflection point section slope sudden drop movement speed calculation means for calculating, for each moving body, an inflection point section slope sudden drop movement speed which is the movement speed corresponding to the start of an inflection point section with the smallest movement speed among inflection point sections whose slope is lower than the immediately preceding inflection point section in the slope sequence of the inflection point sections of the moving body;The method is characterized by comprising a walking speed threshold determination means for determining the walking speed threshold of the moving body.

[0070] Furthermore, the walking / non-walking positioning point section extraction device according to the present invention further includes means for obtaining, from the moving speed cumulative distribution function of the moving body, a point O which is a combination of a starting moving speed and a probability value of 0, a point V which is a combination of a moving speed v and the value of the moving speed cumulative distribution function when the moving speed is v, and a point R which is a combination of a moving speed r of a sufficiently large value and the value of the moving speed cumulative distribution function when the moving speed is r, means for calculating a function h(v) which represents the difference between the slope of a straight line OV between the point O and the point V and the slope of a straight line VR between the point V and the point R, and means for calculating an extremum sequence from the curve of the function h(v), and for each moving body, an inflection point sequence which is a series of the inflection points can be calculated using the extremum sequence.

[0071] In addition, in order to solve the above problem P2, the walking / non-walking positioning point section extraction device of the present invention can further have an effective positioning time interval threshold setting means for setting an effective positioning time interval threshold, which is a threshold for an effective positioning time interval, and a deletion means for deleting, for each moving body, normal positioning point sections having a positioning time interval smaller than the effective positioning time interval threshold from the normal positioning point section sequence of the moving body.

[0072] In addition, the walking / non-walking positioning point section extraction device according to the present invention may further include a stay determination movement speed threshold setting means for setting a stay determination movement speed threshold, which is a movement speed at which a positioning point section can be considered as a stay, and a deletion means for deleting, for each moving body, normal positioning point sections having a movement speed smaller than the stay determination movement speed threshold from the normal positioning point section sequence of the moving body. [Effects of the Invention]

[0073] As described above, the walking and non-walking positioning point section extraction device of the present invention has the effect of being able to determine walking positioning point sections and non-walking positioning point sections with a high accuracy rate for each moving object. [Brief explanation of the drawings]

[0074] [Figure 1] FIG. 10 is a diagram showing an example of the probability density function of the travel speed of each means of travel when the probability density function of the travel speed of each means of travel is approximated by a bell-shaped distribution. [Figure 2] FIG. 10 is a diagram showing an example of the probability density function of the travel speed of all means of travel in a specific moving body when the probability density function of the travel speed of each means of travel is approximated by a bell-shaped distribution. [Figure 3] FIG. 10 is a diagram showing an example of the probability density function of the travel speed of all means of travel on a moving body u when the speed distribution of each means of travel is approximated by a triangular distribution in the case where the probability density function of the travel speed of each means of travel is approximated by a bell-shaped distribution. [Figure 4] FIG. 10 is a diagram showing an example of the distribution of travel speeds of each means of transportation when the probability density function of travel speed of each means of transportation is approximated by a flat distribution. [Figure 5] FIG. 10 is a diagram showing an example of the probability density function of the travel speed of all means of travel for a specific moving object when the probability density function of the travel speed of each means of travel is approximated by a flat distribution. [Figure 6] FIG. 10 is a diagram showing an example of the probability density function of the travel speed of all means of travel for a moving body u when the travel speed distribution of each means of travel is approximated by a uniform distribution in the case where the probability density function of the travel speed of each means of travel is approximated by a flat distribution. [Figure 7] FIG. 10 is a diagram showing an example of an evaluation error for a method of selecting each distribution when the probability density function of the travel speed of each means of travel for a moving body u is approximated by a bell-shaped distribution or a flat distribution. [Figure 8] FIG. 10 is a diagram showing an example of a histogram of travel speeds of all means of travel for which the mobile unit identifier is u. [Figure 9] FIG. 10 is a diagram showing an example of a cumulative distribution function of travel speeds of all travel means for a specific moving object when the probability density function of travel speeds of each travel means is approximated by a bell-shaped distribution. [Figure 10]FIG. 10 is a diagram showing an example of a cumulative distribution function of travel speeds of all travel means for a specific moving object when the probability density function of travel speeds of each travel means is approximated by a bell-shaped distribution. [Figure 11] FIG. 10 is a diagram illustrating an example of an h function. [Figure 12] 1 is a block diagram of a walking and non-walking positioning point section extraction device according to a first embodiment of the present invention. [Figure 13] 3 is a diagram illustrating an example of the configuration of a bell-shaped distribution approximation walking speed threshold calculation unit according to the first embodiment of the present invention. FIG. [Figure 14] FIG. 10 is a diagram showing an example of a travel speed frequency distribution table for a mobile unit identifier u when the travel speed probability density function of each means of travel is approximated by a bell-shaped distribution. [Figure 15] FIG. 10 is a block diagram of a walking and non-walking positioning point section extraction device according to a second embodiment of the present invention. [Figure 16] FIG. 10 is a diagram illustrating an example of the configuration of a flat distribution approximation walking speed threshold calculation unit according to the second embodiment of the present invention. [Figure 17] FIG. 10 is a diagram showing an example of a travel speed frequency distribution table for a mobile unit identifier u when the travel speed probability density function of each means of travel is approximated by a flat distribution. [Figure 18] FIG. 10 is a block diagram of a walking and non-walking positioning point section extraction device according to a third embodiment of the present invention. [Figure 19] FIG. 10 is a diagram showing an example of the configuration of an approximate distribution selection unit that uses errors obtained by approximating the first peak of the travel speed probability density function of all travel modes with a uniform distribution. [Figure 20] FIG. 10 is a diagram showing an example of a moving speed frequency distribution table for a moving body identifier u. [Figure 21] FIG. 10 is a diagram illustrating an example of the configuration of an approximate distribution selection unit according to a fourth embodiment of the present invention. [Figure 22] FIG. 10 is a block diagram of a walking and non-walking positioning point section extraction device according to a fifth embodiment of the present invention. [Figure 23] FIG. 13 is a diagram illustrating an example of the configuration of a flat distribution approximation walking movement speed threshold calculation unit using a movement speed cumulative relative frequency table according to a fifth embodiment of the present invention. [Figure 24]FIG. 10 is a diagram showing an example of a travel speed cumulative histogram, which is a cumulative histogram of travel speeds of all means of transportation with a moving body identifier of u. [Figure 25] FIG. 10 is a diagram showing an example of a cumulative relative frequency distribution table of travel speeds of all travel modes with a mobile unit identifier of u. [Figure 26] FIG. 10 is a block diagram of a walking and non-walking positioning point section extraction device according to a sixth embodiment of the present invention. [Figure 27] FIG. 10 is a diagram showing an example of the configuration of a table of normal positioning point sections with moving speed after invalid / stay positioning point sections have been deleted; [Figure 28] FIG. 10 is a diagram illustrating an example of a sequence of positioning points of a moving body. [Figure 29] FIG. 1 is a block diagram of a walking / non-walking positioning point section extraction device according to the prior art. [Figure 30] FIG. 10 is a diagram illustrating an example of the configuration of a positioning point sequence table. [Figure 31] FIG. 10 is a diagram illustrating an example of the configuration of a positioning point section sequence table. [Figure 32] FIG. 10 is a diagram illustrating an example of the configuration of a normal positioning point section sequence table. [Figure 33] FIG. 10 is a diagram showing an example of the configuration of a table of normal measurement point intervals with travel speeds. [Figure 34] FIG. 10 is a diagram illustrating an example of the configuration of a walking positioning point section sequence table. [Figure 35] FIG. 10 is a diagram illustrating an example of the configuration of a non-walking positioning point section sequence table. DETAILED DESCRIPTION OF THE INVENTION

[0075] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0076] <Principles of the embodiment of the present invention> <Means to solve problem P1> To solve the above-mentioned problem P1, we focus on the shape of the probability density function of the moving speed of a moving object (i.e., the moving speed probability density function). The moving speed probability density function of each means of transportation obtained from the normal positioning point section sequence is usually classified into the following two types.

[0077] Bell-shaped distribution: A symmetrical distribution with a peak in the probability of occurrence of a specific speed range. Its probability density function can be approximated by the probability density function of a triangular or normal distribution.

[0078] Flat distribution: A distribution in which the probability of occurrence of a specific speed is almost the same within a specific speed range. Its probability density function can be approximated by the probability density function of a uniform distribution.

[0079] The walking / non-walking positioning point section extraction device will be described below in the cases where the travel speed probability density function of each travel mode is approximated by a bell-shaped distribution and in the case where it is approximated by a flat distribution.

[0080] <Approximating the probability density function of travel speed for each mode of travel with a bell-shaped distribution> Figure 1 shows an example of the probability density function of the travel speed of each means of travel for a specific moving body when the probability density function of the travel speed of the means of travel is approximated by a bell-shaped distribution. Figure 1 shows a probability density function of the travel speed when the means of travel is walking 301, a probability density function of the travel speed when the means of travel is bus 302, and a probability density function of the travel speed when the means of travel is train 303.

[0081] The shape of the probability density function of travel speed for each mode of travel has the following characteristics (Figure 1).

[0082] The probability density function of the travel speed of each mode of travel is symmetrical and has a peak. The travel speed at which the occurrence probability peaks when the means of transportation is walking (called the peak travel speed) is smaller than the peak travel speed when the means of transportation is not walking.

[0083] For example, from FIG. 1, it can be seen that the peak travel speed 311 when the means of transportation is walking is smaller than the peak travel speed 312 when the means of transportation is bus and the peak travel speed 313 when the means of transportation is train.

[0084] Figure 2 shows an example of a travel speed probability density function 321 for all travel modes (i.e., not distinguishing between individual travel modes) for a specific mobile body when the travel speed probability density function for travel modes for a specific mobile body is approximated by a bell-shaped distribution. From the shape characteristics of the travel speed probability density function for each travel mode described above, the travel speed probability density function 321 for all travel modes has the following characteristics.

[0085] -Has (multiple) locally maximum values ​​(i.e., local maxima). The travel speed corresponding to the first maximum value is the peak travel speed when the means of travel is walking.

[0086] For example, from FIG. 2, it can be seen that the travel speed probability density function 321 for all travel means has maximum values ​​at peak travel speed 311 when the travel means is walking, peak travel speed 312 when the travel means is bus, and peak travel speed 313 when the travel means is train, and that the travel speed corresponding to the first maximum value that appears is equivalent to peak travel speed 311 when the travel means is walking.

[0087] In the present invention, a means is provided for estimating the walking movement speed threshold from the sequence of positioning points using the shape characteristics of the movement speed probability density function 321 described above.

[0088] FIG. 3 shows an example of the probability density function of the travel speed of all means of travel in a mobile unit u when the probability density function of the travel speed of each means of travel in a specific mobile unit is approximated by a bell-shaped distribution and the probability density function of the travel speed of each means of travel is approximated by a triangular distribution. In this case, in the probability density function 321 of the travel speed of all means of travel,

[0089] The smallest speed among the speeds whose occurrence probability is greater than 0, that is, the speed that first takes a value greater than 0 (i.e., the starting speed) 411(=v u,init ) is approximately equal to the starting point travel speed in the travel speed probability density function 421, which is an approximation of the travel speed probability density function of each travel means by a triangular distribution. The smallest speed among the speeds at which the occurrence probability reaches a maximum value, that is, the speed at which the first maximum value is reached (i.e., the first maximum value speed) 412 (= v u,max ) is approximately equal to the first maximum value travel speed in the travel speed probability density function 421 obtained by approximating the travel speed probability density function of each travel means with a triangular distribution, Assuming that, from Figure 3, the estimated walking speed threshold value v u,walk 413 is

[0090] JPEG2025176957000009.jpg1579 (8)

[0091] It is given as:

[0092] Therefore, the estimated walking speed threshold value v of the moving object u that satisfies Equation (8) is obtained from the positioning point sequence. u,walk To obtain 413, the following means are provided.

[0093] 1. A method for creating a probability density function of the moving speed of a moving object u from a sequence of normal positioning points with speed. 2. In the moving speed probability density function, the starting moving speed v of the moving object u u,init A means of calculating 3. In the moving speed probability density function, the first maximum moving speed v of the moving object u u,max A means of calculating 4.2v u,max -v u,init is calculated, and the value is used as the walking speed threshold v of the moving object u. u,walk means to

[0094] <Approximating the probability density function of travel speed for each mode of travel with a flat distribution> Figure 4 shows an example of the probability density function of the travel speed of each means of travel for a specific moving object when the probability density function of the travel speed of each means of travel is approximated by a flat distribution. Figure 4 shows a probability density function 501 of the travel speed when the means of travel is walking, a probability density function 502 of the travel speed when the means of travel is bus, and a probability density function 503 of the travel speed when the means of travel is train.

[0095] The shape of the probability density function of travel speed for each mode of travel has the following characteristics (Figure 4).

[0096] The probability density function of the speed of each means of transportation has a gentle peak in a specific range. For example, if the means of transportation is walking, the occurrence probability is almost constant between the minimum speed 511 and the maximum speed 512. The speed at which a gentle peak occurs in the probability density function of the speed of each mode of transportation when the mode of transportation is walking is smaller than the speed at which a gentle peak occurs when the mode of transportation is not walking.

[0097] 5 shows an example of a probability density function 541 of all means of transportation for a specific moving body (i.e., not distinguishing between individual means of transportation) when the probability density function of the travel speed of each means of transportation for a specific moving body is approximated by a flat distribution. From the shape characteristics of each probability density function of travel speed described above, the probability density function 541 of all means of transportation has the following characteristics.

[0098] ·Having (multiple) horns. The movement speed corresponding to the corner where the occurrence probability drops sharply is the maximum movement speed when walking.

[0099] For example, from Figure 5, we can see the following: The probability density function 541 of the travel speed of all means of transportation has corners at the minimum travel speed 511 and the maximum travel speed 512 when the means of transportation is walking, the minimum travel speed 521 and the maximum travel speed 522 when the means of transportation is bus, and the minimum travel speed 531 and the maximum travel speed 532 when the means of transportation is train. The movement speed corresponding to the corner where the occurrence probability drops sharply is the maximum movement speed 512 when the means of movement is walking.

[0100] In the present invention, a means is provided for estimating the walking movement speed threshold from the sequence of positioning points using the shape characteristics of the movement speed probability density function 541 of all the above-mentioned means of transportation.

[0101] FIG. 6 shows an example of the probability density function of the travel speed of all the travel means in the moving body u when the probability density function of the travel speed of each travel means is approximated by a flat distribution. In this case, in the probability density function 541 of the travel speed of all the travel means, the smallest travel speed among the travel speeds where the occurrence probability drops sharply, that is, the travel speed 561 (= v u,down ) is approximately equal to the first sudden drop in the moving speed probability density function 551 approximated by a uniform distribution (i.e., the sudden drop in moving speed). From Figure 6, the estimated walking moving speed threshold value v u,walk 413 is v u,walk = v u,down (9) Here, a sudden drop in moving speed is a moving speed at which the rate of change in the occurrence probability is negative and is equal to or less than a threshold value.

[0102] Therefore, the estimated walking speed threshold value v of the moving object u that satisfies Equation (9) from the positioning point sequence is u,walk To obtain 413, the following means are provided. 1. A method for creating a probability density function of the moving speed of a moving object u from a sequence of normal positioning points with speed. 2. In the probability density function of the moving speed, the sudden drop in the moving speed v of the moving object u u,down A means of calculating 3. Rapid fall movement speed v u,down The walking speed threshold v of the moving object u u,walk means to

[0103] <Using a frequency distribution table of travel speed> In the previous discussion, the probability density function of the moving speed, which is a continuous variable (i.e., the moving speed probability density function f u In practice, the probability density function f u In statistical theory, a frequency distribution table is used as an estimated distribution of the probability density function (see Non-Patent Documents 6 and 7). In the embodiment described later, the moving speed probability density function f u Instead of (v), use a frequency distribution table of travel speeds.

[0104] At this time, the starting speed of the moving object u is v u,init The class value of the class including the first maximum value of the speed v (called the starting speed class value). u,max The class value of the class including the first maximum value movement speed v u,min The class value of the class including the first minimum movement speed class value, the sudden drop movement speed v u,down The class values ​​of the classes including c (called the sudden drop movement speed class values) u,init , c u,max , c u,min , c u,down In the example embodiment of the present specification, u,init , c u,max , c u,min , c u,down Use.

[0105] <Selection between bell-shaped and flat distribution> As mentioned above, the bell-shaped distribution or the flattened distribution must be selected as the approximate distribution of the probability density function of the travel speed of each means of travel based on the shapes of the probability density functions of the travel speed of all means of travel. In this invention, whether to use the bell-shaped distribution or the flattened distribution is determined by the following two methods.

[0106] As shown in Figure 7, the probability density function f u In (v), the error when the first peak is approximated by a uniform distribution is used. -We use the index "kurtosis" (see Non-Patent Document 7) which indicates the degree of peaking of the probability density function.

[0107] First, we explain how to select between a bell-shaped distribution and a flat distribution, using the error when the first peak of the probability density function of the travel speed of all travel modes is approximated by a uniform distribution.

[0108] The probability density function f of the travel speed of all travel modes for a mobile unit u u The error 631 (=E u )teeth,

[0109] JPEG2025176957000010.jpg25120 (7)

[0110] The parameter v in the above equation is given as u,min and f u,max teeth,

[0111] v u,min :f u In (v), the smallest moving speed among the moving speeds whose occurrence probability takes a minimum value, that is, the moving speed that takes the first minimum value (i.e., the first minimum value moving speed) 613 f u,max :f u In (v), the first maximum (i.e., the first maximum) 622 is.

[0112] In choosing between the bell-shaped and flattened distributions, the normalized error (i.e., normalized error) E u,normalize is used.

[0113] JPEG2025176957000011.jpg29108 (8)

[0114] When a sufficiently small value (called the flat distribution threshold) ε is given, JPEG2025176957000012.jpg2692 (9) When this condition is satisfied, the probability density function of the travel speed of each means of transportation is considered to have a gentle peak, and therefore it is considered that the probability density function of the travel speed of each means of transportation can be approximated by a flat distribution.

[0115] Therefore, the following new means is provided to select either a bell-shaped distribution or a flat distribution for the approximate distribution of the travel speed probability density function of each means of transportation, using the error when the first peak of the travel speed probability density function of all means of transportation is approximated by a uniform distribution.

[0116] 1. Probability density function f of the moving speed of moving object u u From (v), the starting speed v of the speed probability density function u,init A means of calculating 2. The first maximum velocity v of the velocity probability density function u,max A means of calculating 3. The first minimum velocity v of the velocity probability density function u,min A means of calculating 4. The first maximum value f of the probability density function of the moving speed u,max A means of calculating 5. Using equations (7) and (8), the normalized error E u,normalize A means of calculating 6. Normalization error E u,normalize A means for selecting a flat distribution as an approximate distribution of the probability density function of the travel speed of each travel mode when is less than or equal to a given value.

[0117] In the example embodiment, the moving speed probability density function f u We have mentioned that we can use a frequency distribution table of travel speed instead of (v) (see <Using a frequency distribution table of travel speed> above). The probability density function f u Equation (7), which uses (v), needs to be revised to use a frequency distribution table of travel speeds.

[0118] Figure 8 shows an example of a histogram (a graph of a frequency distribution table) of the travel speeds of all travel modes for a mobile unit identifier u. In Figure 8, the travel speed probability density function f u 7 shows a histogram 701 of the travel speeds of all means of travel, which is an estimated distribution of (v). When the class width of the histogram is Δv, the frequency 711 of each class in the histogram 701 is [0,Δv), [Δv,2Δv), [2Δv,3Δv), [3Δv,4Δv), [4Δv,5Δv), [5Δv,6Δv), respectively. u,1 , h u,2 , h u,3 , h u,4 , h u,5 , h u,6 In this example, v u,init, the first maximum moving speed 612 is v u,max , the first minimum moving speed 613 is v u,min The class values ​​of the classes including the starting point movement speed class value 721 are c u,init , the first maximum moving speed class value is 722, c u,max , the first minimum movement speed class value is 723, c u,min Also, the first maximum moving speed class value is 722, v u,max The frequency of the class containing (the first maximum class frequency) 712 (in this example, h u,4 ) to h u,max It states that:

[0119] Error 631E for mobile unit u using the probability density function 621 of the travel speed of all travel modes u The value corresponding to histogram 701 is E h u When written as E h u teeth

[0120] JPEG2025176957000013.jpg29164 (10)

[0121] It is given as:

[0122] Normalized error E of moving object u u,normalize The value corresponding to the histogram 701 (called the histogram normalization error) is E h u,normalize When written as E h u,normalize teeth,

[0123] JPEG2025176957000014.jpg2592 (11)

[0124] In the example embodiment described herein, E h u and E h u,normalize We will explain how to select the bell-shaped distribution or the flat distribution using the following formula.

[0125] Next, we will explain how to select between a bell-shaped distribution and a flat distribution using "kurtosis," an index that indicates the degree of peaking of a probability density function.

[0126] In the present invention, the probability density function f of the travel speed of all the travel means of the moving body u is u In (v), the movement speed is the starting movement speed v u,init From the first minimum moving speed v u,min The probability density function of the movement speed in the range from _f (i.e., the first-peak probability density function of the movement speed) u Focus on (v). Here, _f u (v) is given by the following equation:

[0127] JPEG2025176957000015.jpg3387 (12)

[0128] First-peak movement speed probability density function_f u (v) is the probability density function, i.e., the starting point moving speed v u,init From the first minimum moving speed v u,min _f in the range up to u In order to make the integral value of (v) with respect to the moving speed v 1, f u (v) JPEG2025176957000016.jpg2476 It is divided by .

[0129] At this time, the first peak of the moving speed probability density function _f u Kurtosis K of (v) u is given by the following equation from Non-Patent Document 7:

[0130] JPEG2025176957000017.jpg2785 (13) JPEG2025176957000018.jpg2585 (14) JPEG2025176957000019.jpg26107 (15)

[0131] where μ u is the probability density function of the first peak movement speed, f u (v) is the average value, _σ u is the probability density function of the first peak movement speed, f u (v) is the standard deviation.

[0132] From Non-Patent Document 7, the probability density function of the first peak movement speed, f u Kurtosis K when (v) follows a uniform distribution u is 1.8. On the other hand, the probability density function of the first peak movement speed, f u Kurtosis K when (v) follows a normal distribution u is 3. Therefore, the kurtosis K u If is less than a value in the range [1.8,3) (for example, 2) (called the uniform distribution threshold), the first-peak movement speed probability density function _f u (v) can be determined to follow an approximately uniform distribution.

[0133] In order to use the index "kurtosis" to select either a bell-shaped distribution or a flat distribution as an approximate distribution of the probability density function of the travel speed of each travel mode, the following new means are provided.

[0134] 1. Probability density function f of the moving speed of moving object u u From (v), the starting speed v of the speed probability density function u,init A means of calculating 2. The first minimum velocity v of the velocity probability density function u,min A means of calculating 3. Using equation (12), the first peak moving speed probability density function _f u (v) Means for calculating 4. Using equations (13), (14), and (15), the kurtosis K of the probability density function of the first-peak movement speed is calculated. u A means of calculating 5. The kurtosis K u If is a value within the range [1.8,3) (e.g., 2) or less, a flat distribution is selected as the approximate distribution of the probability density function of the travel speed of each travel mode.

[0135] Next, the kurtosis obtained from the frequency distribution table of the moving speed will be explained.

[0136] h u,i is the frequency of the i-th class in the histogram 701 shown in FIG. 8 (a graph of the frequency distribution table of the moving speed of the moving object u). At this time, the first-peak moving speed probability density function _f u (v) JPEG2025176957000020.jpg9105 Element _h (called the first peak movement speed frequency set) u,i is given by the following equation:

[0137] JPEG2025176957000021.jpg3876 (16)

[0138] where c u,init is the starting point movement speed class value 721, and c u,min is the first minimum value of the moving speed class value 723.

[0139] Equation (16), like equation (12), is JPEG2025176957000022.jpg2647

[0140] is used to normalize it.

[0141] The probability density function _f of the first peak of the moving speed of the moving object u in the histogram 701 of the moving speeds of all the moving means of the moving object u u The kurtosis corresponding to (v) is K h u When written as K h u is given by the following equation according to Non-Patent Document 8:

[0142] JPEG2025176957000023.jpg21144 (17) JPEG2025176957000024.jpg1274 (18) JPEG2025176957000025.jpg2357 (19) JPEG2025176957000026.jpg2589 (20) JPEG2025176957000027.jpg2668 (twenty one)

[0143] Here, n in equation (18) is the number of elements in the first-peak movement velocity frequency set (i.e., the sample size), s in equation (19) is the unbiased standard deviation, m2 in equation (20) is the second moment around the mean value, and equation (21) is the mean value.

[0144] In the embodiment described in this specification, the kurtosis of the first-peak movement velocity probability density function (referred to as first-peak movement velocity kurtosis) is expressed as K given by Equations (17) to (21). h u is used.

[0145] <Using the cumulative distribution function of travel speed> Up until now, we have explained how to derive the walking movement speed threshold and how to select between a bell-shaped distribution and a flat distribution using a probability density function or a frequency distribution table of movement speed. In statistics, it is preferable to use a cumulative frequency distribution table, which is less sensitive to fluctuations in class width than a frequency distribution table (Non-Patent Document 6). Therefore, we will explain how to derive the walking movement speed threshold using the cumulative distribution function of movement speed (i.e., the movement speed cumulative distribution function).

[0146] [Approximating the probability density function of travel speed for each mode of travel with a bell-shaped distribution] Fig. 9 shows an example of a cumulative distribution function 1441 of travel speeds of all travel means for a specific moving body when the probability density function of travel speed of each travel means is approximated by a bell-shaped distribution. In addition, Fig. 9 also shows a cumulative distribution function 1421 of travel speeds of all travel means when the probability density function of travel speed of each travel means is approximated by a triangular distribution.

[0147] Using the cumulative distribution function of travel speeds for all travel modes, we estimate the walking travel speed threshold v c u,walk 423, it is sufficient to focus on the inflection point sequence 1400 of the travel speed cumulative distribution function 1441 of all travel means. u,init 412 is the smallest travel speed among the travel speeds whose cumulative distribution value is greater than 0 in the travel speed cumulative distribution function 1441 of all travel means, that is, the travel speed 420 (=v c u,init ) (i.e., the cumulative distribution origin moving speed). Furthermore, the first maximum moving speed v u,max 412 (see FIG. 3) is the smallest travel speed among the travel speeds that have an inflection point in the travel speed cumulative distribution function 1441 of all travel means, that is, the travel speed 422 (=v c u,max ) is equivalent to the estimated walking speed threshold value v c u,walk 423 is

[0148] JPEG2025176957000028.jpg2190 (twenty two)

[0149] It is given as:

[0150] In the present invention, the walking speed threshold value v c u,walk In order to obtain the above, the following means are provided.

[0151] 1. A method for creating a cumulative distribution function of the moving speed of a moving object u from a sequence of normal positioning points with speed. 2. In the cumulative distribution function of the moving speed, the first speed that becomes greater than 0 (the cumulative distribution starting point v of the moving object u) c u,init ) is calculated 3. The first inflection point in the cumulative distribution function of the moving speed (the first inflection point v of the cumulative distribution of moving object u) c u,max ) is calculated 4.2v c u,max -v c u,init is calculated, and the value is used as the walking speed threshold v of the moving object u. c u,walk means to

[0152] [Approximating the probability density function of travel speed for each mode of travel with a flat distribution] Next, a method for deriving a walking movement speed threshold using the movement speed cumulative distribution functions of all movement means when the movement speed probability density function of each movement means is approximated by a flat distribution will be described.

[0153] Fig. 10 shows an example of a cumulative distribution function 1541 of travel speeds of all travel means for a specific moving body when the probability density function of travel speed of each travel means is approximated by a flat distribution. In addition, Fig. 10 also shows a cumulative distribution function 1521 of travel speeds of all travel means when the probability density function of travel speed of each travel means is approximated by a uniform distribution.

[0154] Using the cumulative distribution function of travel speeds for all travel modes, we estimate the walking travel speed threshold v c u,walk 563, it is sufficient to pay attention to the inflection point sequence 1500 of the travel speed cumulative distribution function 1521 of all travel means as well as the gradient sequence {α1, α2, α3, α4, α5} 1510 of each inflection point interval. u,down 561 (see FIG. 6) is the travel speed 562 (=v c u,down ) (i.e., the inflection point section slope sudden drop movement speed). In other words, the estimated walking movement speed threshold value v c u,walk 563 is

[0155] JPEG2025176957000029.jpg1552 (twenty three)

[0156] It is given as:

[0157] In the present invention, the estimated walking speed threshold value v is calculated using equation (23). c u,walk To obtain 563, the following means are provided.

[0158] 1. A method for creating a cumulative distribution function of the moving speed of a moving object u from a sequence of normal positioning points with speed. 2. A means for calculating a sequence of inflection point intervals, which is a sequence of inflection point intervals separated by inflection points in the travel speed cumulative distribution function. 3. Means for calculating the slope of each inflection point section in the inflection point section sequence 4. A means for calculating the moving speed corresponding to the start of the inflection point section with the smallest moving speed among the inflection point sections where the slope decreases from the previous inflection point section in the gradient sequence of the inflection point section, i.e., the moving speed corresponding to the left end of the inflection point section where the slope decreases first (inflection point section gradient sudden drop moving speed) 5. Inflection point section: The value of the walking speed threshold v of the moving object u c u,walk means to

[0159] <Calculation of inflection points> As mentioned above, in order to calculate the walking travel speed threshold using the travel speed cumulative distribution functions of all travel modes, it is necessary to calculate the inflection point sequence of the travel speed cumulative distribution functions of all travel modes. To calculate this inflection point sequence, we introduce the following function h(v) (i.e., h function) of travel speed v.

[0160] An example of the h function is shown in Fig. 11. In Fig. 11, when the probability density function of the travel speed of each means of travel shown in Fig. 9 is approximated by a bell-shaped distribution, the cumulative distribution function 1321 of the travel speed of all means of travel for a specific moving body is shown together with the cumulative distribution function 1421 of the travel speed of all means of travel when the probability density function of the travel speed of each means of travel is approximated by a triangular distribution.

[0161] To define the function h(v), we define three points with (x,y) coordinates:

[0162] O1601: (Starting speed, the cumulative distribution function 1321 of the speed of all means of travel is 0) V1602: (travel speed v, the value of the cumulative distribution function 1321 of the travel speed of all means of travel when travel speed is v) R1603: (sufficiently large value of travel speed r, the value of the travel speed cumulative distribution function 1321 for all travel modes when travel speed is r)

[0163] In this case, a line (line OV) 1611 connecting point O and point V and a line (line VR) 1612 connecting point V and point R are defined, and h(v) 1621 is defined as "slope of line OV - slope of line VR." Figure 11 shows a curve 1622 of the h(v) function. The curve 1622 of the h(v) function has (multiple) extreme values. A sequence of extreme values ​​1623 coincides with the sequence of inflection points of the travel speed cumulative distribution function 1321 of all travel modes. Therefore, by using this sequence of extreme values ​​1623, it is possible to calculate the sequence of inflection points.

[0164] In the present invention, the following means are provided to use the h function to find the inflection point sequence of the movement speed cumulative distribution function.

[0165] 1. A means for finding point O (starting speed, the value of the cumulative distribution function of the speed of travel of a moving object u is 0), point V (speed v, the value of the cumulative distribution function of the speed of travel of a moving object u when the speed is v), and point R (speed r with a sufficiently large value, the value of the cumulative distribution function of the speed of travel of a moving object u when the speed is r) 2. Means for calculating the function h(v) that represents the slope of the line OV between point O and point V and the slope of the line VR between point V and point R 3. A method for calculating the sequence of extrema from the curve of the function h(v)

[0166] <Using the cumulative relative frequency table of travel speed> In the above "Use of a frequency distribution table of travel speed," it was described that in the embodiment of the present invention, a frequency distribution table is used instead of the probability density function of travel speed (i.e., travel speed probability density function). Similarly, a cumulative relative frequency table (referred to as a travel speed cumulative relative frequency table) is used instead of the cumulative distribution function of travel speed.

[0167] <Means to solve problem P2> Next, a means for solving the above-mentioned problem P2 will be described.

[0168] [A1: Dealing with "positioning point intervals with extremely short positioning time intervals"] To delete this positioning point section (i.e., a positioning point section with an extremely short positioning time interval) from the normal positioning point section sequence, a threshold for the valid positioning time interval (called the valid positioning time interval threshold, for example, 10 seconds) can be set, and positioning point sections with positioning time intervals shorter than the valid positioning time interval threshold can be deleted from the normal positioning point section sequence. Therefore, the following new means is provided to delete the positioning point section A1 from the normal positioning point section sequence.

[0169] 1. Means for setting the effective positioning time interval threshold 2. A means for deleting from the sequence of normal positioning point sections of each mobile unit, normal positioning point sections having a positioning time interval smaller than the effective positioning time interval threshold.

[0170] [A2: Dealing with "Sections where the movement speed is sufficiently small (Sections where the movement speed is considered to be a stay)"] To delete this positioning point section (i.e., a positioning point section considered to be a stay) from the sequence of normal positioning point sections, attention is paid to the movement speed in each positioning point section. If the movement speed in the positioning point section under consideration is smaller than a value small enough to be considered a stay (called the stay determination movement speed threshold, for example, 0.5 m / sec), the moving object in that positioning point section can be considered to be a stay. Therefore, the following new means is provided to delete the positioning point section A2 from the sequence of normal positioning point sections.

[0171] 1. Means for setting the movement speed threshold for determining stay 2. A means for deleting from the sequence of normal positioning points sections of each moving object, a normal positioning point section having a movement speed smaller than the stay determination movement speed threshold.

[0172] <Configuration of walking / non-walking positioning point section extraction device according to the first embodiment of the present invention> Next, a configuration of a walking / non-walking positioning point section extraction device according to a first embodiment of the present invention will be described. In the first embodiment, an example of a walking / non-walking positioning point section extraction device is shown, which approximates the travel speed probability density function of each travel means with a bell-shaped distribution and calculates an estimated value of the walking travel speed threshold of each moving body.

[0173] As shown in FIG. 12, the walking / non-walking positioning point section extraction device 1000 according to the first embodiment of the present invention can be configured by a computer including a CPU, a RAM, and a ROM storing programs and various data. The walking and non-walking positioning point section extraction device 1000 is configured to include the positioning point sequence creation unit 21, positioning point section sequence creation unit 22, normal positioning point section sequence creation unit 23, normal positioning point section sequence with moving speed creation unit 24, positioning point sequence table 31, positioning point section sequence table 32, normal positioning point section sequence table 33, normal positioning point section sequence with moving speed table 34, walking positioning point section sequence table 35, non-walking positioning point section sequence table 36, and abnormal positioning time interval threshold register 41 of the conventional walking and non-walking positioning point section extraction device 1 shown in FIG. 29 above, as well as newly added: a bell-shaped distribution approximation walking movement speed threshold calculation unit 1021, walking / non-walking positioning point section extraction unit 1022, and walking movement speed threshold table 1041.

[0174] It should be noted that the operator 1002 in FIG. 12 is functionally equivalent to the operator 2 shown in the preceding example.

[0175] Below, configuration examples of the newly added bell-shaped distribution approximation walking speed threshold calculation unit 1021, walking / non-walking positioning point section extraction unit 1022, and walking speed threshold table 1041 will be described.

[0176] <Configuration example of the bell-shaped distribution approximation walking speed threshold calculation unit 1021> 13 shows a configuration example of the bell-shaped distribution approximation walking speed threshold calculation unit 1021. The bell-shaped distribution approximation walking speed threshold calculation unit 1021 estimates the walking speed threshold of each moving object using the normal measurement point interval sequence table with travel speed 34, and stores the estimated value in the walking speed threshold table 1041.

[0177] The bell-shaped distribution approximation walking speed threshold calculation unit 1021 is composed of the following processing units.

[0178] A movement speed frequency distribution table creation unit 1101 that creates a movement speed frequency distribution table for each moving object from the movement speed-attached normal positioning point section sequence table 34. A starting point movement speed class value calculation unit 1102 that calculates the starting point movement speed class value of each moving object from the created movement speed frequency distribution table of each moving object. A first maximum value moving speed class value calculation unit 1103 that calculates a first maximum value moving speed class value of the moving object from the created moving speed frequency distribution table of each moving object and the calculated starting point moving speed class value. A walking speed threshold calculation unit 1104 calculates the walking speed threshold of each moving object from the calculated starting point moving speed class value and first maximum value moving speed class value, and stores the calculated value in the walking speed threshold table 1041.

[0179] Furthermore, the bell-shaped distribution approximation walking speed threshold calculation unit 1021 has the following table.

[0180] A movement speed frequency distribution table 1201 in which the movement speed frequency distribution table of each moving object is stored. A starting point movement speed class value table 1202 in which the starting point movement speed class value of each moving object is stored. A first maximum value moving speed class value table 1203 in which the first maximum value speed class value of each moving object is stored.

[0181] Next, each processing unit will be described.

[0182] <Movement Speed ​​Frequency Distribution Table Creation Unit 1101> The movement speed frequency distribution table creation unit 1101 uses the movement speed-attached normal measurement point interval sequence table 34 to update the movement speed frequency distribution table of each moving body, and stores it in the movement speed frequency distribution table 1201 .

[0183] The movement speed frequency distribution table is updated when an update instruction is received from the operator 1002 or when the update of the movement speed-attached normal measurement point interval sequence table 34 is completed.

[0184] [Configuration example of the movement speed frequency distribution table 1201] The travel speed frequency distribution table 1201 is made up of n travel speed frequency distribution tables: {travel speed frequency distribution table 1211 for travel object identifier 1, ..., travel speed frequency distribution table 1212 for travel object identifier u, ..., travel speed frequency distribution table 1213 for travel object identifier n}. An example of the travel speed frequency distribution table 1212 for travel object identifier u is shown in Fig. 14.

[0185] The moving speed frequency distribution table 1212 for a moving object identifier u is composed of records (class 1301, class value 1302, frequency 1303). The class of the i-th class record 1304 is equal to or greater than (i-1)Δv and less than iΔv, and the class value is v i (=(2i-1)Δv / 2), frequency is f u,i Here, the class width is assumed to be Δv.

[0186] [Processing of the travel speed frequency distribution table creation unit 1101] The moving speed frequency distribution table creating unit 1101 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0187] "Processing the mobile object u" The mobile unit u performs the following processing.

[0188] 1. The normal moving speed sequence V of the moving object u u Initialize. 2. In the table 34 of normal positioning point intervals with moving speed, the normal positioning point intervals with moving speed 233Sv of the moving object u u Get. 3. Obtained Sv u All elements in sv u,i In this case, the following processing is performed. (a)sv u,i Check whether the value is Null. (b) If it is not null, perform the following process. i.sv u,i Extract the velocity of and express it as v u,i Let's say. ii.v u,i Let V be the normal moving speed sequence of the moving object u. u Add to. 4. Normal moving speed sequence V of moving object u u Using this, we create a frequency distribution table of the movement speed of the mobile unit with identifier u.

[0189] <Origin travel speed class value calculation unit 1102> The origin travel speed class value calculation unit 1102 uses the travel speed frequency distribution table 1201 to update the origin travel speed class value table 1202 .

[0190] The starting point travel speed class value table 1202 is updated when an update instruction is received from the operator 1002 or when updating of the travel speed frequency distribution table 1201 is completed.

[0191] [Configuration example of origin movement speed class value table 1202] The origin moving speed class value table 1202 includes elements {moving body identifier u, origin moving speed class value c of the moving body}. u,init}.

[0192] [Processing of the origin movement speed class value calculation unit 1102] The origin moving speed class value calculation unit 1102 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0193] "Processing the mobile object u" The mobile unit u performs the following processing.

[0194] 1. In the moving speed frequency distribution table 1212 for which the moving unit identifier is u, first obtain a class with a frequency greater than 0. In other words, obtain the lowest class among the classes with a frequency greater than 0. 2. The class value of the class in question is the starting point movement speed class value. 3. The obtained origin movement speed class value is used as the origin movement speed class value c of the moving body identifier u in the origin movement speed class value table 1202. u,init Save as.

[0195] In the example of FIG. 14, the moving object identifier is u and the starting moving speed class value is c u,init 1305 becomes v2 (=3Δv / 2).

[0196] <First maximum value moving speed class value calculation unit 1103> The first maximum value travel speed class value calculation unit 1103 updates the first maximum value travel speed class value table 1203 using the travel speed frequency distribution table 1201 and the starting point travel speed class value table 1202 .

[0197] The first maximum value moving speed class value table 1203 is updated when an update instruction is received from the operator 1002 or when updating of the starting point moving speed class value table 1202 is completed.

[0198] [Configuration example of first maximum value moving speed class value table 1203] The first maximum value moving speed class value table 1203 includes an element {moving object identifier u, first maximum value moving speed class value c of the moving object}. u,max}.

[0199] [Processing of the first maximum value moving speed class value calculation unit 1103] The first maximum value moving speed class value calculation unit 1103 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0200] "Processing the mobile object u" The mobile unit u performs the following processing.

[0201] 1. In the origin movement speed class value table 1202, the origin movement speed class value c of the moving object identifier u u,init Get. 2. In the movement speed frequency distribution table 1212 of the moving object identifier u, the origin movement speed class value c u,init From here on, the first class where the frequency changes from increasing to decreasing is obtained. 3. The class value of the class is set as the first maximum value movement speed class value. 4. The obtained first maximum value travel speed class value is used as the first maximum value travel speed class value c of the moving object identifier u in the first maximum value travel speed class value table 1203. u,max Save as.

[0202] In the example of FIG. 14, the first maximum value of the moving speed class value c of the moving object identifier u u,max 1306 becomes v5 (=9Δv / 2).

[0203] <Walking speed threshold calculation unit 1104> The walking speed threshold calculation unit 1104 updates the walking speed threshold table 1041 using the starting point moving speed class value table 1202 and the first maximum value moving speed class value table 1203 .

[0204] The walking movement speed threshold table 1041 is updated when an instruction is received from the operator 1002 or when updating of the starting point movement speed class value table 1202 and the first maximum value movement speed class value table 1203 is completed.

[0205] [Configuration example of walking speed threshold table 1041] The walking speed threshold table 1041 includes an element {moving body identifier u, walking speed threshold v of the moving body}. u,walk}.

[0206] [Processing of walking speed threshold calculation unit 1104] The walking speed threshold calculation unit 1104 performs the following process for all moving objects u (=1, 2, . . . , n).

[0207] "Processing the mobile object u" The mobile unit u performs the following processing.

[0208] 1. In the origin moving speed class value table 1202 and the first maximum value moving speed class value table 1203, the origin moving speed class value c of the moving object identifier u is u,init and the first maximum movement speed class value c u,max Get. 2.2c u,max -c u,init Calculate. 3. Calculated 2c u,max -c u,init is calculated by multiplying the walking speed threshold v of the moving object identifier u in the walking speed threshold table 1041. u,walk Save as.

[0209] <Walking / non-walking positioning point section extraction unit 1022> The walking / non-walking positioning point section extraction unit 1022 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0210] "Processing the mobile object u" The mobile unit u performs the following processing.

[0211] 1. Obtain the walking speed threshold of the moving object u stored in the walking speed threshold table 1041 and set the value as v u,walk Let's say. 2. The following process is performed for all records in the table 34 of normal measurement point intervals with travel speed. (a) In the table 34 of the normal measurement point section with moving speed, the value of the normal measurement point section with moving speed 232 in which the value of the moving body identifier 231 of the relevant record is u, that is, Sv u Get. (b) Sv, which is the acquired normal positioning point section sequence 233 with moving speed u All elements in "sv" are normal positioning point sections 234 with the moving speed of the moving body u. u,i ", the following processing is performed. ·sv u,i If the value is Null, skip the following processing. ·sv u,i V in u,i The value of v u,walk In the following cases, sv u,i The value of the walking positioning point section sequence 243W of the moving body u of the record in which the value of the moving body identifier 241 in the walking positioning point section sequence table 35 is u. u On the other hand, sv u,i V in u,i The value of v u,walk If greater than sv u,i The value of the non-walking positioning point section sequence 253NW of the moving body u of the record in which the value of the moving body identifier 251 in the non-walking positioning point section sequence table 36 is u. u Save to.

[0212] As described above, the walking and non-walking positioning point section extraction device according to the first embodiment of the present invention determines a walking movement speed threshold from the movement speed probability density function for each moving object, and extracts a walking positioning point section sequence and a non-walking positioning point section sequence. This makes it possible to determine walking and non-walking positioning point sections for each moving object, and to determine walking and non-walking positioning point sections with a high accuracy rate.

[0213] <Configuration of walking / non-walking positioning point section extraction device according to the second embodiment of the present invention> Next, a configuration of a walking and non-walking positioning point section extraction device according to a second embodiment of the present invention will be described.

[0214] 15, a walking / non-walking positioning point section extraction device 2000 according to the second embodiment of the present invention can be configured by a computer including a CPU, RAM, and ROM storing programs and various data. The walking / non-walking positioning point section extraction device 2000 is a device that approximates the travel speed probability density function of each means of travel with a flat distribution and calculates an estimated value of the walking travel speed threshold of each moving object. As shown in FIG. 15 , this walking and non-walking positioning point section extraction device 2000 functionally includes the positioning point sequence creation unit 21, positioning point section sequence creation unit 22, normal positioning point section sequence creation unit 23, normal positioning point section sequence with moving speed creation unit 24, positioning point sequence table 31, positioning point section sequence table 32, normal positioning point section sequence table 33, normal positioning point section sequence with moving speed table 34, walking positioning point section sequence table 35, non-walking positioning point section sequence table 36, and abnormal positioning time interval threshold register 41 of the conventional walking and non-walking positioning point section extraction device 1 shown in FIG. 29 above, as well as a newly added flat distribution approximation walking movement speed threshold calculation unit 2021, walking / non-walking positioning point section extraction unit 1022, and walking movement speed threshold table 1041. That is, in the walking / non-walking positioning point section extraction device 2000, the bell-shaped distribution approximation walking speed threshold calculation unit 1021 of the walking / non-walking positioning point section extraction device 1000 of the first embodiment is replaced with a flat distribution approximation walking speed threshold calculation unit 2021.

[0215] As in the first embodiment, the operator 2002 in FIG. 15 is functionally equivalent to the operator 2 shown in the preceding example.

[0216] Next, a configuration example of the flat distribution approximation walking speed threshold calculation unit 2021 will be described.

[0217] <Configuration example of the flat distribution approximation walking speed threshold calculation unit 2021> An example of the configuration of the flattened distribution approximation walking speed threshold calculation unit 2021 in the second embodiment is shown in Fig. 16. The flattened distribution approximation walking speed threshold calculation unit 2021 estimates the walking speed threshold of each moving object using the normal measurement point interval sequence table with travel speed 34, and stores the estimated value in the walking speed threshold table 1041.

[0218] The flat distribution approximation walking speed threshold calculation unit 2021 is composed of the following processing units. A movement speed frequency distribution table creation unit 2101 that creates a movement speed frequency distribution table for each moving object from the movement speed-attached normal positioning point section sequence table 34. A sudden drop movement speed class value calculation unit 2102 that calculates a sudden drop movement speed class value of each moving object from the created movement speed frequency distribution table of each moving object. A walking speed threshold calculation unit 2103 that calculates the walking speed threshold of the moving object from the calculated sudden drop moving speed class value of the moving object and stores the value in the walking speed threshold table 1041.

[0219] Furthermore, the flat distribution approximation walking speed threshold calculation unit 2021 has the following tables and registers. A movement speed frequency distribution table 2201 in which the movement speed frequency distribution table of each moving object is stored. A sudden drop movement speed class value table 2202 in which the sudden drop movement speed class value of each moving object is stored. A sudden fall movement speed threshold register 2203 stores the sudden fall movement speed threshold, which is a value used to determine the sudden fall movement speed level value.

[0220] Next, each processing unit will be described.

[0221] [Movement Speed ​​Frequency Distribution Table Creation Unit 2101] The processing of the travel speed frequency distribution table creation unit 2101 is the same as the processing of the travel speed frequency distribution table creation unit 1101 described in the first embodiment.

[0222] The configuration of the travel speed frequency distribution table 2201 is the same as the configuration of the travel speed frequency distribution table 1201 in the first embodiment. However, the frequency trends in the second embodiment are different from those in the first embodiment. Therefore, Fig. 17 shows an example of a travel speed frequency distribution table 2212 for a mobile unit identifier u when the travel speed probability density function of each means of transportation is approximated by a flat distribution.

[0223] <Sudden drop movement speed class value calculation unit 2102> The sudden drop movement speed class value calculation unit 2102 updates the sudden drop movement speed class value table 2202 using the movement speed frequency distribution table 2201 .

[0224] The sudden drop movement speed class value table 2202 is updated when an update instruction is received from the operator 2002 or when the update of the movement speed frequency distribution table 2201 is completed.

[0225] [Configuration example of sudden drop movement speed class value table 2202] The sudden drop in moving speed class value table 2202 includes an element {moving object identifier u, sudden drop in moving speed class value c of the moving object}. u,down}.

[0226] [Processing of the sudden drop movement speed class value calculation unit 2102] The sudden drop moving speed class value calculation unit 2102 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0227] "Processing the mobile object u" The mobile unit u performs the following processing.

[0228] 1. Obtain the sudden drop movement speed class value threshold stored in the sudden drop movement speed class value threshold register 2203 and set the value to t down Let's say. 2. In the moving speed frequency distribution table 2212 for the moving object identifier u, The frequency is t down Among the ranks that fall as described above, the smallest rank is obtained. 3. The acquired class value is set as the sudden drop movement speed class value. 4. The obtained sudden drop in travel speed class value is used as the sudden drop in travel speed class value c of the moving entity identifier u in the sudden drop in travel speed class value table 2202. u,down Save as.

[0229] In the example of FIG. 17, the moving entity identifier is u and the moving entity c has a sudden drop moving speed class value 2305. u,down is g u,5 -g u,6 The value of the movement speed class value threshold t down The result is v6 (=11Δv / 2).

[0230] <Walking speed threshold calculation unit 2103> The walking speed threshold calculation unit 2103 updates the walking speed threshold table 1041 using the sudden drop in moving speed class value table 2202 .

[0231] The walking movement speed threshold table 1041 is updated when an instruction to update is received from the operator 2002 or when updating of the sudden drop movement speed class value table 2202 is completed.

[0232] [Processing of walking speed threshold calculation unit 2103] The walking speed threshold calculation unit 2103 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0233] "Processing the mobile object u" The mobile unit u performs the following processing. 1. In the sudden drop movement speed class value table 2202, the sudden drop movement speed class value c of the moving object identifier u u,down Get. 2. Obtained sudden drop movement speed class value c u,down is the walking speed threshold. 3. The obtained walking speed threshold is used as the walking speed threshold v of the moving object identifier u in the walking speed threshold table 1041. u,walk Save as.

[0234] The other configurations of the walking / non-walking positioning point section extraction device according to the second embodiment are the same as those of the first embodiment, and therefore will not be described.

[0235] As described above, the walking and non-walking positioning point section extraction device according to the second embodiment of the present invention approximates the moving speed probability density function with a flat distribution for each moving object, determines a walking moving speed threshold, and extracts a walking positioning point section sequence and a non-walking positioning point section sequence. This makes it possible to determine walking and non-walking positioning point sections for each moving object, and to determine walking and non-walking positioning point sections with a high accuracy rate.

[0236] <Configuration of walking / non-walking positioning point section extraction device according to the third embodiment of the present invention>

[0237] Next, a configuration of a walking and non-walking positioning point section extraction device according to a third embodiment of the present invention will be described.

[0238] 18, walking / non-walking positioning point section extraction device 3000 according to the third embodiment of the present invention can be configured with a computer including a CPU, RAM, and ROM storing programs and various data. Walking / non-walking positioning point section extraction device 3000 is a device that adds to the walking / non-walking positioning point section extraction device shown in the first and second embodiments a function of selecting a bell-shaped distribution or a flat distribution as an approximate distribution of the travel speed probability density function of each travel means, using an error obtained by approximating the first peak portion of the travel speed probability density function of all travel means with a uniform distribution. This walking and non-walking positioning point section extraction device 3000 includes the positioning point sequence creation unit 21, positioning point section sequence creation unit 22, normal positioning point section sequence creation unit 23, normal positioning point section sequence with moving speed creation unit 24, positioning point sequence table 31, positioning point section sequence table 32, normal positioning point section sequence table 33, normal positioning point section sequence with moving speed table 34, walking positioning point section sequence table 35, and non-walking positioning point section table in the conventional walking and non-walking positioning point section extraction device 1 shown in FIG. 29 above. It is configured to include a column table 36, an abnormal positioning time interval threshold register 41, a newly added approximate distribution selection unit 3001, a bell-shaped distribution approximate walking movement speed threshold calculation unit 3011, a flat distribution approximate walking movement speed threshold calculation unit 3012, an approximate distribution type table 3003, and a movement speed frequency distribution table 3013, and a replaced walking / non-walking positioning point section extraction unit 3022, and a walking movement speed threshold table 1041.

[0239] The replaced walking speed threshold table 1041 is the same as that shown in the first embodiment.

[0240] Also, the operator 3002 in FIG. 18 is functionally equivalent to the operator 2 in the preceding example, as in the first embodiment.

[0241] Below, we will explain configuration examples of the newly added approximate distribution selection unit 3001, bell-shaped distribution approximation walking movement speed threshold calculation unit 3011, flat distribution approximation walking movement speed threshold calculation unit 3012, and the replaced walking / non-walking positioning point section extraction unit 3022.

[0242] <Configuration example of approximate distribution selection unit 3001> 19 shows an example of the configuration of the approximate distribution selection unit 3001. The approximate distribution selection unit 3001 uses the table of normal positioning point intervals with travel speed 34 to estimate the type of approximate distribution (bell-shaped distribution or flat distribution) of the travel speed probability density function of each travel mode, and stores the type of approximate distribution in the approximate distribution type table 3003.

[0243] The approximate distribution selection unit 3001 is made up of the following processing units.

[0244] A movement speed frequency distribution table creation unit 3101 that creates a movement speed frequency distribution table for each moving object from the movement speed and normal positioning point section sequence table 34. A starting point movement speed class value calculation unit 3102 that calculates the starting point movement speed class value of each moving object from the created movement speed frequency distribution table of each moving object. A first maximum value moving speed class value calculation unit 3103 that calculates a first maximum value moving speed class value of the moving object from the created moving speed frequency distribution table of each moving object and the calculated starting point moving speed class value.

[0245] A first minimum value moving speed class value calculation unit 3104 that calculates a first minimum value moving speed class value of the moving object from the created moving speed frequency distribution table of each moving object and the calculated first maximum value moving speed class value. A first maximum value class frequency calculation unit 3105 that calculates the first maximum value class frequency of the moving object from the created moving speed frequency distribution table of each moving object and the calculated first maximum value moving speed class value. A histogram normalization error calculation unit 3106 that calculates the histogram normalization error of the moving object using the calculated starting point moving speed class value, first maximum value moving speed class value, first minimum value moving speed class value, first maximum value class frequency, and frequency distribution table of the moving object. An approximate distribution determination unit 3107 uses the calculated histogram normalization error to determine whether the approximate distribution of the velocity distribution can be treated as a flat distribution, and stores the determination result in the approximate distribution type table 3003.

[0246] Furthermore, the approximate distribution selection unit 3001 has the following tables and registers.

[0247] A starting point movement speed class value table 3202 in which the starting point movement speed class value of each moving object is stored. A first maximum value moving speed class value table 3203 in which the first maximum value moving speed class value of each moving object is stored. A first minimum value movement speed class value table 3204 in which the first minimum value movement speed class value of each moving object is stored. First maximum value class frequency table 3205, which stores the first maximum value class frequency of each moving object A histogram normalized error table 3206 in which the histogram normalized error of each moving object is stored Flat distribution judgment threshold register 3207 stores the threshold for determining whether the approximate distribution of the moving speed probability density function can be treated as a flat distribution.

[0248] Next, each processing unit will be described.

[0249] <Movement speed frequency distribution table creation unit 3101> The processing of the travel speed frequency distribution table creation unit 3101 is the same as the processing of the travel speed frequency distribution table creation unit 1101 described in the first embodiment.

[0250] The configuration of the travel speed frequency distribution table 3013 is the same as the configuration of the travel speed frequency distribution table 1201 in the first embodiment. However, the frequency trends in the third embodiment are different from the frequency trends in the first embodiment. Therefore, an example of the travel speed frequency distribution table 3013 for a moving object identifier u is shown in FIG. 20.

[0251] <Origin travel speed class value calculation unit 3102> The origin travel speed class value calculation unit 3102 uses the travel speed frequency distribution table 3013 to update the origin travel speed class value table 3202 .

[0252] The starting point travel speed class value table 3202 is updated when an update instruction is received from the operator 3002 or when updating of the travel speed frequency distribution table 3013 is completed.

[0253] [Configuration example of origin movement speed class value table 3202] The configuration of the origin travel speed class value table 3202 is the same as the configuration of the origin travel speed class value table 1202 described in the first embodiment.

[0254] [Processing of the origin movement speed class value calculation unit 3102] The processing of the origin travel speed class value calculation unit 3102 is the same as the processing of the origin travel speed class value calculation unit 1102 described in the first embodiment.

[0255] In the example of FIG. 20, the moving entity identifier is u and the starting point moving speed class value is c u,init becomes v2 (=3Δv / 2).

[0256] <First maximum value moving speed class value calculation unit 3103> The first maximum value travel speed class value calculation unit 3103 updates the first maximum value travel speed class value table 3203 using the travel speed frequency distribution table 3013 and the starting point travel speed class value table 3202. The first maximum value travel speed class value table 3203 is updated when an update instruction is received from the operator 3002 or when updating of the starting point travel speed class value table 3202 is completed, etc.

[0257] [Configuration example of first maximum value moving speed class value table 3203] The first maximum value moving speed class value table 3203 includes an element {moving object identifier u, first maximum value moving speed class value c of the moving object}. u,max}.

[0258] [Processing of the first maximum value moving speed class value calculation unit 3103] The first maximum value moving speed class value calculation unit 3103 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0259] "Processing the mobile object u" The mobile unit u performs the following processing.

[0260] 1. In the origin movement speed class value table 3202, the origin movement speed class value c of the moving object identifier u u,init Get. 2. In the movement speed frequency distribution table 3212 of the moving object identifier u, the origin movement speed class value c u,init From here on, the class where the frequency first changes from increasing to decreasing is obtained. 3. The class value of the class is set as the first maximum value movement speed class value. 4. The obtained first maximum value travel speed class value is used as the first maximum value travel speed class value c of the moving object identifier u in the first maximum value travel speed class value table 3203. u,max Save as.

[0261] In the example of FIG. 20, the first maximum value of the moving speed class value c of the moving object identifier u u,max 3307 becomes v4 (=7Δv / 2).

[0262] <First minimum value moving speed class value calculation unit 3104> The first minimum value travel speed class value calculation unit 3104 uses the travel speed frequency distribution table 3013 and the first maximum value travel speed class value table 3203 to update the first minimum value travel speed class value table 3204 .

[0263] The first minimum value moving speed class value table 3204 is updated when an update instruction is received from the operator 3002 or when updating of the first maximum value moving speed class value table 3203 is completed.

[0264] [Configuration example of first minimum value moving speed class value table 3204] The first minimum value moving speed class value table 3204 includes an element {moving body identifier u, first minimum value moving speed class value c of the moving body}. u,min}.

[0265] [Processing of the first minimum value moving speed class value calculation unit 3104] The first minimum value moving speed class value calculation unit 3104 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0266] "Processing the mobile object u" The mobile unit u performs the following processing.

[0267] 1. In the first maximum value moving speed class value table 3203, the first maximum value moving speed class value c of the moving object identifier u u,max Get. 2. In the moving speed frequency distribution table 3212 of the moving object identifier u, the first maximum moving speed class value c u,max From here on, the class where the frequency first changes from decreasing to increasing is obtained. 3. The class value of the acquired class is set as the first minimum value movement speed class value. 4. The obtained first minimum value travel speed class value is used as the first minimum value travel speed class value c of the moving object identifier u in the first minimum value travel speed class value table 3204. u,min Save as.

[0268] In the example of FIG. 20, the first minimum value of the moving speed class value c of the moving object identifier u u,min 3308 becomes v6 (=11Δv / 2).

[0269] <First maximum value class frequency calculation unit 3105> The first maximum value class frequency calculation unit 3105 uses the movement speed frequency distribution table 3013 and the first maximum value movement speed class value table 3203 to update the first maximum value class frequency table 3205 .

[0270] The first maximum value class frequency table 3205 is updated when an update instruction is received from the operator 3002 or when updating of the first maximum value moving speed class value table 3203 is completed.

[0271] [Example of the first maximum value class frequency table 3205] The first maximum value class frequency table 3205 includes an element {moving object identifier u, first maximum value class frequency h of the moving object}. u,max}.

[0272] [Processing of the first maximum value class frequency calculation unit 3105] The first maximum class frequency calculation unit 3105 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0273] "Processing the mobile object u" The mobile unit u performs the following processing.

[0274] 1. In the first maximum value moving speed class value table 3203, the first maximum value moving speed class value c of the moving object identifier u u,max Get. 2. In the moving speed frequency distribution table 3212 of the moving object identifier u, the first maximum moving speed class value c u,max Get the rank with. 3. The frequency of the obtained class is taken as the first maximum class frequency. 4. The obtained first maximum value class frequency is converted into the first maximum value class frequency h of the moving object identifier u in the first maximum value class frequency table 3205. u,max Save as.

[0275] In the example of Figure 20, the first maximum class frequency h u,max 3309 is h u,4 This becomes:

[0276] <Histogram normalization error calculation unit 3106> The histogram normalization error calculation unit 3106 updates the histogram normalization error table 3206 using the travel speed frequency distribution table 3013, the starting point travel speed class value table 3202, the first maximum value travel speed class value table 3203, the first minimum value travel speed class value table 3204, and the first maximum value class frequency table 3205.

[0277] The histogram normalized error table 3206 is updated when an update instruction is received from the operator 3002 or when the update of the first maximum value class frequency table 3205 is completed.

[0278] [Configuration example of histogram normalized error table 3206] The histogram normalized error table 3206 has an element {moving object identifier u, normalized error E of the moving object h}.

[0279] [Processing of the histogram normalization error calculation unit 3106] The histogram normalized error calculation unit 3106 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0280] "Processing the mobile object u" The mobile unit u performs the following processing.

[0281] 1. In the origin movement speed class value table 3202, the origin movement speed class value c of the moving object identifier u u,init Get. 2. In the first maximum value moving speed class value table 3203, the first maximum value moving speed class value c of the moving object identifier u u,max Get. 3. In the first minimum value moving speed class value table 3204, the first minimum value moving speed class value c of the moving object identifier u u,min Get. 4. In the first maximum value class frequency table 3205, the first maximum value class frequency h of the mobile unit identifier u u,max Get. 5. In the moving speed frequency distribution table 3013, the frequency h of each in the histogram of the moving speed of the moving object identifier u u,i,i =c u,init ,c u,init+1 ,···,c u,min Get. 6. Obtained starting point movement speed class value c u,init , the first maximum moving speed class value c u,max , the first minimum movement speed class value c u,min , and the first maximum class frequency h u,max , each degree h u,i ,i=c u,init ,c u,init+1 ,···,c u,minUsing equations (10) and (11), the histogram normalized error for the mobile unit identifier u is calculated. 7. The calculated histogram normalized error is used as the histogram normalized error E for the moving object identifier u in the histogram normalized error table 3206. u,normalize Save as.

[0282] <Approximate distribution determination unit 3107> The approximate distribution determination unit 3107 updates the approximate distribution type table 3003 using the histogram normalized error table 3206 and the flat distribution determination threshold register 3207 .

[0283] The approximate distribution type table 3003 is updated when an update instruction is received from the operator 3002 or when the update of the histogram normalization error table 3206 is completed.

[0284] [Configuration example of approximate distribution type table 3003] The approximate distribution type table 3003 is composed of elements {mobile object identifier u, approximate distribution type of the mobile object}. The value of the approximate distribution type is "flat distribution" or "bell-shaped distribution".

[0285] [Processing of the approximate distribution determination unit 3107] The approximate distribution determination unit 3107 performs the following processing.

[0286] 1. The flat distribution determination threshold value ε is obtained from the flat distribution determination threshold value register 3207. 2. The following process is performed for all mobile entities u (= 1, 2, . . . , n).

[0287] "Processing the mobile object u" (a) In the histogram normalization error table 3206 for which the moving entity identifier is u, the histogram normalization E h u,normalize Get. (b) When formula (9) is satisfied, “flat distribution” is stored as the value of the approximate distribution type of the mobile unit identifier u in the approximate distribution type table 3003 . (c) On the other hand, when the formula (9) is not satisfied, the “bell-shaped distribution” is stored as the value of the approximate distribution type of the mobile unit identifier u in the approximate distribution type table 3003.

[0288] <Configuration example of the bell-shaped distribution approximation walking speed threshold calculation unit 3011> The configuration of the bell-shaped distribution approximation walking speed threshold calculation unit 3011 is the same as the configuration of the bell-shaped distribution approximation walking speed threshold calculation unit 1021 shown in the first embodiment.

[0289] However, the travel speed frequency distribution table 1201 used in the first embodiment is replaced with a travel speed frequency distribution table 3013 .

[0290] <Configuration example of the flat distribution approximation walking speed threshold calculation unit 3012> The configuration of the flat distribution approximation walking speed threshold calculation unit 3012 is the same as the configuration of the flat distribution approximation walking speed threshold calculation unit 2021 shown in the second embodiment.

[0291] However, the travel speed frequency distribution table 2201 used in the second embodiment is replaced with a travel speed frequency distribution table 3013.

[0292] <Configuration example of walking / non-walking positioning point section extraction unit 3022> The walking / non-walking positioning point section extraction unit 3022 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0293] "Processing the mobile object u" The mobile unit u performs the following processing.

[0294] 1. The value of the approximate distribution type of the mobile object u stored in the approximate distribution type table 3003 is obtained. 2. When the value of the approximate distribution type is “bell-shaped distribution,” the walking speed threshold of the approximate distribution is stored in the walking speed threshold table 1041 using the bell-shaped distribution approximate walking speed threshold calculation unit 3011 . 3. When the value of the approximate distribution type is “flat distribution”, the flat distribution approximate walking speed threshold calculation unit 3012 is used to store the walking speed threshold of the approximate distribution in the walking speed threshold table 1041 . 4. Obtain the walking speed threshold of the moving object u stored in the walking speed threshold table 1041 and set the value as v u,walk Let's say. 5. The following process is performed for all records in the table 34 of normal measurement point intervals with travel speed.

[0295] (a) In the table 34 of the normal positioning point section with moving speed, the value of the moving body identifier 231 of the record is u, and the value of the normal positioning point section with moving speed 232, that is, the value of the normal positioning point section with moving speed 233, is Sv u Get. (b) Sv, which is the acquired normal positioning point section sequence 233 with moving speed u All elements in "sv" are normal positioning point sections 234 with the moving speed of the moving body u. u,i ", the following processing is performed.

[0296] ·sv u,i If the value is Null, skip the following processing. ·sv u,i V in u,i The value of v u,walk In the following cases, sv u,i The value of the walking positioning point section sequence 243W of the moving body u of the record in which the value of the moving body identifier 241 in the walking positioning point section sequence table 35 is u. u On the other hand, sv u,i V in u,i The value of v u,walk If greater than sv u,i The value of the non-walking positioning point section sequence 253NW of the moving body u of the record in which the value of the moving body identifier 251 in the non-walking positioning point section sequence table 36 is u. u Save to.

[0297] The other configurations of the walking / non-walking positioning point section extraction device according to the third embodiment are the same as those of the first embodiment, and therefore will not be described.

[0298] As described above, the walking and non-walking positioning point section extraction device according to the third embodiment of the present invention selects, for each moving object, whether to approximate the moving speed probability density function with a bell-shaped distribution or a flat distribution, approximates the moving speed probability density function, determines a walking moving speed threshold, and extracts a walking positioning point section sequence and a non-walking positioning point section sequence. This makes it possible to determine walking and non-walking positioning point sections for each moving object, and to determine walking and non-walking positioning point sections with a high accuracy rate.

[0299] <Configuration of walking / non-walking positioning point section extraction device according to the fourth embodiment of the present invention> Next, a configuration of a walking and non-walking positioning point section extraction device according to a fourth embodiment of the present invention will be described.

[0300] A walking / non-walking positioning point section extraction device according to a fourth embodiment of the present invention can be configured with a computer including a CPU, RAM, and ROM storing programs and various data. The walking / non-walking positioning point section extraction device according to the fourth embodiment differs from the walking / non-walking positioning point section extraction device according to the third embodiment in that it adds a function to the walking / non-walking positioning point section extraction device shown in the first and second embodiments to select a bell-shaped distribution or a flat distribution as an approximate distribution of the travel speed probability density function of each travel mode using the index "kurtosis." In other words, this walking / non-walking positioning point section extraction device replaces the approximate distribution selection unit 3001 of the walking / non-walking positioning point section extraction device 3000 according to the third embodiment with an approximate distribution selection unit 4001 that uses the index "kurtosis."

[0301] An example of the configuration of the replaced approximate distribution selection unit 4001 will be described below.

[0302] <Configuration example of approximate distribution selection unit 4001> 21 shows an example of the configuration of the approximate distribution selection unit 4001. The approximate distribution selection unit 4001 is made up of the following processing units.

[0303] A movement speed frequency distribution table creation unit 3101 that creates a movement speed frequency distribution table for each moving object from the movement speed and normal positioning point section sequence table 34. A starting point movement speed class value calculation unit 3102 that calculates the starting point movement speed class value of each moving object from the created movement speed frequency distribution table of each moving object. A first minimum value moving speed class value calculation unit 3104 that calculates a first minimum value moving speed class value of the moving object from the created moving speed frequency distribution table of each moving object and the calculated starting point moving speed class value. A first-peak moving speed frequency set calculation unit 4104 that calculates a first-peak moving speed frequency set of the moving object from the created moving speed frequency distribution table of each moving object, the calculated starting point moving speed class value of the moving object, and the first maximum value moving speed class value of the moving object. A first-peak moving speed kurtosis calculation unit 4105 that calculates the first-peak moving speed kurtosis using the created moving speed frequency distribution table of each moving object, the calculated starting point moving speed class value, the first minimum value moving speed class value, and the first-peak moving speed frequency set. A kurtosis use approximate distribution determination unit 4106 that uses the calculated first-peak movement speed kurtosis to determine whether the approximate distribution of the speed distribution can be treated as a flat distribution, and stores the result in the approximate distribution type table 3003

[0304] Furthermore, the approximate distribution selection unit 4001 has the following tables and registers.

[0305] A starting point movement speed class value table 3202 in which the starting point movement speed class value of each moving object is stored. A first minimum value movement speed class value table 3204 in which the first minimum value movement speed class value of each moving object is stored. A first-peak movement speed frequency set table 4204 in which the first-peak movement speed frequency set of each moving object is stored. First-peak movement speed kurtosis table 4205, which stores the first-peak movement speed kurtosis of each moving object The threshold value for determining whether the approximate distribution of the probability density function of the moving speed can be treated as a flat distribution using the first-peak moving speed kurtosis is stored in the register 4206.

[0306] Next, each processing unit will be described. Note that the configurations of the travel speed frequency distribution table creation unit 3101, the starting point travel speed class value calculation unit 3102, and the first minimum value travel speed class value calculation unit 3104 are the same as the configurations of the processing units described in the third embodiment, and therefore the description thereof will be omitted.

[0307] <First peak movement speed frequency set calculation unit 4104> The first-peak travel speed frequency set calculation unit 4104 updates the first-peak travel speed frequency set table 4204 using the travel speed frequency distribution table 3013 , the starting point travel speed class value table 3202 , and the first minimum value travel speed class value table 3204 .

[0308] The first-peak movement speed frequency set table 4204 is updated when an update instruction is received from the operator 3002 or when the update of the first minimum value movement speed class value table 3204 is completed.

[0309] [Configuration example of first peak movement speed frequency set table 4204] The first-peak moving speed frequency set table 4204 includes an element {moving object identifier u, first-peak moving speed frequency set of the moving object {h u,i :i=c u,init ,c u,init+1 ,···,c u,min}}.

[0310] [Processing of the first-peak movement speed frequency set calculation unit 4104] The first-peak moving speed frequency set calculation unit 4104 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0311] "Processing the mobile object u" The mobile unit u performs the following processing.

[0312] 1. In the origin movement speed class value table 3202, the origin movement speed class value c of the moving object identifier u u,init Get. 2. In the first minimum value moving speed class value table 3204, the first minimum value moving speed class value c of the moving object identifier uu,min Get. 3. In the moving speed frequency distribution table 3212 for which the moving entity identifier is u, the class is the starting point moving speed class value c u,init The first minimum travel speed class value c u,min The following frequency set {h u,i:i =c u,init ,c u,init+1 ,···,c u,min} to get 4. Obtained {h u,i: i=c u,init ,c u,init+1 ,···,c u,max} and equation (16), the set {_h u,i :i=c u,init ,c u,init+1 ,···,c u,min} is calculated. 5. The calculated set is taken as the first peak movement speed frequency set. 6. The obtained first-peak movement speed frequency set is compared with the first-peak movement speed frequency set {_h u,i :i=c u,init ,c u,init+1 ,···,c u,min} and save it as

[0313] <First peak movement speed kurtosis calculation unit 4105> The first-peak moving speed kurtosis calculation unit 4105 updates the first-peak moving speed kurtosis table 4205 using the moving speed frequency distribution table 3013, the starting point moving speed class value table 3202, the first minimum value moving speed class value table 3204, and the first-peak moving speed frequency set table 4204.

[0314] The first-peak movement velocity kurtosis table 4205 is updated when an update instruction is received from the operator 3002 or when the update of the first-peak movement velocity frequency set table 4204 is completed.

[0315] [Example of the first peak movement velocity kurtosis table 4205] The first-peak moving speed kurtosis table 4205 has elements {moving object identifier u, first-peak moving speed kurtosis K of the moving object}. h}.

[0316] [Processing of the first peak movement velocity kurtosis calculation unit 4105] The first-peak moving speed kurtosis calculation unit 4105 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0317] "Processing the mobile object u" The mobile unit u performs the following processing.

[0318] 1. In the origin movement speed class value table 3202, the origin movement speed class value c of the moving object identifier u u,init Get. 2. In the first minimum value moving speed class value table 3204, the first minimum value moving speed class value c of the moving object identifier u u,min Get. 3. In the first-peak moving speed frequency set table 4204, the first-peak moving speed frequency set {h u,i :i=c u,init ,c u,init+1 ,···,c u,min} to get 4. The acquired starting point movement speed class value c u,init , the first minimum movement speed class value c u,min , first peak movement speed frequency set {_h u,i :i=c u,init ,c u,init+1 ,···,c u,min} and equations (17) to (21) to calculate the first-peak movement velocity kurtosis. 5. The calculated first-peak moving speed kurtosis is compared with the first-peak moving speed kurtosis K of the moving object identifier u in the first-peak moving speed kurtosis table 4205. h u Save as.

[0319] <Kurtosis usage approximation distribution determination unit 4106> The kurtosis-using approximate distribution determination unit 4106 updates the approximate distribution type table 3003 using the first-peak movement speed kurtosis table 4205 and the kurtosis-using uniform distribution determination threshold register 4206 .

[0320] The approximate distribution type table 3003 is updated when an instruction to update is received from the operator 3002 or when updating of the first-peak movement speed kurtosis table 4205 is completed, for example.

[0321] [Processing of the kurtosis-using approximate distribution determination unit 4106] The kurtosis-used approximate distribution determination unit 4106 performs the following process.

[0322] 1. The flat distribution determination threshold ε is obtained from the kurtosis use uniform distribution determination threshold register 4206 (this value is set by the operator 3002). 2. The following process is performed for all mobile entities u (= 1, 2, . . . , n). "Processing the mobile object u" (a) In the first-peak moving speed kurtosis table 4205, the first-peak moving speed kurtosis K h u Get. (b)K h u If is equal to or smaller than ε, the value of the approximate distribution type of the mobile unit identifier u in the approximate distribution type table 3003 is saved as “flat distribution”. (c)K h u If is greater than ε, the value of the approximate distribution type of the mobile unit identifier u in the approximate distribution type table 3003 is saved as “bell-shaped distribution”.

[0323] The other configurations of the walking / non-walking positioning point section extraction device according to the fourth embodiment are the same as those of the first embodiment, and therefore will not be described.

[0324] As described above, the walking and non-walking positioning point section extraction device according to the fourth embodiment of the present invention uses the index "kurtosis" to select whether to approximate the movement speed probability density function with a bell-shaped distribution or a flat distribution for each moving body, approximates the movement speed probability density function, determines a walking movement speed threshold, and extracts a walking positioning point section sequence and a non-walking positioning point section sequence. This makes it possible to determine walking and non-walking positioning point sections for each moving body, and to determine walking and non-walking positioning point sections with a high accuracy rate.

[0325] <Configuration of walking / non-walking positioning point section extraction device according to the fifth embodiment of the present invention> Next, a configuration of a walking and non-walking positioning point section extraction device according to a fifth embodiment of the present invention will be described.

[0326] 22, a walking / non-walking positioning point section extraction device 5000 according to a fifth embodiment of the present invention can be configured by a computer including a CPU, RAM, and ROM storing programs and various data. The walking / non-walking positioning point section extraction device 5000 is a device that approximates the travel speed probability density function of each means of travel with a flat distribution and calculates an estimated value of the walking travel speed threshold of each mobile object using a travel speed cumulative relative frequency table of each mobile object.

[0327] Note that an embodiment in which the probability density function of the travel speed of each means of travel is approximated by a bell-shaped distribution can be easily expanded from the fifth embodiment, and therefore a description thereof will be omitted.

[0328] As shown in FIG. 22 , this walking and non-walking positioning point section extraction device 5000 functionally includes the positioning point sequence creation unit 21, positioning point section sequence creation unit 22, normal positioning point section sequence creation unit 23, moving speed-attached normal positioning point section sequence creation unit 24, positioning point sequence table 31, positioning point section sequence table 32, normal positioning point section sequence table 33, moving speed-attached normal positioning point section sequence table 34, walking positioning point section sequence table 35, non-walking positioning point section sequence table 36, and abnormal positioning time interval threshold register 41 of the conventional walking and non-walking positioning point section extraction device 1 shown in FIG. 29 above, as well as newly added moving speed cumulative relative frequency table-utilizing flat distribution approximation walking movement speed threshold calculation unit 5021, walking / non-walking positioning point section extraction unit 1022, and walking movement speed threshold table 1041. That is, in the walking / non-walking positioning point section extraction device 5000 of the fifth embodiment, the flat distribution approximation walking movement speed threshold calculation unit 2021 in the walking / non-walking positioning point section extraction device 2000 of the second embodiment shown in FIG. 15 is replaced with a flat distribution approximation walking movement speed threshold calculation unit 5021 using a movement speed cumulative relative frequency table.

[0329] As in the first embodiment, the operator 5002 in FIG. 22 is functionally equivalent to the operator 2 in the preceding example.

[0330] Here, an example of the configuration of the moving speed cumulative relative frequency table-utilizing flat distribution approximation walking moving speed threshold calculation unit 5021 will be described.

[0331] <Configuration example of the moving speed cumulative relative frequency table-utilizing flat distribution approximation walking moving speed threshold calculation unit 5021> 23 shows a configuration example of the travel speed cumulative relative frequency table-utilizing flat distribution approximation walking travel speed threshold calculation unit 5021 in the fifth embodiment. The travel speed cumulative relative frequency table-utilizing flat distribution approximation walking travel speed threshold calculation unit 5021 estimates the walking travel speed threshold of each moving object using the travel speed-attached normal measurement point interval sequence table 34, and stores the estimated value in the walking travel speed threshold table 1041.

[0332] The moving speed cumulative relative frequency table-utilizing flat distribution approximation walking moving speed threshold calculation unit 5021 is configured by the following processing units.

[0333] A movement speed frequency distribution table creation unit 2101 that creates a movement speed frequency distribution table for each moving object from the movement speed-attached normal positioning point section sequence table 34. A movement speed cumulative relative frequency table creation unit 5101 that creates a movement speed cumulative relative frequency table for each moving object from the created movement speed frequency distribution table for each moving object. An inflection point interval sequence calculation unit 5102 that calculates an inflection point interval sequence of each moving object from the created movement speed cumulative relative frequency table of the moving object. An inflection point section gradient sequence calculation unit 5103 that calculates the inflection point section gradient sequence of the moving object from the created moving speed cumulative relative frequency table of each moving object and the calculated inflection point section sequence. An inflection point section gradient sudden drop movement speed class value calculation unit 5104 that calculates an inflection point section gradient sudden drop movement speed class value of the moving object from the calculated inflection point section gradient sequence of the moving object. A walking speed threshold calculation unit 5105 calculates the walking speed threshold of the moving object from the calculated inflection point section gradient sudden drop moving speed class value of the moving object, and stores the value in the walking speed threshold table 1041.

[0334] Furthermore, the moving speed cumulative relative frequency table-utilizing flat distribution approximation walking moving speed threshold calculation unit 5021 has the following table.

[0335] A movement speed frequency distribution table 2201 in which the movement speed frequency table of each moving object is stored. A movement speed cumulative relative frequency table 5201 in which the movement speed cumulative relative frequency table of each moving object is stored. An inflection point interval sequence table 5202 in which the inflection point interval sequence of each moving object is stored. An inflection point interval gradient sequence table 5203 in which the inflection point interval gradient sequence of each moving object is stored. A table 5204 of inflection point section gradient sudden drop movement speed class values ​​in which inflection point section gradient sudden drop movement speed class values ​​of each moving object are stored.

[0336] Next, each processing unit will be explained, except that the travel speed frequency distribution table creation unit 2101 is the same as that explained in the second embodiment, and therefore the explanation will be omitted.

[0337] <Movement speed cumulative relative frequency table creation unit 5101> The movement speed cumulative relative frequency table creation unit 5101 uses the movement speed frequency distribution table 2201 to update the movement speed cumulative relative frequency table of each moving body, and stores it in the movement speed cumulative relative frequency table 5201 .

[0338] The movement speed cumulative relative frequency table is updated when an instruction to update is received from the operator 5002 or when updating of the movement speed frequency distribution table 2201 is completed.

[0339] [Configuration example of travel speed cumulative relative frequency table 5201] The travel speed cumulative relative frequency table 5201 is composed of n travel speed cumulative relative frequency tables: {travel speed cumulative relative frequency table 5211 for travel object identifier 1, ..., travel speed cumulative relative frequency table 5212 for travel object identifier u, ..., travel speed cumulative relative frequency table 5213 for travel object identifier n}. An example of travel speed cumulative relative frequency table 5212 of travel speeds of all travel means with a travel object identifier u, which corresponds to the cumulative histogram of travel speeds of all travel means with a travel object identifier u shown in FIG. 24 (hereinafter referred to as travel speed cumulative histogram), is shown in FIG. 25.

[0340] The travel speed cumulative relative frequency table 5212 for travel speeds of a moving object identifier u is composed of records (class 5401, class value 5402, cumulative relative frequency 5403). The class of the i (=1, 2,...)th class record is equal to or greater than (i-1)Δv and less than iΔv, and the class value is v i (=(2i-1)Δv / 2), and the cumulative relative frequency is cg u,i (See the cumulative relative frequency 5311 of each class in FIG. 24.) Here, the class width is assumed to be Δv.

[0341] The cumulative relative frequency cg of mobile identifier u in class [(i-1)Δv,iΔv] u,ican be easily calculated when the moving speed frequency distribution table 2212 (see FIG. 17) of the moving object identifier u is given. The frequency of the moving speed of the moving object identifier u in the class [(i-1)Δv, iΔv] is calculated as g u,i Then, cg u,i is given by the following equation:

[0342] JPEG2025176957000030.jpg4771 (twenty four)

[0343] where i max is the class number in the movement speed frequency distribution table 2212 for the moving object identifier u.

[0344] In equation (24), u is i max CG at the time u,i so that is 1. JPEG2025176957000031.jpg2230 It is normalized using

[0345] [Processing of the travel speed cumulative relative frequency table creation unit 5101] The moving speed cumulative relative frequency table creating unit 5101 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0346] "Processing the mobile object u" The mobile unit u performs the following processing.

[0347] 1. In the moving speed frequency distribution table 2201, the moving speed frequency distribution table 2212 for the moving body identifier u is obtained. 2. Using equation (24), the cumulative relative frequency cg of the moving speed of the mobile unit identifier u u,i ,i=1,2,···,i max is calculated, and a travel speed cumulative relative frequency table 5212 of the travel speed of the moving object identifier u is created.

[0348] In the example in Figure 25, i max is 10.

[0349] <Inflection Point Section Sequence Calculation Unit 5102> The inflection point interval sequence calculation unit 5102 updates the inflection point interval sequence table 5202 using the travel speed cumulative relative frequency table 5201 .

[0350] The inflection point interval sequence table 5202 is updated when an update instruction is received from the operator 5002 or when the update of the travel speed cumulative relative frequency table 5201 is completed.

[0351] [Configuration example of inflection point interval sequence table 5202] The inflection point interval sequence table 5202 is configured with the element {moving object identifier u, a set of inflection point intervals {(v1, v2), (v2, v3), ...}} in the cumulative histogram of the moving speed of the moving object. i , i=1,2,3,... is the class value 5331 (see FIG. 24) of the travel speed that forms the i-th inflection point at each inflection point 5321 (see FIG. 24) in the travel speed cumulative histogram. For convenience, the point corresponding to the class value 5341 of the travel speed that forms the starting point travel speed is also considered to be an inflection point.

[0352] [Processing of the inflection point interval sequence calculation unit 5102] The inflection point interval sequence calculation unit 5102 uses the value of the function h(v) of the moving object v described above in <Calculation of inflection point sequence> to find the value at which the value of h(v) becomes an extreme value, and calculates the class value of the moving speed of that value as v i Specifically, O1601 described in the above <Calculation of Inflection Point Sequence> is (the class value 5341 of the movement speed forming the starting point movement speed shown in FIG. 24, the value of the movement speed cumulative histogram 5301 is 0), and V1602 is (any value v of the class value of the movement speed shown in FIG. 24 i , the class value is v i 24), R1603 is (class value 5361 of the travel speed which means a sufficiently large value shown in FIG. 24, and the value of the travel speed cumulative histogram at that time).

[0353] The following process is performed for all moving objects u (= 1, 2, . . . , n).

[0354] "Processing the mobile object u" The mobile unit u performs the following processing.

[0355] 1. Find h(v) for the moving object u. 2. The maximum value of h(v) is determined by the sequence of moving speed values ​​{v i} is required. 3. The calculated class value sequence {v i} to create an inflection point interval sequence table for the mobile unit identifier u.

[0356] <Inflection point interval gradient sequence calculation unit 5103> The inflection point interval gradient sequence calculation unit 5103 updates the inflection point interval gradient sequence table 5203 using the moving speed cumulative relative frequency table 5201 and the inflection point interval sequence table 5202 .

[0357] The inflection point interval gradient sequence table 5203 is updated when an update instruction is received from the operator 5002 or when the update of the inflection point interval sequence table 5202 is completed.

[0358] [Configuration example of inflection point interval slope sequence table 5203] The inflection point interval gradient sequence table 5203 is configured with an element {mobile object identifier u, set of inflection point interval gradients {α1, α2, . . .}} in the cumulative histogram of the moving speed of the mobile object. i (i=1,2,...) is the i-th inflection point interval (_v i ,_v i+1 ) (see the slope 5341 of each inflection point section in FIG. 24).

[0359] α i is given by the following equation:

[0360] JPEG2025176957000032.jpg2879 (twenty five)

[0361] where _cg u,iis the class value _v of the moving speed that forms the i-th inflection point for the moving object u. i The corresponding cumulative relative frequency is 5351.

[0362] [Inflection point interval gradient sequence calculation unit 5103] The inflection point section gradient sequence calculation unit 5103 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0363] "Processing the mobile object u" The mobile unit u performs the following processing.

[0364] 1. Using the inflection point interval sequence table 5202, the set of inflection point intervals {(_v1, _v2), (_v2, _v3), . . . ,} of the moving object identifier u is obtained. 2. Using the moving speed cumulative relative frequency table 5212 of the moving object identifier u, the moving speed class value v forming the i-th inflection point is calculated. i _cg, which has a cumulative relative frequency of 5351 corresponding to 5331 u,i Get. 3. Using equation (25), the set of slopes in the inflection point interval {α i :i=1,2,···}. 4. The calculated set {α i :i=1, 2, . . .} is stored as a set of inflection point section slopes in the moving speed cumulative histogram of the moving object identifier u in the inflection point section slope sequence table 5203.

[0365] <Inflection Point Section Gradient Sudden Drop Movement Speed ​​Class Value Calculation Unit 5104> The inflection point section gradient sudden drop movement speed class value calculation unit 5104 uses the inflection point section gradient sequence table 5203 to update the inflection point section gradient sudden drop movement speed class value table 5204 .

[0366] The inflection point section gradient sudden drop movement speed class value table 5204 is updated when an update instruction is received from the operator 5002 or when updating of the inflection point section gradient sequence table 5203 is completed.

[0367] [Configuration example of inflection point section gradient sudden drop movement speed class value table 5204] The inflection point section gradient sudden drop travel speed class value table 5204 is configured from elements {mobile body identifier u, inflection point section gradient sudden drop travel speed class value of the mobile body}.

[0368] [Processing of the inflection point section gradient sudden drop movement speed class value calculation unit 5104] The inflection point section gradient sudden drop moving speed class value calculation unit 5104 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0369] "Processing the mobile object u" The mobile unit u performs the following processing.

[0370] 1. Using the inflection point interval slope sequence table 5203, the set of slopes of the inflection point interval of the mobile unit identifier u {α i :i=1,2,···}. 2. The set of slopes of the obtained inflection point intervals {α i :i=1,2,...}, the initial falling slope (α j ) and calculate the slope α j The inflection point interval corresponding to (i.e., (_v j ,_v j+1 )) is calculated. 3. Calculated _v j is stored as the inflection point section gradient sudden drop travel speed class value of the moving object identifier u in the inflection point section gradient sudden drop travel speed class value table 5204.

[0371] In the example of FIG. 24, the initial falling gradient is α3, the inflection point section corresponding to the gradient α3 is (_v3, _v4), and therefore the inflection point section gradient sudden drop movement speed class value is _v3.

[0372] <Walking speed threshold calculation unit 5105> The walking speed threshold calculation unit 5105 updates the walking speed threshold table 1041 using the inflection point section gradient sudden drop moving speed class value table 5204 .

[0373] The walking movement speed threshold table 1041 is updated when an update instruction is received from the operator 5002 or when the update of the inflection point section gradient sudden drop movement speed class value table 5204 is completed.

[0374] [Processing of walking speed threshold calculation unit 5105] The walking speed threshold calculation unit 5105 performs the following process for all moving bodies u (=1, 2, . . . , n).

[0375] "Processing the mobile object u" The mobile unit u performs the following processing.

[0376] 1. In the inflection point section gradient sudden drop travel speed class value table 5204, the inflection point section gradient sudden drop travel speed class value for the moving object identifier u is obtained. 2. The acquired inflection point section gradient sudden drop movement speed class value is set as the walking movement speed threshold. 3. The obtained walking speed threshold is used as the walking speed threshold v of the moving object identifier u in the walking speed threshold table 1041. u,walk Save as.

[0377] The other configurations of the walking / non-walking positioning point section extraction device according to the fifth embodiment are the same as those of the first embodiment, and therefore will not be described.

[0378] As described above, the walking and non-walking positioning point section extraction device according to the fifth embodiment of the present invention approximates the moving speed probability density function with a flat distribution for each moving object, determines the walking moving speed threshold using the moving speed cumulative relative frequency table, and extracts a walking positioning point section sequence and a non-walking positioning point section sequence. This makes it possible to determine walking and non-walking positioning point sections for each moving object, and to determine walking and non-walking positioning point sections with a high accuracy rate.

[0379] <Configuration of walking / non-walking positioning point section extraction device according to the sixth embodiment of the present invention> Next, a configuration of a walking and non-walking positioning point section extraction device according to a sixth embodiment of the present invention will be described.

[0380] 26, a walking / non-walking positioning point section extraction device 6000 according to a sixth embodiment of the present invention can be configured with a computer including a CPU, a RAM, and a ROM storing programs and various data. The walking / non-walking positioning point section extraction device 6000 is a device having a function of deleting positioning point sections with extremely short positioning time intervals (i.e., positioning point sections considered invalid) and positioning point sections with sufficiently small moving speeds (i.e., positioning point sections considered to be stays) from a sequence of normal positioning point sections.

[0381] As in the first embodiment, the operator 6002 in FIG. 26 is functionally equivalent to the operator 2 in the preceding example.

[0382] In the sixth embodiment, an example of a walking / non-walking positioning point section extraction device having the above-mentioned functions is shown in the walking / non-walking positioning point section extraction device shown in the first embodiment. The method described in the sixth embodiment can be easily applied to the walking / non-walking positioning point section extraction devices described in the second, third, fourth, and fifth embodiments.

[0383] Functionally, as shown in FIG. 26, this walking and non-walking positioning point section extraction device 6000 is obtained by adding the following to the walking and non-walking positioning point section extraction device 1000 shown in FIG.

[0384] A normal positioning point section sequence with deleted moving speed creation unit 10011 deletes a positioning point section that is considered to be invalid or stationary from the normal positioning point section sequence table with moving speed 34. Valid fix time interval threshold register 10001, which contains the valid fix time interval threshold Stay determination movement speed threshold register 10002 containing the stay determination movement speed threshold ·Invalid · Stay positioning point section deleted Invalid · Stay positioning point section deleted Normal positioning point section column table with moving speed 10021

[0385] The newly added invalid / stay positioning point section deleted normal positioning point section sequence with moving speed creation unit 10011 will be described below.

[0386] <Invalid / stay positioning point section deleted normal positioning point section sequence creation part 10011 with moving speed> The invalid / stay positioning point section deleted and normal positioning point section with moving speed creation unit 10011 updates the invalid / stay positioning point section deleted and normal positioning point section with moving speed table 10021 using the normal positioning point section with moving speed table 34.

[0387] The invalid / stay positioning point section deleted normal positioning point section sequence table 10021 is updated when an update instruction is received from the operator 6002 or when the update of the normal positioning point section sequence table 34 with moving speed is completed, etc.

[0388] [Configuration example of invalid / stay positioning point section deleted normal positioning point section column table 10021 with moving speed] An example of the configuration of the invalid / stayed positioning point section deleted and normal positioning point section with moving speed table 10021 is shown in Fig. 27. The invalid / stayed positioning point section deleted and normal positioning point section with moving speed table 10021 is made up of n records (mobile body identifier 10101, invalid / stayed positioning point section deleted and normal positioning point section with moving speed column 10102). The value of the invalid / stayed positioning point section deleted and normal positioning point section with moving speed column 10104 in the record where the value of the mobile body identifier 10101 is u, i.e., the invalid / stayed positioning point section deleted and normal positioning point section with moving speed column 10103RSv u is a collection of invalid and normal positioning point sections with deleted moving speeds for the mobile unit u. The i-th invalid and normal positioning point section with deleted moving speeds for the mobile unit u is 10104rsv. u,i The configuration is the normal positioning point section 234sv with the i-th moving speed of the moving object u. u,i (See Figure 33)

[0389] [Processing of invalid / stay positioning point section deleted normal positioning point section sequence with moving speed creation unit 10011] The invalid / stay positioning point section deleted normal positioning point section sequence with moving speed creation unit 10011 performs the following process.

[0390] 1. Obtain the valid positioning time interval threshold stored in the valid positioning time interval threshold register 10001 and set the value to t varid Let's say. 2. Obtain the stay determination movement speed threshold stored in the stay determination movement speed threshold register 10002 and set the value to t stay Let's say. 3. The following process is performed for all records in the table 34 of normal measurement point intervals with travel speed.

[0391] (a) In the table 34 of the normal positioning point section with moving speed, the value of the normal positioning point section with moving speed 232 in which the value of the moving body identifier 231 of the relevant record is u, that is, the normal positioning point section with moving speed 233Sv u Get. (b) Obtained normal positioning point section sequence with moving speed 233Sv u All elements in the normal positioning point section 234sv with the moving speed of the moving object u u,i ", the following processing is performed.

[0392] i. Normal positioning point section sequence with moving speed 233Sv u In the i-th moving speed normal positioning point section 234sv of the moving object u u,i Get. sv u,i If the value is Null, the i-th invalid and staying positioning point section of the moving object u is deleted. The normal positioning point section with moving speed rsv u,i is set to Null.

[0393] sv u,i If the value of is not null, A.sv u,i From, t u,i ,t u,i+1 Get the value of . B. Obtained t u,i ,t u,i+1 Using the i-th positioning interval t u,i+1 -t u,i Find t u,i+1 -t u,i is the effective positioning time interval threshold t varid If less than, rsv u,i is set to Null. C.sv u,i From the i-th moving speed v u,i Get the value of . D. The obtained i-th moving speed v u,i If is smaller than the stay determination movement speed threshold, rsv u,i is set to Null. ii.rsv u,i Invalidates the value of the record in which the value of the moving object identifier 10101 in the table 10021 of the positioning point interval deleted and normal positioning point interval with moving speed column RSv u Save to.

[0394] In the first embodiment, the bell-shaped distribution approximation walking movement speed threshold calculation unit 1021 and the walking / non-walking positioning point section extraction unit 1022 are supposed to access the table 34 of normal positioning point sections with movement speeds, but in this embodiment, they access the table 10021 of normal positioning point sections with movement speeds from which invalid / stay positioning point sections have been deleted instead of the table 34 of normal positioning point sections with movement speeds.

[0395] The other configurations of the walking / non-walking positioning point section extraction device according to the sixth embodiment are the same as those of the first embodiment, and therefore will not be described.

[0396] As described above, according to the walking and non-walking positioning point section extraction device of the sixth embodiment of the present invention, after deleting positioning point sections with extremely short positioning time intervals and positioning point sections with sufficiently small movement speeds from the normal positioning point section sequence, the walking movement speed threshold is determined from the movement speed probability density function for each moving object, and a walking positioning point section sequence and a non-walking positioning point section sequence are extracted. This makes it possible to determine walking and non-walking positioning point sections for each moving object, and to determine walking and non-walking positioning point sections with a high accuracy rate.

[0397] The present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the spirit and scope of the present invention.

[0398] For example, although the mobile object is a pedestrian (user) in the above example, the present invention is not limited to this, and the mobile object may be a moving object other than a pedestrian, such as a vehicle.

[0399] Furthermore, the above-mentioned walking / non-walking positioning point section extraction devices 1000, 2000, 3000, 5000, and 6000 have a computer system inside, but the "computer system" also includes the homepage providing environment (or display environment) if a WWW system is used.

[0400] Furthermore, although the present specification has described an embodiment in which the program is pre-installed, the program can also be provided by being stored on a computer-readable recording medium, or can be provided via a network. [Explanation of symbols]

[0401] 1. Pedestrian and non-pedestrian positioning point section extraction device 11 Mobile 12 Mobile 21 Positioning point sequence creation unit 22 Positioning point section sequence creation unit 23. Normal positioning point section sequence creation unit 24. Creation of normal positioning point section sequence with moving speed 25. Pedestrian and non-pedestrian positioning point section extraction unit 29 The above figure 31 Positioning point sequence table 32 Positioning point section table 33 Normal positioning point interval table 34 Table of normal positioning point intervals with moving speed 35 Walking positioning point interval table 36 Non-walking positioning point interval table 41 Abnormal positioning time interval threshold register 42 Walking Movement Speed ​​Threshold Register 50 Communication Network 51 Base station 131 Positioning Device 132 Positioning Device 201 Mobile Identifier 202 Positioning point sequence 203 Positioning point sequence 204 positioning points 211 Mobile Identifier 212 Positioning point section sequence 213 Positioning point section sequence 214 Positioning point section 221 Mobile Identifier 222 Normal Positioning Point Section Sequence 223 Normal Positioning Point Section Sequence 224 Normal positioning point section 231 Mobile Identifier 232 Normal positioning point interval sequence with moving speed 233 Normal positioning point interval sequence with moving speed 234 Normal positioning point section with moving speed 241 Mobile Identifier 242 Walking Positioning Point Section Sequence 243 Walking Positioning Point Section Sequence 244 walking positioning point sections 251 Mobile Identifier 252 Non-walking positioning point section sequence 253 Non-walking positioning point section sequence 254 Non-walking positioning point section 301 Probability density function of moving speed 302 Probability density function of moving speed 303 Probability density function of moving speed 311 Peak Movement Speed 312 Peak Movement Velocity 313 Peak Movement Velocity 321 Probability density function of travel speed 420 Movement speed 421 Probability density function of moving speed 422 Movement speed 423 Estimated 501 Probability density function of moving speed 502 Probability density function of moving speed 503 Probability density function of moving speed 511 Movement speed 512 Movement speed 521 Movement speed 522 Movement speed 531 Movement speed 532 Movement speed 541 Probability density function of moving speed 551 Probability density function of moving speed 561 Movement speed 562 Movement speed 611 Starting point movement speed 612 First maximum value movement speed 613 First minimum value movement speed 621 Probability density function of moving speed 631 error 701 Histogram 711 degrees 721 Starting Point Movement Speed ​​Class Value 722 First maximum movement speed class value 723 First minimum movement speed class value 1000 Walking and non-walking positioning point section extraction device 1002 Operator 1021 Bell-type distribution approximation walking speed threshold calculation unit 1022 Walking / non-walking positioning point section extraction unit 1041 Walking Speed ​​Threshold Table 1101 Travel Speed ​​Frequency Distribution Table Creation Department 1102 Starting point movement speed class value calculation unit 1103 First maximum value moving speed class value calculation unit 1104 Walking speed threshold calculation unit 1201 Travel Speed ​​Frequency Distribution Table 1202 Starting Point Movement Speed ​​Class Value Table 1203 First Maximum Movement Speed ​​Class Value Table 1211 Movement speed frequency distribution table 1212 Movement speed frequency distribution table 1213 Movement speed frequency distribution table 1301 Class 1302 Class Value 1303 degrees 1304th Class Record 1321 Travel Speed ​​Cumulative Distribution Function 1400 Inflection Point Sequence 1421 Travel Speed ​​Cumulative Distribution Function 1441 Travel Speed ​​Cumulative Distribution Function 1500 Inflection Point Sequence Column 1510 1521 Travel Speed ​​Cumulative Distribution Function 1541 Travel Speed ​​Cumulative Distribution Function 1622 curve 1623 Extreme Value Sequence 2000 Walking and Non-walking Positioning Point Section Extraction Device 2002 Operator 2021 Flat Distribution Approximation Walking Speed ​​Threshold Calculation Unit 2101 Travel Speed ​​Frequency Distribution Table Creation Department 2102 Rapid drop movement speed class value calculation unit 2103 Walking speed threshold calculation unit 2201 Travel Speed ​​Frequency Distribution Table 2202 Rapid Fall Movement Speed ​​Class Value Table 2203 Rapid fall movement speed class value threshold register 2212 Movement speed frequency distribution table 2305 Sudden drop in movement speed class value 3000 Walking and non-walking positioning point section extraction device 3001 Approximate Distribution Selection Unit 3002 Operator 3003 Approximate Distribution Type Table 3011 Bell-type distribution approximation walking speed threshold calculation unit 3012 Flat Distribution Approximation Walking Speed ​​Threshold Calculation Unit 3013 Travel Speed ​​Frequency Distribution Table 3022 Walking / non-walking positioning point section extraction unit 3101 Travel Speed ​​Frequency Distribution Table Creation Department 3102 Starting point movement speed class value calculation unit 3103 First maximum value moving speed class value calculation unit 3104 First minimum value moving speed class value calculation unit 3105 First maximum class frequency calculation unit 3106 Histogram normalization error calculation unit 3107 Approximate distribution determination unit 3202 Starting Point Movement Speed ​​Class Value Table 3203 First Maximum Movement Speed ​​Class Value Table 3204 First Minimum Travel Speed ​​Class Value Table 3205 First Maximum Class Frequency Table 3206 Histogram Normalized Error Table 3207 Flat distribution judgment threshold register 3212 Movement speed frequency distribution table 3306 Starting point movement speed class value 4001 Approximate Distribution Selection Unit 4104 First peak movement speed frequency set calculation unit 4105 First peak movement speed kurtosis calculation unit 4106 Approximate distribution determination unit using kurtosis 4204 First Peak Movement Speed ​​Frequency Set Table 4205 First Peak Movement Speed ​​Kurtosis Table 4206 Kurtosis Use Uniform Distribution Judgment Threshold Register 5000 Walking and non-walking positioning point section extraction device 5002 Operator 5021 Walking speed threshold calculation unit using a moving speed cumulative relative frequency table and approximating the flat distribution 5101 Travel speed cumulative relative frequency table creation unit 5102 Inflection point interval sequence calculation unit 5103 Column calculation unit 5104 Rapid drop movement speed class value calculation unit 5105 Walking speed threshold calculation unit 5201 Travel Speed ​​Cumulative Relative Frequency Table 5202 Inflection Point Interval Sequence Table 5203 Column Table 5204 Rapid Fall Movement Speed ​​Class Value Table 5211 Travel Speed ​​Cumulative Relative Frequency Table 5212 Travel Speed ​​Cumulative Relative Frequency Table 5213 Travel Speed ​​Cumulative Relative Frequency Table 5301 Travel Speed ​​Cumulative Histogram 5311 Cumulative Relative Frequency 5321 each inflection point 5331 Class Value 5341 Class Value 5351 Cumulative Relative Frequency 5361 Class Value 5401 Class 5402 Class Value 5403 Cumulative Relative Frequency 6000 Walking and non-walking positioning point section extraction device 6002 Operator 10001 Valid Fix Time Interval Threshold Register 10002 Stay judgment movement speed threshold register 10011 Invalid - Stay positioning point section deleted Normal positioning point section sequence creation part with moving speed 10021 Invalid / stayed positioning point section deleted Normal positioning point section column table with moving speed 10101 Mobile Identifier 10102 Invalid - Normal positioning point section with deleted moving speed 10103 Invalid - Normal positioning point section with deleted moving speed 10104 Invalid - Normal positioning point section with deleted moving speed 10201 Abnormal positioning point section

Claims

1. a positioning point sequence creation means for collecting positioning points, which are pairs of position information of each moving object and measurement time, measured at each moving object, and creating a positioning point sequence, which is a sequence of positioning points of each moving object; a positioning point section sequence creation means for creating, for each moving body, a positioning point section sequence that is a series of positioning point sections, each of which is a set of consecutive positioning points, from the positioning point sequence of the moving body; a normal positioning point section sequence creation means for creating, for each moving body, a normal positioning point section sequence that is a series of normal positioning point sections that are normal positioning point sections from the positioning point section sequence of the moving body; a movement speed-attached normal positioning point section sequence creation means for calculating, for each moving body, a movement speed in each normal positioning point section from the normal positioning point section sequence of the moving body, and creating a movement speed-attached normal positioning point section sequence which is a sequence of movement speed-attached normal positioning point sections to which the calculated movement speed is assigned for the normal positioning point section; a walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is equal to or less than a predetermined walking moving speed threshold; means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a sequence of non-walking positioning point sections which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is greater than the walking moving speed threshold value; In an apparatus having a moving speed probability density function creating means for creating, for each moving body, a moving speed probability density function which is a probability density function of the moving speed calculated in each normal positioning point section from the moving speed-attached normal positioning point section sequence of the moving body; an origin moving speed calculation means for calculating, for each moving body, an origin moving speed which is the smallest moving speed among moving speeds whose occurrence probability is greater than 0 in a moving speed probability density function of the moving body; a first maximum value moving speed calculation means for calculating, for each moving body, a first maximum value moving speed, which is the smallest moving speed among moving speeds whose occurrence probability takes a maximum value in the moving speed probability density function of the moving body; and a walking / non-walking positioning point section extraction device, characterized by having a walking movement speed threshold determination means for determining, for each moving body, a value obtained by subtracting the starting point movement speed from twice the first maximum value movement speed as the walking movement speed threshold of the moving body.

2. a positioning point sequence creation means for collecting positioning points, which are pairs of position information of each moving object and measurement time, measured at each moving object, and creating a positioning point sequence, which is a sequence of positioning points of each moving object; a positioning point section sequence creation means for creating, for each moving body, a positioning point section sequence that is a series of positioning point sections, each of which is a set of consecutive positioning points, from the positioning point sequence of the moving body; a normal positioning point section sequence creation means for creating, for each moving body, a normal positioning point section sequence that is a series of normal positioning point sections that are normal positioning point sections from the positioning point section sequence of the moving body; a movement speed-attached normal positioning point section sequence creation means for calculating, for each moving body, a movement speed in each normal positioning point section from the normal positioning point section sequence of the moving body, and creating a movement speed-attached normal positioning point section sequence which is a series of movement speed-attached normal positioning point sections to which the calculated movement speed is assigned for the normal positioning point section; a walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is equal to or less than a predetermined walking moving speed threshold; a non-walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a non-walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is greater than the walking moving speed threshold value; In an apparatus having a moving speed probability density function creating means for creating, for each moving body, a moving speed probability density function which is a probability density function of the moving speed calculated in each normal positioning point section from the moving speed-attached normal positioning point section sequence of the moving body; a sudden drop speed calculation means for calculating, for each moving body, a sudden drop speed which is the smallest moving speed among moving speeds at which the occurrence probability suddenly drops in a moving speed probability density function of the moving body; a walking speed threshold determining means for determining, for each moving body, the sudden drop in moving speed as a walking speed threshold of the moving body; A walking and non-walking positioning point section extraction device comprising:

3. For each moving body u, a first minimum value moving speed v is the smallest moving speed among the moving speeds whose occurrence probability takes a minimum value in the moving speed probability density function of the moving body u. ｕ，ｍｉｎ a first minimum value movement speed calculation means for calculating a first minimum value movement speed; For each moving body u, in the moving speed probability density function of the moving body u, a maximum value f of occurrence probability corresponding to the first maximum value moving speed is ｕ，ｍａｘ a maximum value calculation means for calculating a maximum value; According to the following formulas (I) and (II), the normalized error E ｕ，ｎｏｒｍａｌｉｚｅ a normalization error calculation means for calculating In the moving speed probability density function, the normalized error E ｕ，ｎｏｒｍａｌｉｚｅ a selection means for selecting a flat distribution as an approximate distribution of the moving speed probability density function used when determining the walking moving speed threshold value when the value is equal to or less than a given value.

3. The walking / non-walking positioning point section extraction device according to claim 1, further comprising: (I) (II) However, f ｕ (v) is the probability density function of the moving speed of the moving object u, and v ｕ，ｉｎｉｔ is the starting speed of the moving object u's moving speed probability density function, and v ｕ，ｍａｘ is the first maximum value moving speed of the moving speed probability density function of the moving object u.

4. For each moving body u, a first minimum value moving speed v is the smallest moving speed among the moving speeds whose occurrence probability takes a minimum value in the moving speed probability density function of the moving body u. ｕ，ｍｉｎ a first minimum value movement speed calculation means for calculating a first minimum value movement speed; According to the following equation (III), the first-peak moving speed probability density function _f of the moving object u is ｕ a first-peak movement speed probability density function calculation means for calculating (v); The kurtosis K of the first-peak shift speed probability density function is calculated according to the following formulas (IV), (V), and (VI). ｕ a kurtosis calculation means for calculating The kurtosis K ｕ means for selecting a flat distribution as an approximate distribution of the moving speed probability density function used when determining the walking moving speed threshold value if the value is equal to or less than a value within the range [1.8, 3).

3. The walking / non-walking positioning point section extraction device according to claim 1, further comprising: (III) (IV) (V) (VI)

5. a positioning point sequence creation means for collecting positioning points, which are pairs of position information of each moving object and measurement time, measured at each moving object, and creating a positioning point sequence, which is a sequence of positioning points of each moving object; a positioning point section sequence creation means for creating, for each moving body, a positioning point section sequence that is a series of positioning point sections, each of which is a set of consecutive positioning points, from the positioning point sequence of the moving body; a normal positioning point section sequence creation means for creating, for each moving body, a normal positioning point section sequence that is a series of normal positioning point sections that are normal positioning point sections from the positioning point section sequence of the moving body; a movement speed-attached normal positioning point section sequence creation means for calculating, for each moving body, a movement speed in each normal positioning point section from the normal positioning point section sequence of the moving body, and creating a movement speed-attached normal positioning point section sequence which is a series of movement speed-attached normal positioning point sections to which the calculated movement speed is assigned for the normal positioning point section; a walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is equal to or less than a predetermined walking moving speed threshold; a non-walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a non-walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is greater than the walking moving speed threshold value; In an apparatus having a movement speed cumulative distribution function creating means for creating, for each moving body, a movement speed cumulative distribution function which is a cumulative distribution function of the movement speed calculated in each normal positioning point section from the movement speed-attached normal positioning point section sequence of the moving body; a cumulative distribution starting point moving speed calculation means for calculating, for each moving body, a cumulative distribution starting point moving speed, which is the smallest moving speed among moving speeds whose cumulative distribution value is greater than 0 in a moving speed cumulative distribution function of the moving body; a cumulative distribution first inflection point movement speed calculation means for calculating, for each moving body, a cumulative distribution first inflection point movement speed, which is the smallest movement speed among movement speeds that take an inflection point in a movement speed cumulative distribution function of the moving body; a walking speed threshold calculation means for determining, for each moving body, a value obtained by subtracting the cumulative distribution starting point moving speed from twice the cumulative distribution first inflection point moving speed as a walking speed threshold of the moving body; A walking and non-walking positioning point section extraction device comprising:

6. a positioning point sequence creation means for collecting positioning points, which are pairs of position information of each moving object and measurement time, measured at each moving object, and creating a positioning point sequence, which is a sequence of positioning points of each moving object; a positioning point section sequence creation means for creating, for each moving body, a positioning point section sequence that is a series of positioning point sections, each of which is a set of consecutive positioning points, from the positioning point sequence of the moving body; a normal positioning point section sequence creation means for creating, for each moving body, a normal positioning point section sequence that is a series of normal positioning point sections that are normal positioning point sections from the positioning point section sequence of the moving body; a movement speed-attached normal positioning point section sequence creation means for calculating, for each moving body, a movement speed in each normal positioning point section from the normal positioning point section sequence of the moving body, and creating a movement speed-attached normal positioning point section sequence which is a series of movement speed-attached normal positioning point sections to which the calculated movement speed is assigned for the normal positioning point section; a walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is equal to or less than a predetermined walking moving speed threshold; a non-walking positioning point section sequence extraction means for extracting, for each moving body, from the moving speed-attached normal positioning point section sequence of the moving body, a non-walking positioning point section sequence which is a sequence of moving speed-attached normal positioning point sections in which the moving speed assigned to each moving speed-attached normal positioning point section is greater than the walking moving speed threshold value; In an apparatus having a movement speed cumulative distribution function creating means for creating, for each moving body, a movement speed cumulative distribution function which is a cumulative distribution function of the movement speed calculated in each normal positioning point section from the movement speed-attached normal positioning point section sequence of the moving body; an inflection point interval sequence calculation means for calculating, for each moving object, an inflection point interval sequence which is a sequence of inflection point intervals separated by inflection points in the moving speed cumulative distribution function of the moving object; gradient calculation means for calculating, for each moving body, a gradient of each inflection point section in the inflection point section sequence of the moving body; an inflection point section gradient sudden drop movement speed calculation means for calculating, for each moving body, an inflection point section gradient sudden drop movement speed, which is a movement speed corresponding to the start of an inflection point section where the gradient is lower than that of the immediately preceding inflection point section in the gradient sequence of the inflection point section of the moving body; A walking / non-walking positioning point section extraction device characterized by having a walking movement speed threshold determination means for determining, for each moving body, the value of the inflection point section slope sudden drop movement speed of the moving body as the walking movement speed threshold of the moving body.

7. a means for obtaining, for each moving body, from the moving body's moving speed cumulative distribution function, a point O which is a combination of a starting moving speed and a probability value of 0, a point V which is a combination of a moving speed v and the value of said moving speed cumulative distribution function when the moving speed is v, and a point R which is a combination of a moving speed r of a sufficiently large value and the value of said moving speed cumulative distribution function when the moving speed is r; a means for calculating a function h(v) that represents the difference between the slope of a straight line OV between the point O and the point V and the slope of a straight line VR between the point V and the point R; means for calculating a sequence of extrema from the curve of the function h(v); and 7. The walking / non-walking positioning point section extraction device according to claim 5, wherein an inflection point sequence, which is a sequence of the inflection points, is calculated for each moving object using the extremum sequence.

8. an effective positioning time interval threshold setting means for setting an effective positioning time interval threshold, which is a threshold of an effective positioning time interval; 7. The walking / non-walking positioning point section extraction device according to claim 1, further comprising: a deletion means for deleting, for each moving body, normal positioning point sections having a positioning time interval smaller than the effective positioning time interval threshold value from the normal positioning point section sequence of the moving body.

9. a stay determination movement speed threshold setting means for setting a stay determination movement speed threshold, which is a movement speed at which a positioning point section can be regarded as a stay; 7. The walking / non-walking positioning point section extraction device according to claim 1, further comprising: a deletion means for deleting, for each moving body, normal positioning point sections having a movement speed smaller than the stay determination movement speed threshold from the normal positioning point section sequence of the moving body.

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