Location estimation apparatus, moving object, location estimation method, and computer readable storage medium
A technology for improving a positioning precision is desired in a case where a positioning precision of a positioning signal is relatively low. A location estimation apparatus includes a sub area extraction section configured to extract one or more sub areas including at least a part of a region defined by a location and an error range indicated by positioning information, a precision parameter extraction section configured to refer to map information in which area identification information is associated with a precision parameter indicating a positioning precision and extract, with regard to each of the one or more sub areas extracted by the sub area extraction section, the precision parameter, and an output section configured to output the sub area where the positioning precision indicated by the precision parameter is equal to or worse than the positioning precision indicated by the positioning information, as a location of a moving object.
1. A computer-implemented location estimation system, including a computer processor, comprising:
a positioning information obtaining section, executed by the processor, configured to obtain positioning information including precision information indicating a positioning precision from a GPS receiver mounted to a moving object and configured to receive a positioning signal;
a sub area extraction section, executed by the processor, configured to extract, in a case where the positioning precision indicated by the precision information included in the positioning information that is obtained by the positioning information obtaining section satisfies a predetermined condition, among a plurality of sub areas included in a target region having a predetermined geographical range, one or more sub areas including at least a part of a region defined by a location and an error range indicated by the positioning information obtained by the positioning information obtaining section;
a precision parameter extraction section, executed by the processor, configured to refer to map information in which area identification information for identifying each of the plurality of sub areas is associated with a precision parameter indicating a positioning precision of positioning using the positioning signal corresponding to a positioning precision in the respective sub area of the plurality of sub areas, and extract, with regard to each of the one or more sub areas extracted by the sub area extraction section, the precision parameter associated with the area identification information of the respective sub area of the one or more sub areas;
a comparison section, executed by the processor, configured to compare, with regard to each of the one or more sub areas extracted by the sub area extraction section, the positioning precision indicated by the precision parameter extracted by the precision parameter extraction section with the positioning precision indicated by the precision information included in the positioning information obtained by the positioning information obtaining section; and
an output section, executed by the processor, configured to output, based on a comparison result of the comparison section, among the one or more sub areas extracted by the sub area extraction section, a sub area where the positioning precision indicated by the precision parameter extracted by the precision parameter extraction section is equal to or worse than the positioning precision indicated by the precision information included in the positioning information that is obtained by the positioning information obtaining section, as a location of the moving object.
2. A moving object comprising:
the location estimation system according to claim 1 ; and
the GPS receiver.
3. The computer-implemented location estimation system according to claim 1 , wherein
the output section outputs, based on the comparison result of the comparison section among the one or more sub areas extracted by the sub area extraction section the sub area where the positioning precision indicated by the precision parameter extracted by the precision parameter extraction section is equal to the positioning precision indicated by the precision information included in the positioning information that is obtained by the positioning information obtaining section, as the location of the moving object.
4. A moving object comprising:
the location estimation system according to claim 3 ; and
the GPS receiver.
5. The computer-implemented location estimation system according to claim 1 , wherein the output section outputs,
in a case where the positioning precision indicated by the precision information
included in the positioning information that is obtained by the positioning information obtaining section does not satisfy the predetermined condition, the region defined by the location and the error range indicated by the positioning information that is obtained by the positioning information obtaining section, as the location of the moving object.
6. A moving object comprising:
the location estimation system according to claim 5 ; and
the GPS receiver.
7. The computer-implemented location estimation system according to claim 1 , further comprising:
a precision information obtaining section, executed by the processor, configured to obtain with regard to each of the plurality of sub areas, the precision information indicating the positioning precision of the positioning based on the positioning signal received inside the sub area;
a precision parameter decision section, executed by the processor, configured to decide the precision parameter of each sub area based on the precision information obtained by the precision information obtaining section; and
a map information generation section, executed by the processor, configured to generate the map information by associating the precision parameter of each sub area decided by the precision parameter decision section with the area identification information of each sub area.
8. A moving object comprising:
the location estimation system according to claim 7 ; and
the GPS receiver.
9. A non-transitory computer readable storage medium that stores a program, the program causing a computer to execute:
a positioning information obtaining step to obtain positioning information including precision information indicating a positioning precision from a positioning signal reception section mounted to a moving object and configured to receive a positioning signal;
a sub area extraction step to extract, in a case where the positioning precision indicated by the precision information included in the positioning information that is obtained in the positioning information obtaining step satisfies a predetermined condition, among a plurality of sub areas included in a target region having a predetermined geographical range, one or more sub areas including at least a part of a region defined by a location and an error range indicated by the positioning information that is obtained in the positioning information obtaining step;
a precision parameter extraction step to refer to map information in which area identification information for identifying each of the plurality of sub areas is associated with a precision parameter indicating a positioning precision of positioning using the positioning signal corresponding to a positioning precision in the respective sub area of the plurality of sub areas, and extract, with regard to each of the one or more sub areas extracted in the sub area extraction step, the precision parameter associated with the area identification information of the respective sub area of the one or more sub areas;
a comparison step to compare with regard to each of the one or more sub areas extracted in the sub area extraction step, the positioning precision indicated by the precision parameter that is extracted in the precision parameter extraction step with the positioning precision indicated by the precision information included in the positioning information that is obtained in the positioning information obtaining step; and
an output step to output, based on a comparison result in the comparison step among the one or more sub areas extracted in the sub area extraction step a sub area where the positioning precision indicated by the precision parameter extracted in the precision parameter extraction step is equal to or worse than the positioning precision indicated by the precision information included in information that is obtained in the positioning information obtaining step as a location of the moving object.
10. A location estimation method comprising:
a positioning information obtaining step to obtain positioning information including precision information indicating a positioning precision from a positioning signal reception section mounted to a moving object and configured to receive a positioning signal;
a sub area extraction step to extract, responsive to the positioning precision indicated by the precision information included in the positioning information that is obtained in the positioning information obtaining step satisfying a predetermined condition, among a plurality of sub areas included in a target region having a predetermined geographical range, one or more sub areas including at least a part of a region defined by a location and an error range indicated by the positioning information that is obtained in the positioning information obtaining step;
a precision parameter extraction step to refer to map information in which area identification information for identifying each of the plurality of sub areas is associated with a precision parameter indicating a positioning precision of positioning using the positioning signal corresponding to a positioning precision in the respective sub area of the plurality of sub areas, and extract, with regard to each of the one or more sub areas extracted in the sub area extraction step, the precision parameter associated with the area identification information of the respective sub area of the one or more sub areas;
a precision information obtaining step to obtain, with regard to each of the plurality of sub areas, the precision information indicating the positioning precision of the positioning based on the positioning signal received inside the sub area;
a precision parameter decision step to decide the precision parameter of each sub area based on the precision information obtained in the precision information obtaining step;
a map information generation step to generate the map information by associating the precision parameter of each sub area decided in the precision parameter decision step with the area identification information of each sub area;
a comparison step to compare with regard to each of the one or more sub areas extracted in the sub area extraction step, the positioning precision indicated by the precision parameter that is extracted in the precision parameter extraction step with the positioning precision indicated by the precision information included in the positioning information that is obtained in the positioning information obtaining step; and
an output step to output, based on a comparison result in the comparison step, among the one or more sub areas extracted in the sub area extraction step a sub area where the positioning precision indicated by the precision parameter extracted in the precision parameter extraction step is equal to or worse than the positioning precision indicated by the precision information included in the positioning information that is obtained in the positioning information obtaining step, as a location of the moving object.