Information processing device, information processing method, and program

Abstract

This invention relates to an information processing device, an information processing method, and a program that make it possible to efficiently and highly accurately create distribution data of geomagnetism or the like (electric field / magnetic field). According to this invention, the strength or the direction of a magnetic field or an electric field is measured, a predetermined target region is displayed, the position of a device in the displayed target region is specified, the position of the device in the target region is detected on the basis of an estimated position of the device and the position of the device specified with an input unit, and distribution data representing the strength or the direction of the magnetic field or the electric field at each position in the target region is created on the basis of the strength or the direction of the magnetic field or the electric field measured by a sensor at the position of the device detected by a detection unit.

Description

Technical Field

[0001] The present technology relates to an information processing apparatus, an information processing method, and a program, and particularly relates to an information processing apparatus, an information processing method, and a program that can efficiently and accurately create distribution data of geomagnetism and the like (electric field, magnetic field).

Background Art

[0002] Patent Document 1 discloses that in order to perform positioning using geomagnetism in an area where GPS (Global Positioning System) radio waves cannot reach, the geomagnetism at each position is measured in advance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When performing positioning using geomagnetism (magnetic field) or an electric field that changes according to position in an area such as inside a building where GPS cannot be used, it is necessary to measure the strength (magnetic field strength, electric field strength) and direction of the magnetic field or electric field at each position in the area and create distribution data of the electric field and magnetic field in the area in advance. Measuring the magnetic field strength and direction and electric field strength and direction at each position in the area requires a lot of time and effort, and it is desired to be able to perform it efficiently and accurately.

[0005] The present technology has been made in view of such a situation, and enables efficient and accurate creation of distribution data of geomagnetism and the like (electric field, magnetic field).

Means for Solving the Problems

[0006] The information processing device or program of this technology comprises: a sensor for measuring the strength or direction of a magnetic field or electric field; a display unit for displaying a predetermined target area; an input unit for specifying the position of the device in the target area displayed on the display unit according to user input; a detection unit for detecting the position of the device in the target area based on the position of the device estimated based on the sensor outputs of an acceleration sensor and an angular velocity sensor, or the position of the device obtained by estimating the displacement amount of the device from a predetermined reference position based on the sensor outputs of an acceleration sensor and an angular velocity sensor, and the position of the device specified by the input unit; and a creation unit for creating distribution data representing the strength or direction of the magnetic field or electric field for each position in the target area based on the strength or direction of the magnetic field or electric field measured by the sensor at the position of the device detected by the detection unit, wherein the detection unit The device is instructed to display the measurement path it should take on the target area shown on the display unit, and to set the positions that will be corners along the measurement path as intermediate points where the user can input the location of the device, and to display them on the display unit, and if the distance from one predetermined corner to the next corner exceeds a predetermined distance, one or more intermediate points are set at approximately equal intervals and displayed on the display unit. An information processing device, or a program that causes a computer to function as such an information processing device.

[0007] The information processing method of this technology involves an information processing device having a sensor, a display unit, an input unit, a detection unit, and a creation unit. The sensor measures the strength and direction of a magnetic field or electric field. The display unit displays a predetermined target area. The input unit specifies the position of the device in the target area displayed on the display unit according to user input. The detection unit detects the position of the device in the target area based on the position of the device estimated based on the sensor outputs of the acceleration sensor and the angular velocity sensor, or the position of the device obtained by estimating the displacement amount from a predetermined reference position of the device based on the sensor outputs of the acceleration sensor and the angular velocity sensor, and the position of the device specified by the input unit. The creation unit creates distribution data representing the strength or direction of the magnetic field or electric field for each position in the target area based on the strength and direction of the magnetic field or electric field measured by the sensor at the position of the device detected by the detection unit. The detection unit... The device is instructed to display the measurement path it should take on the target area shown on the display unit, and to set the positions that will be corners along the measurement path as intermediate points where the user can input the location of the device, and to display them on the display unit, and if the distance from one predetermined corner to the next corner exceeds a predetermined distance, one or more intermediate points are set at approximately equal intervals and displayed on the display unit. It is an information processing method.

[0008] In the information processing device, information processing method, and program of this technology, the strength or direction of a magnetic field or electric field is measured, a predetermined target area is displayed, the position of the device in the displayed target area is specified according to user input, the position of the device in the target area is detected based on the position of the device estimated based on the sensor outputs of an acceleration sensor and an angular velocity sensor, or the position of the device obtained by estimating the displacement amount of the device from a predetermined reference position based on the sensor outputs of an acceleration sensor and an angular velocity sensor, and the position of the device specified by the input unit, and distribution data representing the strength or direction of the magnetic field or electric field for each position in the target area is created based on the strength or direction of the magnetic field or electric field measured by the sensor at the position of the device detected by the detection unit. The measurement path to which the device should move is displayed on the target area shown on the display unit, and the positions that become corners in the measurement path are set as transit points for the user to input the position of the device and are displayed on the display unit, and if the distance from one predetermined corner to the next corner exceeds a predetermined distance, one or more transit points are set at approximately equal intervals and displayed on the display unit. [Brief explanation of the drawing]

[0009] [Figure 1] This block diagram shows an example configuration of an information processing system to which this technology is applied. [Figure 2] This diagram illustrates general methods for measuring the geomagnetic field in the target area for creating geomagnetic data. [Figure 3] This figure illustrates the method described in Patent Document 1 for measuring the geomagnetic field in the target area for creating geomagnetic data. [Figure 4] This diagram illustrates the method of using this technology to measure the geomagnetic field in the target area for creating geomagnetic data. [Figure 5] This flowchart illustrates the procedure for operations (processes) performed by a measurer using terminal equipment during geomagnetic field measurements. [Figure 6] This diagram illustrates Extended Form 1, which describes the handling process when the transit point specified by the measurer differs from the actual measurement location. [Figure 7] This figure illustrates an extended version 2 of the handling procedure for cases where the intermediate location specified by the measurer differs from the actual location by a difference greater than what can be considered an error. [Figure 8]This is a diagram for explaining Extended Form 3 for improving the efficiency of geomagnetic measurement. [Figure 9] This is a diagram for explaining Extended Form 4 for assisting a measurer in setting a measurement route and designating a passing position during geomagnetic measurement. [Figure 10] This is a diagram for explaining Extended Form 4 when the spatial arrangement within the target area for creating geomagnetic data is different from that in FIG. 9. [Figure 11] This is a diagram for explaining Extended Form 4 when the spatial arrangement within the target area for creating geomagnetic data is different from that in FIGS. 9 and 10. [Figure 12] This is a diagram for explaining Extended Form 5 for prompting the designation of a passing position. [Figure 13] This is a diagram for explaining Extended Form 6 for prompting re - designation when the measurer designates an incorrect position as the passing position. [Figure 14] This is a flowchart showing the procedure of the processing of Extended Form 6 performed by the terminal device. [Figure 15] This is a diagram for explaining Extended Form 7 for prompting re - designation when the measurer designates an incorrect position as the passing position. [Figure 16] This is a flowchart showing the procedure of the processing of Extended Form 7 performed by the terminal device 12. [Figure 17] This is a diagram for explaining Extended Form 8 for automatically correcting the passing position when the measurer designates an incorrect position as the passing position. [Figure 18] This is a block diagram showing a configuration example of the hardware of a computer that executes a series of processes by a program.

Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0011] <Embodiments of the Information Processing System> FIG. 1 is a block diagram showing a configuration example of an embodiment of an information processing system to which the present technology is applied.

[0012] In FIG. 1, an information processing system 1, which is an embodiment of an information processing system to which the present technology is applied, creates and stores geomagnetic data (magnetic field distribution data) in a limited area such as inside a building. The information processing system 1 measures the position of a terminal device such as a smartphone carried by a user moving within the area where the geomagnetic data is created, using the geomagnetic data. Note that the geomagnetic data (magnetic field distribution data) is data representing the magnetic field strength and azimuth for each position (each location) in a predetermined target area, and means data representing the distribution of the magnetic field (magnetic field strength and azimuth) in the target area. The geomagnetic data created or used by the information processing system 1 may be geomagnetic data representing at least one of the magnetic field strength or the magnetic field azimuth. Hereinafter, the area to be the target for creating the geomagnetic data is referred to as the target area for creating the geomagnetic data, or simply the target area.

[0013] (Information Processing System 1) The information processing system 1 includes a server device 11, a terminal device 12, and a terminal device 13.

[0014] (Server Device 11) The server device 11 is communicably connected (communicatively connected) to the terminal device 12 and the terminal device 13 via a communication network or communication path of an arbitrary communication standard by a communication unit (not shown). The communication network or communication path for communicatively connecting between the server device 11 and the terminal device 1 being, and between the server device 11 and the terminal device 13 may be the Internet, a public telephone line network, a wide-area communication network for mobile communication such as a so-called 4G line or 5G line, a WAN (Wide Area Network), a LAN (Local Area Network), a wireless communication network that performs communication conforming to the Bluetooth (registered trademark) standard, or the like. The server device 11 stores map data of the target area for creating the geomagnetic data and the created geomagnetic data.

[0015] The server device 11 has a map data storage unit 31 and a geomagnetic data storage unit 32. The map data storage unit 31 stores map data of the target area for geomagnetic data creation, which has been created in advance. The map data of the target area for geomagnetic data creation is data for drawing a map that shows the shape of the target area for which geomagnetic data is to be created, and the positions and shapes of objects such as shelves placed in the target area, and includes data that associates each position (coordinate value) in the target area in real space with each position (coordinate value) on the map. The map data stored in the map data storage unit 31 is supplied to the terminal device 12 and used to create geomagnetic data in the terminal device 12.

[0016] The geomagnetic data storage unit 32 stores the geomagnetic data created by the terminal device 12. The geomagnetic data stored in the geomagnetic data storage unit 32 is supplied to the terminal device 13 and used for self-position measurement and other purposes at the terminal device 13.

[0017] (Terminal device 12) The terminal device 12 is a portable device carried by the user (measurer), such as a smartphone or tablet. The terminal device 12 communicates with the server device 11 via a communication unit (not shown). The terminal device 12 operates as a device that creates geomagnetic data by executing an application program for creating geomagnetic data (geomagnetic measurement). The terminal device 12 is carried by the measurer creating the geomagnetic data and moves within the target area for geomagnetic data creation.

[0018] The terminal device 12 includes an acceleration sensor 51, an angular velocity sensor 52, a magnetic sensor 53, a processing unit 54, a display unit 55, and an input unit 56.

[0019] The acceleration sensor 51 detects acceleration in each of the three orthogonal axes fixed to the terminal device 12 and supplies it to the processing unit 54.

[0020] The angular velocity sensor 52 detects the angular velocity around each of the three orthogonal axes fixed to the terminal device 12 and supplies it to the processing unit 54.

[0021] The magnetic sensor 53 detects the magnetic field strength and orientation in each of the three orthogonal axes fixed to the terminal device 12 and supplies them to the processing unit 54.

[0022] The processing unit 54 executes an application program for creating geomagnetic data and performs processing related to the creation of geomagnetic data. The processing unit 54 creates geomagnetic data that represents the strength and direction (magnetic field strength and direction) of the geomagnetic field for each location in the target area for geomagnetic data creation. The geomagnetic data is magnetic field distribution data that represents the distribution of the magnetic field (magnetic field strength and direction) in the target area. The processing unit 54 supplies the created geomagnetic data to the server device 11 and stores it in the geomagnetic data storage unit 32.

[0023] The display unit 55 includes a display that shows various information to the user using the terminal device 12. The display unit 55 displays a map of the target area for geomagnetic data creation supplied from the processing unit 54.

[0024] The input unit 56 includes switches operated by the user using the terminal device 12, a touch panel located on the screen of the display unit 55, etc. The input unit 56 inputs the current location (measurement location) of the terminal device 12 specified by the user to the map displayed on the display unit 55, and supplies it to the processing unit 54.

[0025] The processing unit 54 includes a measurement position detection unit 71, a magnetic measurement result storage unit 72, and a geomagnetic data creation unit 73.

[0026] The measurement position detection unit 71 estimates the direction and amount of movement of the terminal device 12 from the reference position to the current position using the well-known pedestrian dead reckoning (PDR) technique, based on the acceleration from the acceleration sensor 51 and the angular velocity from the angular velocity sensor 52. That is, the measurement position detection unit 71 estimates the relative position (displacement) of the terminal device 12 (position of the magnetic sensor 53) from the reference position as the position of the terminal device 12 in the target area for geomagnetic data creation. The position of the terminal device 12 estimated (measured) by the measurement position detection unit 71 is the measurement position where the geomagnetic field is being measured. Here, the estimation (measurement) of the measurement position (position of the terminal device 12) by the measurement position detection unit 71 is not limited to the PDR technique, but may also be a positioning technique using image processing of images captured by an image sensor, and is not limited to a specific technique or method. The measurement position detection unit 71 may also obtain the estimated measurement position from a device other than the terminal device 12. In this specification, the position (measurement position) of the terminal device 12 obtained by any positioning technique before correction at the position (measurement position) of the terminal device 12 specified by the user via the input unit 56 is considered to be an estimated position.

[0027] For example, the measurement position detection unit 71 uses the position of the terminal device 12 at the time when the geomagnetic field measurement started (measurement start time ts) as the reference position. The measurement position detection unit 71 estimates the position of the terminal device 12 (relative position from the reference position) at elapsed time tn, which is at predetermined time intervals Δt from the measurement start time ts. Elapsed time tn is ts + n·Δt (where n is an integer). Elapsed time t0 represents the measurement start time ts. The time when the measurement ended (the time when the last measurement was performed) is elapsed time tN (n=N). Note that elapsed time tn does not have to be at fixed time intervals.

[0028] The measurement position detection unit 71 acquires map data of the target area for geomagnetic data creation stored in the map data storage unit 31 from the server device 11. Based on the acquired map data, the measurement position detection unit 71 generates a map of the target area and determines the position of the terminal device 12, which is the geomagnetic measurement position at elapsed time tn, as the position on the map. The position on the map is represented, for example, by an xy coordinate system consisting of mutually orthogonal horizontal x-axis and vertical y-axis.

[0029] The measurement position detection unit 71 corrects the position of the terminal device 12 based on the current position of the terminal device 12 estimated by the PDR and the current position of the terminal device 12 input from the input unit 56. That is, the measurement position detection unit 71 supplies a map of the geomagnetic data target area to the display unit 55 and displays it on the display unit 55. The person measuring the geomagnetic field of the target area carries the terminal device 12 and moves within the target area while measuring the strength and direction of the geomagnetic field (magnetic field strength and direction) using the magnetic sensor 53. At this time, the person measuring appropriately specifies the current position of the terminal device 12 (their own position) on the map of the target area displayed on the display unit 55. The input unit 56 is, for example, a touch panel installed on the screen of the display unit 55. The person measuring touches their current position on the screen displaying the map on the display unit 55, and the touched position is supplied to the measurement position detection unit 71. In this specification, when referring to geomagnetic strength and direction or magnetic field strength and direction, it includes cases where only geomagnetic strength (magnetic field strength) is represented, where only the direction of the magnetic field is represented, and where both geomagnetic strength (magnetic field strength) and the direction of the magnetic field are represented. For example, if the information processing system 1 creates distribution data representing only the distribution of magnetic field strength as geomagnetic data (magnetic field distribution data), the object measured by the magnetic sensor 53 may be interpreted as only magnetic field strength, even if it is described as magnetic field strength and direction.

[0030] The measurement position detection unit 71 corrects the position of the terminal device 12 estimated by PDR to the position specified by the user when the user specifies the current position of the terminal device 12 using the input unit 56. This reduces the error in the measurement position of the geomagnetic field caused by PDR. In other words, when the position of the terminal device 12 is estimated by PDR based on the sensor outputs of the acceleration sensor 51 and the angular velocity sensor 52, errors accumulate over time due to drift, etc. Since these errors are corrected by the current position of the terminal device 12 as appropriately specified by the user, the error in the measurement position of the geomagnetic field is reduced.

[0031] The measurement position detection unit 71 detects the position of the terminal device 12 at the elapsed time tn from the start of measurement t0 to the end of measurement tN, based on the position of the terminal device 12 estimated by PDR and the current position of the terminal device 12 input by the input unit 56, as the geomagnetic measurement position pn, and supplies it to the geomagnetic data creation unit 73. Note that the measurement position pn represents the position of the terminal device 12 at the elapsed time tn.

[0032] The magnetic measurement result storage unit 72 acquires and stores the magnetic field strength and direction measured by the magnetic sensor 53 at the elapsed time tn from the start of measurement ts to the end of measurement tN. The magnetic sensor 53 measures a magnetic field vector whose components are the magnetic field strength and direction in the three axes of x, y, and z. The magnetic measurement result storage unit 72 acquires and stores the magnitude and direction of the magnetic field vector measured by the magnetic sensor 53.

[0033] The geomagnetic data creation unit 73 associates the magnetic field strength and direction measured at the same time tn, stored in the magnetic measurement result storage unit 72, with each measurement position pn at each elapsed time tn from the measurement position detection unit 71. In this way, the magnetic field strength and direction are associated with each measurement position pn in the geomagnetic data target area. The geomagnetic data creation unit 73 interpolates the magnetic field strength and direction at positions other than measurement position pn based on the magnetic field strength and direction of measurement position pn. For example, the geomagnetic data creation unit 73 obtains the magnetic field strength and direction of the region between two measurement positions pn by linear interpolation or the like. In this way, geomagnetic data (magnetic field distribution data) is created. The geomagnetic data creation unit 73 supplies the created geomagnetic data to the server device 11 and stores it in the geomagnetic data storage unit 32. The geomagnetic data creation unit 73 may divide the target area into multiple regions, create geomagnetic data for each divided region, and then combine the geomagnetic data for each divided region to create overall geomagnetic data for the target area.

[0034] (Terminal device 13) The terminal device 13 is a user-portable device such as a smartphone or tablet. The terminal device 13 communicates with the server device 11 via a communication unit (not shown). The terminal device 13 operates as a device that measures its own position using geomagnetic data by executing a predetermined application program.

[0035] The terminal device 13 includes an acceleration sensor 91, an angular velocity sensor 92, a magnetic sensor 93, and a processing unit 94.

[0036] The acceleration sensor 91 detects acceleration in each of the three orthogonal axes fixed to the terminal device 13 and supplies it to the processing unit 94.

[0037] The angular velocity sensor 92 detects the angular velocity around each of the three orthogonal axes fixed to the terminal device 13 and supplies it to the processing unit 94.

[0038] The magnetic sensor 93 detects the magnetic field strength and orientation in each of the three orthogonal axes fixed to the terminal device 13 and supplies them to the processing unit 94.

[0039] The processing unit 94 executes the application program for self-localization and performs processing related to self-localization.

[0040] The processing unit 94 includes a position estimation unit 111 and a signal processing unit 112.

[0041] The position estimation unit 111 estimates the position of the terminal device 13 using well-known PDR techniques based on the acceleration from the acceleration sensor 91 and the angular velocity from the angular velocity sensor 92, and supplies this information to the signal processing unit 112. However, the position estimation of the terminal device 13 by the position estimation unit 111 is not limited to PDR techniques; it may also be a positioning technique using image processing of images captured by an image sensor, and is not limited to any specific technique or method.

[0042] The signal processing unit 112 acquires geomagnetic data for the target area from the geomagnetic data storage unit 32 of the server device 11. The signal processing unit 112 calculates the position and orientation of the terminal device 13 based on the position of the terminal device 13 from the position estimation unit 111, the magnetic field strength and direction from the magnetic sensor 93, and the geomagnetic data. In other words, the signal processing unit 112 performs highly accurate position measurement not only from the position of the terminal device 13 from the position estimation unit 111, but also from the magnetic field strength and direction from the magnetic sensor 93 and the geomagnetic data. The position and orientation of the terminal device 13 calculated by the signal processing unit 112 can be used not only for specific processes, but also for any processes in the terminal device 13 or the server device 11.

[0043] The information processing system 1 described above can be used for customer behavior analysis, real-time advertising, push notifications of product information in stores, in-store navigation, visualization of employee behavior (improvement of operations), etc. Since this technology is primarily a technology related to measuring the geomagnetic field in a target area for creating geomagnetic data, the terminal device 12 that performs geomagnetic measurement will be described below. This technology can be applied to measuring radio waves (electric field strength) in a predetermined target area instead of measuring the geomagnetic field (magnetic field strength and direction) in a predetermined target area, and instead of creating geomagnetic data, electric field distribution data representing the distribution of electric field strength may be created. By creating electric field distribution data, it can be used for measuring one's own position using radio waves such as beacons.

[0044] <Creating geomagnetic data> This section describes how to create geomagnetic data using terminal device 12.

[0045] <General methods for measuring geomagnetic fields> Figure 2 illustrates a general method for measuring geomagnetic fields in the target area for creating geomagnetic data.

[0046] In Figure 2, map 151 is a plan view projected vertically (height direction) onto the target area 161 for geomagnetic data creation. In the example of map 151 in Figure 2, an xy coordinate system is set for the target area 161, with the x-axis in the horizontal direction of the paper and the y-axis in the vertical direction of the paper. Six rectangular shelves 171 to 176 are arranged in the target area 161, with the y-axis direction being the longitudinal direction. Shelves 171 to 173 are arranged parallel to the upper half of the area on the paper, and shelves 174 to 176 are arranged parallel to the lower half of the area on the paper. These shelves 171 to 176 result in five rows of aisles extending in the y-axis direction and three rows of aisles extending in the x-axis direction intersecting within the target area 161.

[0047] In a typical geomagnetic measurement method, as shown in Figure 2, a measurement start position SP and measurement end position EP are set on a straight measurement path on a map 151 of the target area 161 for geomagnetic data creation. The measurer starts measuring the geomagnetic field (magnetic field strength and direction) at the measurement start position SP and records the measurement start time t0. Once the geomagnetic measurement begins, the measurer starts walking at a constant walking speed and proceeds in a straight line toward the measurement end position EP. Upon reaching the measurement end position EP, the measurer ends the geomagnetic measurement and records the measurement end time tN. As a result of this geomagnetic measurement, assuming that the pedestrian moved in a straight line at a constant walking speed while the geomagnetic measurement was being performed, the pedestrian's position (measurement position) and the measured values ​​(measured magnetic field strength and direction) at any elapsed time between the measurement start time and the measurement end time can be determined. By associating the measurement position and measured values ​​at the same elapsed time, the magnetic field strength and direction at each measurement position along the measurement path can be obtained. In this way, one or more linear measurement paths are set up in the target area 161, and geomagnetic measurements are taken for all measurement target areas within the target area 161. The measurement target areas of the target area 161 represent, for example, spaces such as passageways where people may be present.

[0048] According to common geomagnetic field measurement methods, the measurer must walk in a straight line at a constant speed, which restricts their movement. In particular, if there are obstacles in the path, accurate geomagnetic field measurements cannot be performed. Since the target area 161 must be divided into straight measurement paths for geomagnetic field measurements, there is a problem that it takes a long time to measure the geomagnetic field of all target areas.

[0049] <Method according to Patent Document 1 for geomagnetic measurement> Figure 3 illustrates the method for measuring geomagnetic fields in the target area for creating geomagnetic data, as described in Patent Document 1. Note that parts corresponding to map 151 in Figure 2 are denoted by the same reference numerals, and their explanations are omitted.

[0050] In Patent Document 1 (Japanese Patent Publication No. 2017-58321), a measurement start position SP and a measurement end position EP are set in advance, similar to the case in Figure 2. The operator starts geomagnetic measurement using a terminal device at the measurement start position SP and starts walking toward the measurement end position EP while carrying the terminal device. The terminal device measures its own position using an acceleration sensor and performs geomagnetic measurement. Upon reaching the measurement end position EP, the operator ends the geomagnetic measurement. As a result of such geomagnetic measurement, each measurement position along the measurement path walked by the operator is associated with the magnetic field strength and direction at each measurement position, and the magnetic field strength and direction at each measurement position are obtained. In the target area 161, one or more measurement paths are set, and geomagnetic measurement is performed on all measurement target areas of the target area 161.

[0051] According to the method described in Patent Document 1 for geomagnetic measurement, it is necessary to divide the measurement target area into multiple measurement paths and perform geomagnetic measurements, and it is necessary to repeat the geomagnetic measurement for each measurement path. Therefore, if the target area 161 is large, the number of geomagnetic measurements will be repeated many times, which is a problem as it takes a long time to create geomagnetic data. When estimating the geomagnetic measurement position (position of the terminal device) using an acceleration sensor or the like, there is a problem that errors accumulate and it is not possible to estimate the geomagnetic measurement position with accuracy.

[0052] <Method for measuring geomagnetic fields using this technology> Figure 4 illustrates the method of measuring geomagnetic fields using this technology in the target area for creating geomagnetic data. Note that parts corresponding to map 151 in Figure 2 are denoted by the same reference numerals, and their explanations are omitted.

[0053] In this technology, the operator launches an application for creating geomagnetic data (geomagnetic measurement) on the terminal device 12 shown in Figure 1. The terminal device 12 reads the map 151 data of the target area 161 from the server device 11, and the map 151 of the target area 161 is displayed on the display unit 55 of the terminal device 12. Note that the display of the target area 161 on the display unit 55 is not limited to displaying it as a map 151 as shown in Figure 4. Images may be displayed so that the operator can recognize areas where a person can be present (such as passages) or characteristic locations within the target area 161. For example, an image of the space within the target area 161 as seen by the operator around their current position may be displayed three-dimensionally on the display unit 55. When starting geomagnetic measurement, the operator touches the measurement start position SP on the map 151 displayed on the display unit 55 and specifies the measurement start position SP using the input unit 56, which is a touch panel. However, the measurement start position SP may be automatically set by the processing unit 54 (measurement position detection unit 71) of the terminal device 12. In that case, the location of the measurement start position SP, which is automatically set, is displayed on the map 151 shown on the display unit 55. The operator moves to the measurement start position SP displayed on the map 151 and starts the geomagnetic measurement at the measurement start position SP.

[0054] The input unit 56 is provided with a touch panel installed on the screen of the display unit 55. The operator specifying a location to the measurement position detection unit 71 by touching a location on the map 151 displayed on the display unit 55 is also simply referred to as specifying a location.

[0055] When the operator touches the measurement start position SP on the map 151 on the display unit 55, geomagnetic measurement begins. When geomagnetic measurement begins, the magnetic field strength and direction measured by the magnetic sensor 53 are stored in the magnetic measurement result storage unit 72. Simultaneously, the measurement position detection unit 71 starts estimating the position (measurement position) of the terminal device 12 based on the sensor outputs from the acceleration sensor 51 and the angular velocity sensor 52. When geomagnetic measurement begins, the measurement position detection unit 71 uses the measurement start position SP as the reference position and estimates the relative position from the reference position as the measurement position. The measurement position detection unit 71 estimates the measurement position pn at elapsed time tn at regular intervals from the start of measurement t0. The magnetic measurement result storage unit 72 stores the magnetic field strength and direction measured by the magnetic sensor 53 at elapsed time tn after the start of geomagnetic measurement.

[0056] The measurer begins walking while carrying the terminal device 12. The measurer can freely determine the measurement route they take. For example, the measurer may determine a measurement route that passes through all measurement target areas of the target area 161 and move accordingly. In this case, the measurer may determine a measurement route that passes through all measurement target areas in a single geomagnetic measurement, or they may determine the measurement route by dividing it into multiple geomagnetic measurements.

[0057] When the measurer begins walking, they specify their current location by tapping the corresponding location on the map 151 displayed on the display unit 55, for example, every 10 to 15 meters, or at characteristic locations such as where paths intersect (corners). A characteristic location such as a corner where paths intersect refers to a location on the map 151 that the measurer can identify in relation to the actual spatial location of the target area 161. For example, in addition to corners, a location that divides the measurement path between two corners into two equal parts can also be considered a characteristic location because the measurer can intuitively identify it.

[0058] If the measurer specifies their current position on the map 151 every time they walk a distance of 10 to 15 m, the error in the current position estimated by the measurement position detection unit 71 can be kept from exceeding the acceptable limit, and the effort required to specify the current position can be prevented from being unnecessarily increased. However, the distance of 10 to 15 m is just an example and is not limited to it. In this case, if characteristic positions on the measurement path exist at intervals of 10 to 15 m, the operator may specify the current position only at the characteristic positions. If the characteristic positions on the measurement path are close together, the operator does not need to specify the current position at all characteristic positions on the measurement path, and may specify the current position at only some of the characteristic positions. The measurer may also specify the current position at positions other than characteristic positions, or at positions where they have walked a distance other than 10 to 15 m. The measurer may also specify the current position at corners.

[0059] In the example shown in Figure 4, the operator begins measuring the geomagnetic field at the starting position SP and starts walking. The operator passes through intermediate positions CP1 to CP6 in order, then returns to intermediate position CP1 and ends the geomagnetic field measurement. Note that the measurement route shown in Figure 4 is just one example, and the operator can continue measuring the geomagnetic field until they have walked the entire path of the target area 161.

[0060] Intermediate locations CP1 to CP6 are corner sections where paths intersect. In this case, each time the measurer reaches intermediate locations CP1 to CP6 in sequence, they touch their current location on the map 151 of the display unit 55 to designate those intermediate locations CP1 to CP6. After reaching intermediate location CP6, when the measurer reaches intermediate location CP1, they touch their current location on the map 151 of the display unit 55 to designate intermediate location CP1, and at the same time, they signal the end of the geomagnetic measurement. The signal to end the geomagnetic measurement can be given, for example, by double-tapping the end location on the map 151 of the display unit 55. However, this is not limited to this.

[0061] The measurement position detection unit 71 of the terminal device 12 corrects the measurement position estimated by PDR to match the tapped via point CP1 to CP6 each time the user specifies a waypoint CP1 to CP6 on the map 151 of the display unit 55. For example, the following correction method can be used for correcting the measurement position.

[0062] If the measurer taps their current location on the map 151 of the display unit 55 to specify a waypoint CP1, the measurement position detection unit 71 resets the calculation of the relative position by PDR. That is, when the measurement position detection unit 71 resets the calculation of the relative position by PDR, it uses the position of the terminal device 12 at that time as the reference position and calculates the relative position from the reference position (direction of movement and amount of movement from the reset point). The measurement position detection unit 71 changes the reference position to waypoint CP1 until the measurer specifies the next waypoint CP2 as the current location, and sets the position indicated by the relative position calculated by PDR with respect to the reference position as the measurement position. When the measurer specifies the next waypoint CP2, the measurement position detection unit 71 resets the calculation of the relative position by PDR and changes the reference position to waypoint CP2. In this way, each time the measurer specifies a waypoint, the measurement position detection unit 71 corrects the measurement position by resetting the calculation of the relative position by PDR and changing the reference position to the waypoint specified by the measurer. Note that this is not the only method for correcting the measurement position.

[0063] When the operator specifies the end of the geomagnetic measurement, the geomagnetic data creation unit 73 obtains the measurement position pn at the elapsed time tn detected by the measurement position detection unit 71 and the magnetic field strength and direction at the elapsed time tn stored in the magnetic measurement result storage unit 72, and associates the measurement position pn with the magnetic field strength and direction at the same elapsed time tn. In this way, the geomagnetic data creation unit 73 obtains the magnetic field strength and direction at each measurement position pn along the measurement path walked by the operator. The operator performs one or more geomagnetic measurements in the target area 161 so that the magnetic field strength and direction of all measurement target areas are measured. In this way, the geomagnetic data creation unit 73 can obtain the magnetic field strength and direction of all measurement target areas in the target area 161 and create geomagnetic data (magnetic field distribution data) for the target area 161.

[0064] Furthermore, on the map displayed in the display unit 55, the measurement routes that the measurer has traveled may be colored according to the number of times they have been traveled (for example, blue for the first time, green for the second time, and red for the third time). Measurement routes that have not been traveled even once may be highlighted.

[0065] The system may be configured to prompt the user to terminate the geomagnetic measurement if the number of intermediate locations specified by the user exceeds a predetermined number. This is because it would be time-consuming and troublesome to restart the measurement from the beginning if the intermediate locations are specified incorrectly.

[0066] <Procedure for operations performed by the operator using terminal device 12 during geomagnetic field measurement> Figure 5 is a flowchart illustrating the procedure of operations (processes) performed by the operator using the terminal device 12 during geomagnetic field measurement.

[0067] In step S11, the operator taps (specifies) their current location as the starting position on the map 151 of the target area 161 for geomagnetic data creation, which is displayed on the display unit 55 of the terminal device 12. This starts the geomagnetic measurement. The process proceeds from step S11 to step S12.

[0068] In step S12, the measurer walks through the area of ​​the target region 161 where geomagnetic field measurement is to be performed (an area where a person may be present) while carrying the terminal device 12. The process proceeds from step S12 to step S13.

[0069] In step S13, the measurer determines whether the person has walked approximately 10 to 15 meters or reached a corner.

[0070] If, in step S13, it is determined that the user has not walked approximately 10 to 15 meters and has not reached a corner, the process returns to step S12 and is repeated from step S12.

[0071] If it is determined in step S13 that approximately 10 to 15 meters have been walked, or that a corner has been reached, the process proceeds to step S14.

[0072] In step S14, the measurer taps (specifies) their current location on the map 151 on the display unit 55. The process proceeds from step S14 to step S15.

[0073] In step S15, the operator determines whether to terminate the application for creating geomagnetic data. That is, the operator determines whether to terminate the geomagnetic measurement.

[0074] If it is determined in step S15 that the application should not be terminated, the process returns to step S12 and repeats from step S12.

[0075] In step S15, if it is determined that the application should be terminated, the operator performs the operation to terminate the application. This completes the process in this flowchart.

[0076] As described above, this method of geomagnetic measurement does not require the measurer to walk in a straight line at a constant speed, and highly accurate geomagnetic measurements can be performed even if there are obstacles in the path. Since it is not necessary to set the measurement end position in advance, the measurer can move freely within the target area 161 for geomagnetic data creation while performing geomagnetic measurements, and can freely determine the measurement path while performing geomagnetic measurements. There is no need to divide the measurement target area within the target area 161 into multiple measurement paths for geomagnetic measurements. Therefore, geomagnetic measurements can be performed in a short time for all measurement target areas, improving efficiency. The geomagnetic measurement position (position of terminal device 12) estimated by an acceleration sensor, etc., is corrected at a position specified by the measurer as appropriate, so the geomagnetic measurement position can be detected with high accuracy. As a result, highly accurate geomagnetic data (magnetic field distribution data) can be created.

[0077] <Extended form> The following describes an extended form of processing in the terminal device 12 to which this technology is applied.

[0078] <Expansion Form 1> Extended form 1 relates to the processing for when the waypoint (current location) specified by the measurer on the map displayed on the display unit 55 differs from the actual location when measuring geomagnetic fields using the terminal device 12.

[0079] Figure 6 illustrates Extended Form 1, which describes the handling process when the transit point specified by the measurer differs from the actual location. In the figure, the parts corresponding to map 151 in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0080] In Figure 6, assume that the measurer starts geomagnetic measurement at measurement start position SP and walks a measurement route that passes through intermediate positions CP1 to CP6 in order while carrying the terminal device 12. When the measurer reaches intermediate position CP6, there is a possibility that they may specify a different position TP6 on the map 151 of the display unit 55 instead of the intermediate position CP6 that should have been specified. In such cases, the accuracy of the generated geomagnetic data deteriorates. Therefore, in order to suppress the deterioration of the accuracy of the geomagnetic data caused by errors in the intermediate positions specified by the measurer, the terminal device 12 may employ the following method.

[0081] The first method involves the measurer taking multiple measurements of the geomagnetic field (magnetic field strength and direction) at the same measurement location, for example, by walking the same measurement route multiple times. That is, multiple geomagnetic measurements are taken for all measurement target areas within the target area 161 for geomagnetic data creation. As a result, the geomagnetic data creation unit 73 creates multiple geomagnetic data for the target area 161 by creating one geomagnetic data for each geomagnetic measurement taken for the entire measurement target area. The geomagnetic data creation unit 73 then creates the final geomagnetic data by averaging the multiple geomagnetic data. That is, the geomagnetic data creation unit 73 creates geomagnetic data consisting of the average values ​​of the magnetic field strength and direction for the same location in each geomagnetic data set, and uses this as the final geomagnetic data.

[0082] Furthermore, the final geomagnetic data may be obtained by averaging multiple geomagnetic data points obtained by different operators, rather than being limited to the same operator.

[0083] As a second method, the measurement position detection unit 71 determines the speed of movement between previously passed intermediate locations and estimates the next intermediate location for the measurer based on those intermediate locations and speeds of movement. For example, in Figure 6, intermediate locations CP1 to CP5 are assumed to have been specified by the measurer on the map 151 of the display unit 55 when they were reached. The xy coordinates of intermediate locations CP1 to CP5 are assumed to be (x1, y1) to (x5, y5), respectively. The xy coordinates of the next intermediate location CP6 are assumed to be (x6, y6). At this time, the measurement position detection unit 71 estimates the xy coordinates (x6, y6) of the next intermediate location CP6 using the following equations (1) and (2).

[0084] x6=α1 x5+α2 x4+α3 x3+α4 x2+α5 x1 (1) y6=β1 y5+β2 y4+β3 y3+β4 y2+β5 y1 (2)

[0085] Here, α1 to α5 are values ​​determined according to the x-axis movement speed from the previous transit position to transit positions CP1 to CP5. The transit position before transit position CP1 is the measurement start position SP. β1 to β5 are values ​​determined according to the y-axis movement speed from the previous transit position to transit positions CP1 to CP5.

[0086] The measurement position detection unit 71 may set the intermediate position between the estimated intermediate position CP6 and the intermediate position TP6 specified by the measurer as intermediate position CP6, or, if there is a large difference between the estimated intermediate position CP6 and the intermediate position TP6, it may set the estimated intermediate position CP6 as intermediate position CP6.

[0087] <Expansion Form 2> Extended form 2 relates to a handling process when, during geomagnetic measurement using the terminal device 12, the waypoint (current location) specified by the measurer on the map displayed on the display unit 55 differs from the actual location by a difference greater than what can be considered an error.

[0088] Figure 7 illustrates Extended Form 2 of the handling process for cases where the transit points specified by the measurer differ significantly from the actual locations beyond what can be considered an error. In the figure, the parts corresponding to map 151 in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0089] In Figure 7, assume that the measurer starts geomagnetic measurement at measurement start position SP and walks a measurement route passing through intermediate positions CP1 to CP4 in order while carrying the terminal device 12. When the measurer reaches intermediate position CP3, they may specify a position TP3 on the map 151 of the display unit 55 that is significantly different from the intermediate position CP3 that should have been specified. In such cases, the generated geomagnetic data will be of low accuracy. Therefore, in order to suppress the decrease in accuracy of geomagnetic data when the difference between the intermediate position specified by the measurer and the actual position is greater than what can be considered an error, the terminal device 12 may employ the following method.

[0090] The measurement position detection unit 71 of the terminal device 12 determines, when a transit point is specified by the measurer, whether the transit point TP3 is an unrealistic location for a human walking speed relative to the previously specified transit point CP2. For example, in the example in Figure 7, the measurement position detection unit 71 determines whether the transit point TP3 specified by the measurer is within a distance reachable by a human walking speed relative to the previous transit point CP2. Specifically, the measurement position detection unit 71 calculates the maximum distance reachable to transit point CP2 based on the elapsed time since the transit point CP2 was reached and the human walking speed (e.g., average walking speed). If the distance between transit point CP2 and the specified transit point TP3 is greater than the maximum distance, the measurement position detection unit 71 determines that the specified transit point TP3 is an unrealistic location for a human walking speed.

[0091] In this case, the measurement position detection unit 71 invalidates the intermediate position TP3 specified by the measurer. When intermediate position TP3 is invalidated, the measurement position detection unit 71 does not perform any correction based on intermediate position TP3 to the measurement position estimated by PDR. Alternatively, the measurement position detection unit 71 may notify the user that the specified intermediate position TP3 is an unrealistic position for a human walking speed, and allow the user to invalidate (cancel) the intermediate position once it has been specified by a predetermined operation (such as double-tapping), and then specify (re-specify) an intermediate position again. Or, if the user is allowed to re-specify an intermediate position, the measurement position detection unit 71 may estimate an intermediate position using equations (1) and (2) described in the second method of extended form 1, and display that intermediate position on the map 151 of the display unit 55 as a candidate position for the intermediate position that the user should originally specify.

[0092] <Expansion Form 3> Extended form 3 relates to processing aimed at improving the efficiency of creating geomagnetic data (geomagnetic measurement).

[0093] Figure 8 illustrates extended configuration 3, which aims to improve the efficiency of geomagnetic field measurements. Note that parts of the figure corresponding to map 151 in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0094] The map 151 of the target area 161 for geomagnetic data creation in Figure 8 is displayed on the display unit 55 of the terminal device 12 during geomagnetic measurement. The current position of the measurer (measurement position) is displayed on the map 151 on the display unit 55 by a current position mark 191. The current position mark 191 has the shape of an isosceles triangle, for example, and the direction of the vertex angle of the isosceles triangle represents the direction of the measurer's movement. However, the shape of the current position mark 191 is not limited to this.

[0095] The measurement position detection unit 71 displays the current position mark 191 on the map 151 of the display unit 55 based on the measurement position (the current position of the person taking the measurement) estimated by the PDR. The measurement position detection unit 71 detects the direction of travel of the person taking the measurement based on the direction of displacement of the measurement position estimated by the PDR and sets the direction of the vertex of the current position mark 191. In the following, the measurement position estimated by the PDR refers to the measurement position detected by the measurement position detection unit 71 using the PDR and any corrections made to the measurement position, such as specifying the person's transit points.

[0096] <Expansion Form 4> Extended form 4 relates to processing that supports the setting of measurement routes and the specification of intermediate locations by the measurer during geomagnetic field measurements.

[0097] Figure 9 illustrates extended form 4, which supports the setting of measurement routes and the specification of intermediate locations by the measurer during geomagnetic field measurements. In the figure, parts corresponding to map 151 in Figure 4 are denoted with the same reference numerals, and their explanations are omitted.

[0098] The map 151 of the target area 161 for geomagnetic data creation in Figure 9 is displayed on the display unit 55 of the terminal device 12 during geomagnetic measurement. When the operator specifies the measurement start position SP on the map 151 on the display unit 55, the map 151 on the display unit 55 displays a line (arrow) 201 indicating the appropriate measurement route and waypoint marks 211 to 221 indicating waypoints that the operator should specify.

[0099] When the user specifies the measurement start position SP and instructs the start of geomagnetic measurement, the measurement position detection unit 71 calculates a measurement path that passes through all measurement target areas within the target area 161 for geomagnetic data creation at least once. However, the measurement position detection unit 71 may set the measurement start position SP before the start of measurement and calculate the measurement path. When calculating the measurement path, the measurement position detection unit 71 calculates a single continuous measurement path that passes through all measurement target areas and calculates a measurement path that minimizes the walking distance from the measurement start position to the measurement end position. The measurement position detection unit 71 displays the calculated measurement path on the map 151 of the display unit 55 as a line 201 or the like. However, depending on the arrangement of the measurement target areas, it may not be possible to pass through all measurement target areas with a single continuous measurement path. In that case, multiple independent measurement paths are calculated.

[0100] The measurement position detection unit 71 detects the positions that will be corners in the calculated measurement path and sets the detected corners as waypoints. A corner is a position where paths extending in different directions intersect. If, when moving along the measurement path, the measurement position detection unit 71 determines that the distance from a predetermined corner (or measurement start position) to the next corner (or measurement end position) exceeds, for example, 15m, it sets one or more waypoints at approximately equal intervals of 5 to 10m on the measurement path connecting those corners. However, the intervals between waypoints set on the measurement path are not limited to 5 to 10m. Once the measurement position detection unit 71 sets waypoints, it displays waypoint marks 211 to 221, such as stars, at those waypoints on the map 151 of the display unit 55.

[0101] Figure 10 illustrates Extended Form 4, which shows a different spatial arrangement within the target area 161 for geomagnetic data creation compared to Figure 9.

[0102] In the target area 161 of map 151 in Figure 10, two shelves 241 and 242 are placed, and three rows of aisles extending in the x-axis direction are arranged parallel to each other in the y-axis direction. The three rows of aisles are not continuous.

[0103] In the case of such a target area 161, the measurement position detection unit 71 calculates three independent measurement paths corresponding to the three rows of pathways and displays lines 231, 232, and 233 indicating these three measurement paths on the map 151 of the display unit 55. The geomagnetic measurement is performed in three separate steps, one for each of the three measurement paths.

[0104] The measurement position detection unit 71, as in the case of Figure 9, sets the corners as intermediate points if they exist along each measurement path. If the distance from a predetermined corner (or measurement start position) to the next corner (or measurement end position) exceeds 15m when moving along each measurement path, one or more intermediate points are set at approximately equal intervals of 5 to 10m on the measurement path connecting those corners. However, the intervals between intermediate points set on the measurement path are not limited to 5 to 10m. When the measurement position detection unit 71 sets intermediate points, it displays intermediate point marks 261 to 269, such as stars, on the map 151 of the display unit 55. In the example of Figure 10, for example, the measurement path represented by line 231 displays intermediate point mark 261 representing the measurement start position SP and intermediate point mark 263 representing the measurement end position EP. An intermediate point mark 262 is displayed near the midpoint between intermediate point mark 261 and intermediate point mark 263. When the operator performs geomagnetic measurements along the measurement path of line 231, they specify the location of the waypoint mark 261 on the map 151 of the display unit 55 and start the geomagnetic measurement. Once the geomagnetic measurement has started, when the operator reaches the location of waypoint mark 262, they specify the location of waypoint mark 262 on the map 151 of the display unit 55. When the operator reaches the location of waypoint mark 263, they specify the location of waypoint mark 263 on the map 151 of the display unit 55 and end the geomagnetic measurement. In the same manner, the operator also performs geomagnetic measurements along the measurement paths indicated by lines 232 and 233.

[0105] Figure 11 illustrates extended form 4, which differs from Figures 9 and 10 in its spatial arrangement within the target area 161 for geomagnetic data creation. In Figure 11, the target area 161 on map 151 is an open space without shelves or other structures. Therefore, the entire target area 161 is the measurement area.

[0106] The map 151 of the target area 161 in Figure 11 is displayed on the display unit 55 of the terminal device 12 during geomagnetic measurement. When the operator specifies the measurement start position SP on the map 151 on the display unit 55, or before starting geomagnetic measurement, a line (arrow) 271 indicating the appropriate measurement route and waypoint marks 281 to 288 indicating waypoints to be specified by the operator are displayed on the map 151 on the display unit 55.

[0107] The measurement position detection unit 71 assumes a virtual passage (virtual passage) extending in the x-axis direction when the target area 161 is an open space, and assumes that the virtual passages are arranged at regular intervals in the y-axis direction. The distance between adjacent virtual passages is, for example, a distance that allows for appropriate interpolation (linear interpolation) of the magnetic field strength and direction of the space between two adjacent virtual passages from the magnetic field strength and direction of the two adjacent virtual passages. For example, the distance between adjacent virtual passages is about 3m. However, the distance between adjacent virtual passages is not limited to about 3m. Similarly, the measurement position detection unit 71 assumes a virtual passage extending in the y-axis direction and assumes that the virtual passages are arranged at regular intervals in the x-axis direction. By assuming these virtual passages, the measurement position detection unit 71 calculates a measurement path that passes through all virtual passages at least once as the measurement target area within the target area 161, similar to the case in Figure 9. The measurement position detection unit 71 displays the calculated measurement path on the map 151 of the display unit 55 as a line 271 or the like.

[0108] The measurement position detection unit 71 detects the positions that will be corners in the calculated measurement path, as in the case of Figure 9, and sets the detected corners as waypoints. If, when moving along the measurement path, the distance from a predetermined corner (or measurement start position) to the next corner (or measurement end position) exceeds, for example, 15 m, the measurement position detection unit 71 sets one or more waypoints at approximately equal intervals of 5 to 10 m on the measurement path connecting those corners. However, the intervals between waypoints when setting them on the measurement path are not limited to 5 to 10 m. Once the measurement position detection unit 71 sets waypoints, it displays star-shaped waypoint markers 281 to 288 at those waypoints on the map 151 of the display unit 55.

[0109] <Expansion Form 5> Extended form 5 relates to a process in which the terminal device 12 prompts the measurer to specify a waypoint during geomagnetic field measurement.

[0110] Figure 12 illustrates extended form 5, which prompts the user to specify intermediate locations. Note that parts corresponding to map 151 in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0111] Assume that the measurer starts measuring geomagnetic fields at measurement start position SP in the target area 161 for geomagnetic data creation shown on map 151 in Figure 12, and walks along a measurement route passing through intermediate positions CP1 to CP3 in order while carrying the terminal device 12. Assume that when the measurer arrives at intermediate positions CP1 to CP3, they specify intermediate positions CP1 to CP3 on the map 151 displayed on the display unit 55. Assume that after reaching intermediate position CP3, the measurer continues straight along the path extending in the y-axis direction to intermediate position CP4, and then turns along the path extending in the x-axis direction at the corner of intermediate position CP4. At this time, if the measurer has passed the corner but has not specified intermediate position CP4 on the map 151 on the display unit 55, the terminal device 12 will send a reminder notification to the measurer to specify an intermediate position. The reminder notification may be, for example, displayed on the display unit 55 of the terminal device 12, output of sound (warning sound, guidance voice, etc.) from the speaker provided by the terminal device 12, or vibration of the terminal device 12 by an actuator provided by the terminal device 12.

[0112] The measurement position detection unit 71 of the terminal device 12 determines that the person taking the measurement has turned a corner if the measurement position estimated by PDR has changed in one direction and then changes in another direction. If the person taking the measurement has not specified an intermediate location using the input unit 56, the measurement position detection unit 71 will send a reminder notification.

[0113] The measurement position detection unit 71 calculates the walking distance from the previously specified waypoint based on the displacement of the measurement position estimated by the PDR. The measurement position detection unit 71 may also issue a reminder notification if the calculated walking distance exceeds a certain distance (for example, 15m) and the user has not specified a waypoint using the input unit 56.

[0114] The measurement position detection unit 71 can detect the current position of the person taking the measurement on the map 151 based on the measurement position estimated by the PDR. Therefore, if there are waypoints that the person taking the measurement should specify, such as corners, within a predetermined distance from the person taking the measurement, the measurement position detection unit 71 may display those waypoints on the map 151 of the display unit 55 in advance.

[0115] <Expansion Form 6> Extended form 6 relates to a process that prompts the user to re-specify a location if the location specified by the measurer is incorrect.

[0116] Figure 13 illustrates extended form 6, which prompts the user to re-specify a location if the user has incorrectly designated a transit point. Note that parts of the figure corresponding to map 151 in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0117] In the target area 161 of map 151 in Figure 13, the measurer starts geomagnetic measurement at measurement start position SP and walks along a measurement route passing through intermediate positions CP1 to CP3 in that order while carrying the terminal device 12. The measurer also specifies each of the intermediate positions CP1 to CP3 on the map 151 of the display unit 55 when they reach each of them.

[0118] The dashed circle 301 shown in Figure 13 represents a circle centered on the intermediate point CP3. The radius of circle 301 is the length obtained by multiplying the elapsed time from when the measurer specified intermediate point CP3 to the present by the average walking speed of a human. Therefore, the radius of circle 301 increases over time. The area within this circle 301 represents the area that may exist after passing intermediate point CP3 when a human moves at an average walking speed (referred to as the walking limit area). Therefore, if, after the measurer specifies intermediate point CP3 on the map 151 of the display unit 55, the next intermediate point CP4 to be specified is not within the area of ​​circle 301 (within a predetermined distance from intermediate point CP3), i.e., it is not within the walking limit area, there is a high possibility that the measurer has specified the wrong intermediate point. In that case, the measurer's specification of the intermediate point is invalidated, and the measurer is prompted to specify the correct intermediate point again. Alternatively, the measurer may be prompted to specify the correct intermediate point within the area of ​​circle 301, or candidate points to tap may be displayed within the area of ​​circle 301.

[0119] Figure 14 is a flowchart showing the procedure for processing in extended form 6 performed by the terminal device 12. In step S31, the measurement position detection unit 71 determines the walking limit area by multiplying the elapsed time after detecting that the measurer has specified (tapped) a waypoint on the map 151 of the display unit 55 by the normal walking speed of a human. The walking limit area represents the area that can be moved at a normal walking speed of a human, starting from the waypoint specified by the measurer, as exemplified by the area of ​​circle 301 in Figure 13. This walking limit area expands over time. The process proceeds from step S31 to step S32.

[0120] In step S32, the measurement position detection unit 71 determines whether the next transit point specified by the measurer is within the walking limit area.

[0121] If, in step S32, the operator determines that the next designated transit point is not within the walking limit area, the process proceeds to step S33.

[0122] In step S33, the measurement position detection unit 71 prompts the user to specify the correct waypoint and stops expanding the walking limit area. The process returns from step S33 to step S32 and repeats from step S32.

[0123] In step S32, if the operator determines that the next designated transit point is within the walking limit area, the process proceeds to step S34.

[0124] In step S34, the measurement position detection unit 71 determines whether the application for geomagnetic measurement is running or not. That is, the measurement position detection unit 71 determines whether geomagnetic measurement is continuing or not.

[0125] If it is determined in step S34 that the application for geomagnetic measurement is running, the process returns from step S34 to step S31 and repeats from step S31.

[0126] If, in step S34, it is determined that the application for geomagnetic measurement is no longer running, i.e., the magnetomagnetic measurement has finished, the process proceeds to step S35.

[0127] In step S35, the geomagnetic data creation unit 73 creates geomagnetic data (magnetic field distribution data). After the processing in step S35, the processing of this flowchart is completed.

[0128] <Extended form 7> Extended form 7 relates to a process that prompts the user to re-specify a location if the user has specified the wrong location as a transit point.

[0129] Figure 15 illustrates an extended form 7 that prompts the user to re-specify a location if the user has incorrectly designated a transit point. In the figure, parts corresponding to map 151 in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0130] In the target area 161 of map 151 in Figure 15, the measurer starts geomagnetic measurement at measurement start position SP, and walks along the measurement route, passing through intermediate positions CP1 to CP3 in order while carrying the terminal device 12, and passing through intermediate position CP3. It is also assumed that the measurer specifies intermediate positions CP1 to CP3 on the map 151 of the display unit 55 when reaching each of the intermediate positions CP1 to CP3.

[0131] The dashed line current position mark 191 shown in Figure 15 represents the current measurement position estimated by the PDR. The dashed circle 321 represents the range of measurement error (estimation error) of the measurement position estimated by the PDR. That is, if the current measurement position estimated by the measurement position detection unit 71 by the PDR is the position of the current position mark 191, then the area within the circle 321 (within a predetermined distance from the current position of the measurement position) may be the actual measurement position (position of the terminal device 12). The size of the circle 321 is constant because it is due to the measurement accuracy of the PDR.

[0132] If, after the measurer has specified waypoint CP3 on the map 151 of the display unit 55, the next waypoint CP4 specified is not within the area of ​​circle 321, it is highly likely that the measurer has specified the wrong waypoint. In that case, the measurer's specified waypoint is invalidated, and the measurer is prompted to specify the correct waypoint again.

[0133] Figure 16 is a flowchart showing the procedure for processing the extended form 7 performed by the terminal device 12.

[0134] In step S51, the measurement position detection unit 71 sets an area with a predetermined radius centered on the measurement position (current position of the terminal device 12) estimated by the PDR. The predetermined radius is set to a size corresponding to the measurement error of the PDR. The process proceeds from step S51 to step S52.

[0135] In step S52, the measurement position detection unit 71 determines whether the next transit point specified by the measurer is within the area set in step S51.

[0136] If, in step S52, the operator determines that the next transit point specified is not within the area set in step S51, the process proceeds from step S52 to step S53.

[0137] In step S53, the measurement position detection unit 71 prompts the operator to specify the correct transit point. The process returns from step S53 to step S52 and repeats from step S52.

[0138] If, in step S52, the operator determines that the next transit point specified is not within the area set in step S51, the process proceeds to step S54.

[0139] In step S54, the measurement position detection unit 71 determines whether the application for geomagnetic measurement is running or not. That is, the measurement position detection unit 71 determines whether geomagnetic measurement is continuing or not.

[0140] If it is determined in step S54 that the application for geomagnetic measurement is running, the process returns from step S54 to step S51 and repeats from step S51.

[0141] If, in step S54, it is determined that the application for geomagnetic measurement is no longer running, i.e., the magnetomagnetic measurement has finished, the process proceeds to step S55.

[0142] In step S55, the geomagnetic data creation unit 73 creates geomagnetic data (magnetic field distribution data). After the processing in step S55, the processing of this flowchart is completed.

[0143] <Extended form 8> Extended form 8 relates to a process that automatically corrects the intermediate locations if the measurer incorrectly designates an intermediate location.

[0144] Figure 17 illustrates extended configuration 8, which automatically corrects the waypoints if the measurer designates the wrong waypoints. Note that parts corresponding to map 151 in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0145] In the area 161 for creating geomagnetic data on map 151 in Figure 17, four rectangular shelves 351 to 354 are arranged in a 2x2 configuration. This arranges three passages extending in the x-axis direction parallel to the y-axis direction, and three passages extending in the y-axis direction parallel to the x-axis direction.

[0146] The measurer is assumed to have started geomagnetic measurement at measurement start position SP, and then walked the measurement route, passing through intermediate positions CP1 and CP2 in order, while carrying the terminal device 12. Furthermore, the measurer is assumed to have designated intermediate positions CP1 and CP2 on the map 151 of the display unit 55 upon reaching them.

[0147] Suppose the measurer has passed through transit point CP2 and has designated location TP3 as the next transit point CP3 on the map 151 of the display unit 55. If location TP3 designated by the measurer is a location where a person cannot be present, such as within the area of ​​shelf 352 as shown in Figure 17, the measurement location detection unit 71 of the terminal device 12 can determine that location TP3 designated by the measurer is incorrect. In this case, the measurement location detection unit 71 may prompt the measurer to specify the correct transit point. Alternatively, the measurement location detection unit 71 may select the passage (area where a person can be present) with the highest probability of the measurer being present and automatically correct the location within the selected passage (area) as the correct transit point CP3.

[0148] When automatically correcting the transit point CP3, the measurement position detection unit 71 may, for example, select the passage with the highest probability of the measurer being present based on transit points CP1 and CP2 specified by the measurer before specifying the position TP3, or it may select the passage that includes the current position of the terminal device 12 estimated by PDR, or the passage closest to the current position of the terminal device 12 estimated by PDR. As an example of the former case, the measurement position detection unit 71 identifies the passage the measurer walked up to just before reaching the previous transit point CP2, based on transit points CP1 and CP2. If there is only one passage continuing from the identified passage, the measurement position detection unit 71 selects that passage as the passage with the highest probability of the measurer being present. If there are multiple passages continuing from the identified passage, the measurement position detection unit 71 selects the passage among those continuing passages that is closest in direction to the identified passage as the passage with the highest probability of the measurer being present. The measurement position detection unit 71 selects the passage with the highest probability of the measurer being present, and then corrects the position within the passage by moving parallel to the selected passage from the position TP3 specified by the measurer in the direction toward the selected passage (for example, in a direction perpendicular to the direction along the selected passage), and defines this position as the correct transit position CP3.

[0149] <Program> The series of processes performed by the information processing system 1, server device 11, terminal device 12, or terminal device 13 described above can be executed by hardware or by software. When the series of processes are executed by software, the programs that make up the software are installed on a computer. Here, the computer includes computers built into dedicated hardware, as well as general-purpose personal computers that can perform various functions by installing various programs.

[0150] Figure 18 is a block diagram showing an example of computer hardware configuration when the computer executes each process performed by the information processing system 1, server device 11, terminal device 12, or terminal device 13 using a program.

[0151] In a computer, the CPU (Central Processing Unit) 501, ROM (Read Only Memory) 502, and RAM (Random Access Memory) 503 are interconnected by a bus 504.

[0152] An input / output interface 505 is further connected to the bus 504. An input unit 506, an output unit 507, a storage unit 508, a communication unit 509, and a drive 510 are connected to the input / output interface 505.

[0153] The input unit 506 consists of a keyboard, mouse, microphone, etc. The output unit 507 consists of a display, speaker, etc. The storage unit 508 consists of a hard disk, non-volatile memory, etc. The communication unit 509 consists of a network interface, etc. The drive 510 drives removable media 511 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.

[0154] In a computer configured as described above, the CPU 501 loads, for example, a program stored in the memory unit 508 into the RAM 503 via the input / output interface 505 and the bus 504, and executes it, thereby performing the series of processes described above.

[0155] The program executed by the computer (CPU 501) can be provided by recording it on removable media 511, such as a packaged media. The program can also be provided via wired or wireless transmission media, such as a local area network, the internet, or digital satellite broadcasting.

[0156] In a computer, a program can be installed in the storage unit 508 via the input / output interface 505 by inserting the removable media 511 into the drive 510. Alternatively, a program can be received by the communication unit 509 via a wired or wireless transmission medium and installed in the storage unit 508. Furthermore, programs can be pre-installed in the ROM 502 or the storage unit 508.

[0157] The programs executed by the computer may be programs that are processed chronologically in the order described herein, or they may be programs that are processed in parallel or at necessary times, such as when a call is made.

[0158] This technology can also be configured as follows: (1) A sensor that measures the strength or direction of a magnetic field or electric field, A display unit that displays a predetermined target area, An input unit for specifying the position of the device in the target area displayed on the display unit, A detection unit that detects the position of the device in the target area based on the estimated position of the device and the position of the device specified by the input unit, A creation unit creates distribution data representing the strength or direction of the magnetic field or electric field for each position in the target area, based on the strength or direction of the magnetic field or electric field measured by the sensor at the position of the device detected by the detection unit. An information processing device having (2) The estimated position of the device is the position of the device estimated based on the sensor outputs of the acceleration sensor and the angular velocity sensor. The information processing device described in (1) above. (3) The estimated position of the device is determined by estimating the displacement of the device from a predetermined reference position based on the sensor outputs of the acceleration sensor and the angular velocity sensor. The information processing device described in (1) or (2) above. (4) The input unit specifies the position of the device when it moves within the target area and reaches a corner. The information processing device described in any of (1) to (3) above. (5) The input unit specifies the position of the device when it has moved a predetermined distance within the target area. An information processing device according to any one of (1) to (4) above. (6) The detection unit corrects the estimated position of the device with the position of the device specified by the input unit. The information processing device described in any of (1) to (5) above. (7) The detection unit corrects the estimated position of the device to the position of the device specified by the input unit by changing the position of the device specified by the input unit to the reference position. The information processing device described in (3) above. (8) The detection unit causes the detected position of the device to be displayed on the target area shown on the display unit. An information processing device according to any one of (1) to (7) above. (9) The detection unit causes the device to display the measurement path it should follow on the target area displayed on the display unit. An information processing device according to any one of (1) to (8) above. (10) The detection unit causes the location of the device to be specified by the input unit when the device arrives to be displayed on the target area shown on the display unit. The information processing apparatus described in any of (1) to (9) above. (11) If the location of the device to be specified by the input unit is not specified, the detection unit will issue a reminder notice prompting the user to specify the location of the device. An information processing device according to any of (1) to (10) above. (12) If the detection unit detects that the position of the device specified by the input unit is incorrect, it will prompt the user to re-enter the input. The information processing device described in any of (1) to (11) above. (13) The detection unit determines that an error has occurred if the input unit specifies a position that is more than a predetermined distance away from the previous position of the device specified by the input unit, based on the elapsed time. The information processing device described in (12) above. (14) The detection unit determines an error if the position of the device specified by the input unit is more than a predetermined distance away from the current position of the device detected by the device. The information processing device described in (12) above. (15) If the detection unit determines that the location of the device specified by the input unit is a location where a person cannot be present, it corrects the location of the device specified by the input unit to a location where a person can be present. An information processing device according to any of (1) to (10) above. (16) Sensors and, Display unit and Input section, Detection unit, Creation section and Information processing device having The sensor measures the strength and direction of the magnetic field or electric field. The display unit displays a predetermined target area, The input unit specifies the position of the device in the target area displayed on the display unit. The detection unit detects the position of the device in the target area based on the estimated position of the device and the position of the device specified by the input unit. The creation unit creates distribution data representing the strength or direction of the magnetic field or electric field for each location in the target area, based on the strength and direction of the magnetic field or electric field measured by the sensor at the location of the device detected by the detection unit. Information processing methods. (17) Computers, A sensor that measures the strength and direction of a magnetic field or electric field, A display unit that displays a predetermined target area, An input unit for specifying the position of the device in the target area displayed on the display unit, A detection unit detects the position of the device in the relevant region based on the estimated position of the device and the position of the device specified by the input unit. A creation unit creates distribution data representing the strength or direction of the magnetic field or electric field for each position in the target area, based on the strength and direction of the magnetic field or electric field measured by the sensor at the position of the self-device detected by the detection unit. A program to make it work. [Explanation of symbols]

[0159] 1 Information processing system, 11 Server device, 12,13 Terminal device, 31 Map data storage unit, 32 Geomagnetic data storage unit, 51,91 Acceleration sensor, 52,92 Angular velocity sensor, 53,93 Magnetic sensor, 54,94 Processing unit, 55 Display unit, 56 Input unit, 71 Measurement position detection unit, 72 Magnetic measurement result storage unit, 73 Geomagnetic data creation unit, 111 Position estimation unit, 112 Signal processing unit

Claims

1. A sensor that measures the strength or direction of a magnetic field or electric field, A display unit that displays a predetermined target area, An input unit that specifies the position of the device in the target area displayed on the display unit according to user input, A detection unit detects the position of the device in the target area based on the position of the device estimated based on the sensor outputs of the acceleration sensor and the angular velocity sensor, or the position of the device obtained by estimating the displacement of the device from a predetermined reference position based on the sensor outputs of the acceleration sensor and the angular velocity sensor, and the position of the device specified by the input unit. A creation unit creates distribution data representing the strength or direction of the magnetic field or electric field for each position in the target area, based on the strength or direction of the magnetic field or electric field measured by the sensor at the position of the device detected by the detection unit. It has, The detection unit displays the measurement path that the device should move along on the target area displayed on the display unit, sets the positions that will be corners along the measurement path as intermediate points where the user can input the location of the device, and displays them on the display unit, and if the distance from one predetermined corner to the next corner exceeds a predetermined distance, sets one or more intermediate points at approximately equal intervals and displays them on the display unit. Information processing device.

2. The input unit specifies the position of the device when it moves within the target area and reaches a corner, in accordance with the user's input. The information processing apparatus according to claim 1.

3. The input unit specifies the position of the device when it has moved a predetermined distance within the target area, in accordance with the input from the user. The information processing apparatus according to claim 1.

4. The detection unit causes the detected position of the device to be displayed on the target area shown on the display unit. The information processing apparatus according to claim 1.

5. The detection unit is The position of the device estimated based on the sensor output is corrected by the position of the device specified by the input unit, or, By changing the position of the device specified by the input unit to the reference position, the position of the device, which is determined by estimating the amount of displacement of the device from a predetermined reference position based on the sensor output, is corrected so that it becomes the position of the device specified by the input unit. The information processing apparatus according to claim 1.

6. The detection unit causes the location of the device to be specified by the input unit when the device arrives to be displayed on the target area shown on the display unit. The information processing apparatus according to claim 1.

7. If the location of the device to be specified by the input unit is not specified, the detection unit will issue a reminder notice prompting the user to specify the location of the device. The information processing apparatus according to claim 1.

8. If the detection unit detects that the position of the device specified by the input unit is incorrect, it will prompt the user to re-enter the input. The information processing apparatus according to claim 1.

9. The detection unit determines that an error has occurred if the input unit specifies a position that is more than a predetermined distance away from the previous position of the device specified by the input unit, based on the elapsed time. The information processing apparatus according to claim 8.

10. The detection unit determines an error if the location of the device specified by the next input from the user is more than a predetermined distance away from the current location of the device detected based on the current input from the user. The information processing apparatus according to claim 8.

11. If the location of the device specified by the input unit is a location where a person cannot be present, the detection unit corrects the location of the device specified by the input unit to a location where a person can be present. The information processing apparatus according to claim 1.

12. Sensors and, Display unit and Input section, Detection unit, Creation section and Information processing device having The sensor measures the strength and direction of the magnetic field or electric field, The display unit displays a predetermined target area, The input unit specifies the position of the device in the target area displayed on the display unit according to the user's input. The detection unit detects the position of the device in the target area based on the position of the device estimated based on the sensor outputs of the acceleration sensor and the angular velocity sensor, or the position of the device obtained by estimating the amount of displacement of the device from a predetermined reference position based on the sensor outputs of the acceleration sensor and the angular velocity sensor, and the position of the device specified by the input unit. The creation unit creates distribution data representing the strength or direction of the magnetic field or electric field for each location in the target area, based on the strength and direction of the magnetic field or electric field measured by the sensor at the location of the device detected by the detection unit. The detection unit displays the measurement path that the device should move along on the target area displayed on the display unit, sets the positions that will be corners along the measurement path as intermediate points where the user can input the location of the device, and displays them on the display unit, and if the distance from one predetermined corner to the next corner exceeds a predetermined distance, sets one or more intermediate points at approximately equal intervals and displays them on the display unit. Information processing methods.

13. Computers, A sensor that measures the strength and direction of a magnetic field or electric field, A display unit that displays a predetermined target area, An input unit that specifies the position of the device in the target area displayed on the display unit according to user input, A detection unit detects the position of the device in the target area based on the position of the device estimated based on the sensor outputs of the acceleration sensor and the angular velocity sensor, or the position of the device obtained by estimating the displacement of the device from a predetermined reference position based on the sensor outputs of the acceleration sensor and the angular velocity sensor, and the position of the device specified by the input unit. A creation unit creates distribution data representing the strength or direction of the magnetic field or electric field for each location in the target area, based on the strength and direction of the magnetic field or electric field measured by the sensor at the position of the device detected by the detection unit. and make it work The detection unit displays the measurement path that the device should move along on the target area displayed on the display unit, sets the positions that will be corners along the measurement path as intermediate points where the user can input the location of the device, and displays them on the display unit, and if the distance from one predetermined corner to the next corner exceeds a predetermined distance, sets one or more intermediate points at approximately equal intervals and displays them on the display unit. A program for that purpose.

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