National Institute of Advanced Industrial Science and Technology

Site Sensing Inc.

National Institute of Advance Industrial

Masakatsu Kourogi

Takeshi Kurata

Takashi Okuma

Tomoya Ishikawa

Takakazu Kato

Nobuchika Sakata

An angle offset judging device () includes: an azimuth histogram generating section () for obtaining an appearance frequency of estimated azimuths; and an evaluating section () for making an evaluation of whether or not the appearance frequency thus obtained shows a tendency which is observed in a case where an azimuth is properly estimated under a binding condition concerning an advancing direction of a movement of a moving body.

Estimated-azimuth-angle assessment device, mobile terminal device, computer-readable storage medium, control method for estimated-azimuth-angle assessment device, and positioning device

The present invention provides a device and a method which allow a travel direction of a moving body to be estimated more efficiently. The present invention provides a travel direction estimating device for estimating a traveling direction in which a moving body travels, including: an accelerometer for detecting an acceleration by which the moving body travels; an angular velocity sensor for detecting an angular velocity by which the moving body travels; and a travel direction vector determining section for determining the traveling direction of the moving body by calculating, based on the acceleration detected by the accelerometer and on the angular velocity detected by the angular velocity sensor.

Travel direction estimation device and travel direction estimation method

The present invention provides a device and method for estimating a travel direction of a moving body, the device and method allowing highly accurate estimation of the travel direction even in the case where the positional relationship between the moving body and the self-contained sensing device or the posture is changed freely. The travel direction estimating device includes (i) a gravitational direction vector estimating sectionfor estimating a gravitational direction vector on the basis of respective outputs of an acceleration sensor and an angular velocity sensor, (ii) a tentative travel direction vector generating sectionas a candidate of travel direction vector, (iii) a walk frequency estimating sectionfor estimating a walk frequency from component data resulting from projecting acceleration component data for the gravitational direction vector, and (iv) a travel direction vector determining sectionfor determining an objective function and a phase difference on the basis of a frequency component of a component Af resulting from projecting the acceleration component data for a travel direction vector, a frequency component of a component An resulting from projecting the acceleration component data for a side-to-side direction vector, a frequency component of a component Ws resulting from projecting angular velocity component data for the travel direction vector, a frequency component of a component Wn resulting from projecting the angular velocity component data for the side-to-side direction vector, a walk frequency, and the phase of the walk frequency, selecting as travel direction vectors, tentative travel direction vectors with which the phase difference is within a predetermined range and each of which maximizes the value of the objective function, and determining the side of the travel direction.

Device for estimating moving object travel direction and method for estimating travel direction

In order to acquire positioning results (position and azimuth) of a moving body and reducing cumulative errors in integration processing of the positioning results, a moving body positioning apparatus includes: movement detecting means for detecting whether or not a moving body is moving; position acquiring means for acquiring a position of the moving body; integrating means for integrally processing a plurality of positions acquired by the position acquiring means as positioning results; and preprocessing means for preprocessing the positioning results to be inputted into the integrating means. In accordance with output from the movement detecting means, the preprocessing means inputs the positioning results obtained from the position acquiring means into the integrating means, which integrally processes the positioning results.

Moving body positioning device

A moving body positioning device includes a sensor group that outputs a motion velocity vector of a moving body, a motion velocity vector estimation processing device that measures a motion velocity vector and outputs an output sequence of the motion velocity vector together with a measured time, a monitoring camera, an image analysis processing device that analyzes the image of the monitoring camera to measure a position of feet of the moving body measures a motion velocity vector at the position of the feet, and outputs an output sequence of the motion velocity vector with a measured time, and a motion velocity vector collation processing device that collates the output sequence of the motion velocity vector estimation processing device with the output sequence of the image analysis processing device and outputs its collation result as a TRUE or a FALSE signal.

A moving body attitude angle processing apparatus capable of reducing cumulative errors in continuously measuring the attitude angle of a moving body is provided. The moving body attitude angle processing apparatus estimates the attitude angle of a moving body in accordance with outputs from an acceleration sensor, a magnetic sensor, and a gyro sensor that are mounted to the moving body, and outputs the attitude angle thus estimated. The moving body attitude angle processing apparatus includes: a gyro sensor that outputs an angular velocity vector; an acceleration sensor that outputs an acceleration vector; a magnetic sensor that outputs a magnetic field vector; a movement state determining device that determines a movement state of a moving body in accordance with an output from the acceleration sensor; and a gyro-sensor zero-point output estimating device that, when the movement state determining device determines the movement state to have been detected as a stationary state of the moving body, carries out a process of estimating a zero-point output of the gyro sensor in accordance with the output from the acceleration sensor, an output from the magnetic sensor, and an output from the gyro sensor.

Moving body posture angle processing device

There is provided a mobile positioning apparatus for performing map matching based on a pixel image. The mobile positioning apparatus comprises a position storage indicating a current position of a mobile body and likelihood information thereof as a nonparametric distribution; a movement vector estimation device which outputs a movement vector indicating a moving distance and a moving direction of the mobile body at a discrete time T and likelihood information thereof; an image database which holds a peripheral map of a range of movement of the mobile body as an image group of a resolution according to a moving resolution of the mobile body; and a pixel crossing determination device which performs map matching using the position information group and a the movement vector based on the peripheral map.

Mobile positioning system

A posture angle processing apparatus includes a magnetic sensor, a gravitational acceleration sensor, a position information acquisition device, and a dip angle database device wherein a correlation of the absolute location and a geomagnetic dip angle at the corresponding point is stored. Based on the absolute location of the current point, a dip angle estimation and determination device reads the geomagnetic dip angle at the current point, calculates an angle formed by a horizontal plane and the magnetic vector, compares the angle formed by the magnetic vector and the horizontal plane with the geomagnetic dip angle of the current point, and outputs either a true signal or a false signal depending on the error between the angle and the geomagnetic dip angle.

Growing community of inventors

Tsukuba, Japan

Masakatsu Kourogi