ᚑくᄢቇℂᎿቇ⎇ⓥႎ๔
J. Fac. Sci. Tech., Seikei Univ.
Vol.46 No.2 (2009) pp.1-8៤Ꮺ㔚⹤ౝ⤳䌇䌐䌓ߩ૏⟎♖ᐲ3456࿃ 㓶੫ 㧘ዊ㜞 ␭᮸ 㧘ർῪ ➂ሶ 㧘ᐔ㊁ ⎇ੱ* 㧘ᮘญ ᡽๺* 㧘Ꮉፒ ⑲ੑ* 㧘᧛਄ ੳᏆ**1*1*2

Positional accuracy of Mobile Phones GPS112

34Yusuke IN* , Yuki ODAKA* , Mayuko KITAZUME* , Kento HIRANO* , Masakazu HIGUCHI* ,56Syuji KAWASAKI* , and Hitomi MURAKAMI*ABSTRACT㧦In recent years, network applications with location-awareness have been attracting a lot ofattention as a technical element for ubiquitous computing. Among such applications, environmental
domain especially requires, for the sake of immediate detection and providing solutions, a high precisionof auto-detected location information of relevant places. In order to realize the precision, technicalchallenges will be evaluation of the precision of GPS information and how to improve it. So far, theseissues have rarely been studied, however. In this paper, we consider especially GPS function on mobilephones, first to evaluate the precision of GPS information on mobile phones, and second to study how toimprove the precision.
Keywords㧦GPS, DGPS, Mobile Phone, Synclhonization loss
㧔Received September 15, 2009㧕㧝㧚ߪߓ߼ߦߪ㧘㜞޿૏⟎♖ᐲࠍᜬߚߖࠆߎߣ߇ᔅⷐߢ޽ࠆ‫ޕ‬ᚒ‫ߪޘ‬㧘ߎࠇ߹ߢߩᬌ⸛ߢ GPS ᖱႎߪ႐ᚲߦࠃߞߡᄢ߈ߥ⺋Ꮕᚒ‫߇ޘ‬ᛴ߃ߡ޿ࠆᣣᧄߩ⺖㗴㧘1ዋሶ㜞㦂ൻ㧘2቟߇↢ߓࠆߎߣࠍቯ㊂⊛ߦ␜ߒߚ[2ѝ4]‫ޕ‬ᓟㅀߔࠆ߇㧘៤Ꮺᔃ࡮቟ో㧘3ⅣႺ໧㗴㧘ࠍ⸃᳿ߔࠆᚻᲑߣߒߡ㧘ᖱႎㅢ㔚⹤ၮ࿾ዪߢ⵬ᱜࠍⴕߞߡ޿ࠆࠪࠬ࠹ࡓߢ߽ደᄖߢߪ

ାᛛⴚ(ICT: Information and Communication Technologies)

30m એ਄㧘ደౝߢߪ 100m ⒟ᐲ㧘ᖡ޿ᤨߦߪ 1000m ߣ޿߇ᦼᓙߐࠇߡ޿ࠆ‫ߩߘޕ‬ਛߢ߽㧘៤Ꮺ㔚⹤ߪ㧘ᦨ߽ᚒ‫ޘ‬߁㕖Ᏹߦᄢ߈ߥ⺋Ꮕ߇↢ߓࠆߎߣ߇޽ࠆ[5ѝ6]‫✕ޕ‬ᕆᤨ߿ߩ␠ળߢ᥉෸ߒߡ޿ࠆࡀ࠶࠻ࡢ࡯ࠢᯏེߢ޽ࠅ㧘⺕߽߇ἴኂᤨߥߤߩ੐ᘒߢߪ㧘ࠃࠅᱜ⏕ߥ♖ᐲ߇ᔅⷐߣߥࠆ‫ޕ‬

24 ᤨ㑆りߦߟߌߡ޿ࠆ໑৻ߩᖱႎ෼㓸࡮વ㆐ᯏེߢ߽޽ ߘߎߢᧄ⺰ᢥߢߪ㧘ߎࠇࠄ៤Ꮺ㔚⹤૏⟎ᖱႎ߇ߤߩࠃࠆߎߣ߆ࠄ㧘․ߦߘߩᔕ↪߇ലᨐࠍ⊒ើߔࠆߣᕁࠊࠇࠆ‫ޕ‬߁ߥ․ᕈࠍ߽ߞߡ޿ࠆ߆ࠍታ㛎ߦࠃߞߡ᣿ࠄ߆ߦߒ㧘ߘ⃻࿷៤Ꮺ㔚⹤ߪ㧘ᣣᧄߩᏒ႐ߢ㧝ంบએ਄᥉෸ߒߡ߅ࠇߦኻߔࠆ⠨ኤࠍⴕߞߚ‫ޕ‬ࠅ㧘⺕߽߇଻ᜬߒߡ޿ࠆᖱႎ┵ᧃᯏེߢ޽ࠆ‫ߩߎޕ‬៤Ꮺ㔚⹤ࠍ૶↪ߔࠆ੐ߦࠃࠅ㧘޿ߟߢ߽ߤߎߢ߽ଢ೑ߢ᦭⋉㧞㧚៤Ꮺ㔚⹤ౝ⤳ 㪞㪧㪪 ၮᧄ⺋Ꮕ․ᕈ
ߥᖱႎࠍ౉ᚻߔࠆ੐߇ߢ߈ࠆ‫ࠬ࠲ࠠࡆ࡙ޕ‬ⅣႺߩ᭴▽㧘 ᚒ‫ߕ߹ߪޘ‬៤Ꮺ㔚ౝ⬿ GPS ߩ⺋Ꮕߪߤߩ⒟ᐲߩᄢ߈

ᖱႎขᓧߩὑߩ㊀ⷐߥ࠷࡯࡞ߢ޽ࠆ‫[ޕ‬1]⃻࿷߶ߣࠎߤߩ㧘៤Ꮺ㔚⹤ߪ GPS ࠍౝ⬿ߒߡ߅ࠅ㧘ߘߐߢ޽ࠆ߆⏕⹺ߔࠆߚ߼ߦ㧘᧲੩ㇺᱞ⬿㊁Ꮢߢ GPS ߩ᷹ࠇߦࠃߞߡᓧࠄࠇࠆ૏⟎ᖱႎߪ㕖Ᏹߦ㊀ⷐߥᖱႎߣߥߞቯታ㛎ࠍⴕߞߚ[2-4]‫⃻ޕ‬࿷㧘៤Ꮺ㔚⹤ߦઃ㓐ߒߡ޿ࠆ GPSߡ޿ࠆ‫ߩߎޕ‬૏⟎ᖱႎࠍ᦭↪ߥࠦࡦ࠹ࡦ࠷ߦߔࠆߚ߼ߦ

ߪᄢ߈ߊಽߌߡ㧞⒳㘃ߦಽ߆ࠇࠆ‫ޕ‬㧝ߟ⋡ߪ GPS ⴡᤊߩ㧖* 㧦ᖱႎ⑼ቇ⑼ቇㇱቇ↢ߺߢ᷹ቯߔࠆ GPS න⁛᷹૏ᣇᑼ㧔㧮␠┵ᧃ㧕㧘߽߁ 1 ߟ*2㧦ℂᎿቇ⎇ⓥ⑼ᖱႎ⑼ቇࠦ࡯ࠬୃ჻ቇ↢㧖
*3㧦Ꮏቇ⎇ⓥ⑼㔚᳇㔚ሶᎿቇኾ᡹ୃ჻ቇ↢㧖
*4㧦ᖱႎ⑼ቇ⑼ࡐࠬ࠼ࠢ
*5㧦ᖱႎ⑼ቇ⑼ቴຬ⎇ⓥຬ㧖6* 㧦ᖱႎ⑼ቇ⑼ᢎ᝼㧔hi-murakami@st.seikei.ac.jp㧕␠┵ᧃ㧕ߢ޽ࠆ‫ᧄޕ‬ታ㛎ߪ਄⸥㧞␠ߩ┵ᧃࠍ↪޿ߡᚑく1ߪ៤Ꮺ㔚⹤ߩၮ࿾ዪߢߩ⺋Ꮕ⵬ᱜࠍⴕ߁ DGPS ᣇᑼ㧔㧭ᄢቇౝߦ߅޿ߡ㧝ಽߏߣߦ㧘1000 ࿁⒟ᐲ GPS ᖱႎߩㅪ㧙㧙⛯ขᓧࠍⴕ޿㧘ደᄖ㧘ደౝߩ᭽‫ ߥޘ‬7 ࡩᚲߩ႐ᚲߢታ㛎 ⴫ 1㧘2㧘࿑ 1㧘2 ߩ⚿ᨐ߆ࠄ߽ࠊ߆ࠆࠃ߁ߦ B ␠ߦᲧࠍⴕߞߚฦ⚿ᨐ⺋Ꮕߩᐔဋ㧘ᦨᄢ㧘ᦨዊ㧘ಽᢔ㧘ᮡḰ஍ߴ㧘DGPS ᣇᑼࠍ↪޿ߡ޿ࠆ A ␠ߩᣇ߇㧘ၮ࿾ዪࠍ੺ߒ

Ꮕߦߟ޿ߡએਅ⴫ 1㧘2 ߦ␜ߔ‫ޕ‬ታ㛎႐ᚲߩ⹦⚦ࠍએਅ⺋Ꮕ⵬ᱜࠍⴕߞߡ޿ࠆߚ߼㧘ዋߥ޿⺋Ꮕࠍ␜ߒߚ‫ޕ‬ߥ߅㧘ߩԘ-Ԟߦ␜ߔ‫ߚ߹ޕ‬࿑ 1㧘2 ߦ㧘ታ㛎⚿ᨐ଀ߣߒߡታ㛎ਔ┵ᧃߣ߽ߦ 5㧑⒟ᐲߩ㗫ᐲߢ㧘หᦼᄖࠇࠍ⿠ߎߒ㕖Ᏹ႐ᚲԛߢߩࡅࠬ࠻ࠣ࡜ࡓࠍ␜ߔ‫ޕ‬ߦᄢ߈ߥ⺋Ꮕ߇⊒↢ߒߚ‫ޕ‬⴫㧝 ታ㛎⚿ᨐ㧔㧭␠ߩ┵ᧃ㧕⺋Ꮕᐔဋ୯㧘ᦨᄢ⺋Ꮕ㧘ᦨዊ⺋Ꮕ㧘ಽᢔ୯ᮡḰ஍Ꮕ න૏ߪ㨙 ࿑㧟㪞㪧㪪 ኾ↪ᯏࠍ↪޿ߚขᓧ⚿ᨐ⴫㧞ታ㛎⚿ᨐ㧔㧮␠ߩ┵ᧃ㧕⺋Ꮕᐔဋ୯㧘ᦨᄢ⺋Ꮕ㧘ᦨዊ⺋Ꮕ㧘ಽᢔ୯㧘ᮡḰ஍Ꮕ න૏ߪ㨙 

 ࿑ 3 ߪᏒ⽼ߒߡ޿ࠆ GPS ኾ↪ᯏߩ⚿ᨐߢ޽ࠆ‫ޕ‬ታ㛎႐ᚲԙደᄖߢ㧘਄ⓨߦ૗߽ߥߊⴡᤊߣߩ㑆ߦ㓚ኂߩߥ޿႐ᚲߢߩ᷹ቯ⚿ᨐߢ޽ࠆ‫ޕ‬GPS ኾ↪ᯏߪ៤Ꮺ㔚⹤ GPS ߦᲧߴ㧘਄ⓨߦ㓚ኂߩߥ޿႐ᚲߥߤ᷹ቯߦㆡߒߚⅣႺߥࠄ߫㧘㕖Ᏹߦ㜞♖ᐲߥ૏⟎ᬌ಴߇ߢ߈ࠆ߇㧘ደౝ㧘߽ߒߊߪᑪ‛ߩㄭߊߛߣ᷹ቯਇนߣߥࠆ‫ߦ߁ࠃߩߎޕ‬ደౝߢ߽৻ቯԘ ደᄖߢⴡᤊߣߩ㑆ߦ㓚ኂ߇޽ࠆ႐ᚲ ਄ⓨ߇ᧁߢⷒߩ⺋Ꮕ〒㔌ߢᬌ಴ߢ߈ࠆ៤Ꮺ㔚⹤ GPS ߩᣇ߇㧘GPS ኾ↪

ࠊࠇߡ޿ࠆ ԙ ደᄖߢ਄ⓨߦ૗߽ߥߊⴡᤊߣߩ㑆ߦ㓚ኂߩߥ޿႐ᚲԚ ደᄖߢᑪ‛ߦ࿐߹ࠇߡ߅ࠅࡑ࡞࠴ࡄࠬ߇⿠ߎࠅ߿ߔ޿႐ᚲᯏࠃࠅ߽ᚒ‫ޘ‬ᣣᏱߦ቟ቯ⊛ߦ૶߃ࠆߎߣࠍ⏕⹺ߒߚ‫ޕ‬ ߘߎߢએᓟߩታ㛎ߪ㧘᷹ቯ⺋Ꮕ߇ዋߥ޿ DGPS ┵ᧃ(A␠┵ᧃ)ࠍ૶↪ߒߡታ㛎ࠍⴕߞߚ‫ޕ‬ԛ ደౝߢ 6 㓏ᑪߡߩᑪ‛ߩ 1 㓏ਛᔃㇱ㧚 ࠕࡦ࠹࠽ᣇะߦࠃࠆ․ᕈ⹏ଔԜ ደౝߢ 6 㓏ᑪߡߩᑪ‛ߩ 1 㓏⓹㓙 ៤Ꮺ㔚⹤ߪ㧘3G ઀᭽ߩㅢାߦട߃㧘Bluetooth ߿ GPSԝ ደౝߢ 6 㓏ᑪߡߩᑪ‛ߩ 6 㓏ਛᔃㇱߥߤฦ⒳ή✢ᯏ⢻ߩߚ߼㧘ⶄᢙߩࠕࡦ࠹࠽ࠍౝ⬿ߒߡ޿Ԟ ደౝߢ 6 㓏ᑪߡߩᑪ‛ߩ 6 㓏⓹㓙ࠆ‫ޕ‬਄⸥ߢㅀߴߚࠕࡦ࠹࠽ߩ㈩⟎ߪ㧘࡙࡯ࠩ࡯ߩ೑↪ᆫ൓ࠍ⠨ᘦߒߡ޿ࠆߚ߼᭎ߨ᳿߹ߞߡ߅ࠅ㧘৻⥸⊛ߦ GPSࠕࡦ࠹࠽ߪ࠺ࠖࠬࡊ࡟ࠗ஥ߩ╲૕ߩ਄┵ߦ㈩⟎ߐࠇࠆ‫ޕ‬߹ߚ㧘⃻࿷ߩ៤Ꮺ㔚⹤ࠨࠗ࠭ߦ߅޿ߡℂᗐ⊛ߥࠕࡦ࠹࠽ߩ㐳ߐࠍ⏕଻ߔࠆߩߪ㔍ߒߊ㧘ࠕࡦ࠹࠽ߩᕈ⢻ࠍᦨૐ㒢⛽ᜬߔࠆߚ߼ࠞࠬ࠲ࡓ㐿⊒߇ⴕࠊࠇߡ޿ࠆ‫ޕ‬࿑㧝㧭␠┵ᧃࠍ↪޿ߚታ㛎႐ᚲԛߢߩታ㛎⚿ᨐ ߘߎߢᚒ‫ߪޘ‬㧘หᤨೞ㧘ࠝ࡯ࡊࡦࠬࠞࠗߥⅣႺߦ߅޿ߡࠕࡦ࠹࠽ᣇะߦࠃࠅ㧘1 ಽߏߣߦ GPS ᖱႎߩㅪ⛯ขᓧ
ࠍ 1000 ࿁⒟ᐲⴕ޿㧘GPS ᷹ቯ⺋Ꮕߦ㆑޿߇޽ࠆ߆ࠍ GPSߩ⺋Ꮕ㊂㧘஍ࠅᐲว޿ߦߟ޿ߡታ㛎ߒߚ‫ޕ‬࿑㧞㧮␠┵ᧃࠍ↪޿ߚታ㛎႐ᚲԛߢߩታ㛎⚿ᨐ㧙㧙⴫㧟 ታ㛎⚿ᨐ ៤Ꮺᯏ⒳㧦95# 㧦⺋Ꮕᐔဋ୯㧘ᦨᄢ⺋Ꮕ㧘ᦨዊ⺋Ꮕ㧘ಽᢔ୯㧘ᮡḰ஍Ꮕ න૏ߪ㨙 ࿑㧣 95# ࠍ↪޿ߚࠕࡦ࠹࠽ᣇะ㧔ർ㧕ߢߩታ㛎⚿ᨐ







 ⴫ 3㧘࿑ 4㧘5㧘6㧘7 ࠃࠅᦨᄢ⺋Ꮕߦ 㨙⒟ᐲߩᏅ߇

↢ߓߡ޿ࠆ߽ߩߩ㧘ᐔဋ⺋Ꮕ㧘ᦨዊ⺋Ꮕ㧘ಽᢔ㧘஍ࠅߩᣇะߪ߶߷หߓߢ޽ߞߚ‫ࠅࠃࠄࠇߎޕ‬㧘ࠕࡦ࠹࠽ߩᣇะ

ߦࠃߞߡߪ⺋Ꮕ㊂㧘஍ࠅߣ߽ߦᄢ߈ߥᏅࠍ↢ߓߥ޿ߎߣࠍ⏕⹺ߒߚ‫ޕ‬࿑㧠 95# ࠍ↪޿ߚࠕࡦ࠹࠽ᣇะ㧔᧲㧕ߢߩታ㛎⚿ᨐ㧚 ᯏ⒳ଐሽᕈ

 ᰴߦᚒ‫ߪޘ‬៤Ꮺ㔚⹤ࠕࡦ࠹࠽ߩᯏ᭴ㇱຠߥߤߩ⸳⸘߿

⚛᧚ߩ㆑޿ߦࠃࠆ․ᕈ߇㧘GPS ߩ⺋Ꮕߦߤߩ⒟ᐲᓇ㗀ࠍ߽ߚࠄߔߩ߆ࠍ⏕⹺ߒߚ‫ᧄޕ‬ታ㛎ߪ㧘หᤨೞࠝ࡯ࡊࡦࠬࠞࠗߥ⁁ᴫߢ㧝ಽߏߣߦ GPS ᖱႎߩㅪ⛯ขᓧࠍ 1000 ࿁

⒟ᐲⴕ޿㧘GPS ߩ⺋Ꮕ㊂㧘஍ࠅᐲว޿ߦߟ޿ߡ⹏ଔࠍⴕߞߚ‫ޕ‬ฦ⚿ᨐ⺋Ꮕߩᐔဋ㧘ᦨᄢ㧘ᦨዊ㧘ಽᢔ㧘ᮡḰ஍Ꮕࠍ⴫㧠ߦ␜ߔ‫ߚ߹ޕ‬࿑ 8㧘9 ߦ㧘ੑߟߩᯏ⒳ W44T㧔᧲⦼⵾㧕㧘W51SA㩷 䋨ਃᵗ⵾㧕ߢߩ⺋ᏅಽᏓ࿑ࠍ␜ߔ‫ޕ‬⴫㧠 ታ㛎⚿ᨐ 㧭␠ߩ┵ᧃ 㧦⺋Ꮕᐔဋ୯㧘ᦨᄢ⺋Ꮕ㧘ᦨዊ⺋Ꮕ㧘ಽᢔ୯㧘ᮡḰ஍Ꮕ න૏ߪ㨙 ࿑㧡 95# ࠍ↪޿ߚࠕࡦ࠹࠽ᣇะ㧔⷏㧕ߢߩታ㛎⚿ᨐ






















࿑㧢 95# ࠍ↪޿ߚࠕࡦ࠹࠽ᣇะ㧔ධ㧕ߢߩታ㛎⚿ᨐ࿑㧤96 ߢߩ᷹ቯ⚿ᨐ㧔⺋Ꮕಽᢔ࿑㧕㧙㧙⴫㧡ో࿖ฦ࿾ߢߩ᷹ቯ⚿ᨐ
࿑㧥95# ߢߩ᷹ቯ⚿ᨐ㧔⺋Ꮕಽᢔ࿑㧕 ⴫ 4 ෸߮㧘࿑ 8㧘9 ࠃࠅW44T, W51SA ߣ߽ߦ৻ቯߩᣇะߦ஍ࠅ߇↢ߓߡ޿ࠆ‫⺋ޕ‬Ꮕ㊂㧘஍ࠅߩᣇะߪ߶߷ห
ߓߢ޽ߞߚ‫ࠅࠃࠄࠇߎޕ‬㧘⺋Ꮕ㊂㧘஍ࠅߣ߽ߦ៤Ꮺᯏ⒳ߦ߅ߌࠆଐሽᕈߪߥ޿ߣ޿߃ࠆ‫ޕ‬࿑  ᩔᧁ⋵ᣣశᏒߢߩ᷹ቯ⚿ᨐ㧚 ႐ᚲଐሽᕈߣ࿾ၞᏅ ࿑ 10 ߪᣣᧄో࿖ߩหᤨೞߦ߅ߌࠆ GPS ⴡᤊߩ⷗߃ᣇࠍ␜ߒߚ࿑ߢ޽ࠆ‫ޕ‬࿑ 10 ࠃࠅหߓᤨೞߥࠄᣣᧄో࿖ߤߎߢ߽㧘߶߷หߓ႐ᚲ㧘หߓᢙߩ GPS ⴡᤊ߇᷹ⷰߢ߈ࠆ
ߎߣ߇ࠊ߆ࠆ‫ޕ‬࿑  ᴒ✽⋵㇊ⷓᏒߢߩ᷹ቯ⚿ᨐ ࿑ 10 ߩ GPS ⴡᤊߩ⷗߃ᣇ߆ࠄᗐቯߒߚ⚿ᨐߣ⇣ߥࠅGPS ⺋Ꮕߪ႐ᚲߦࠃࠅᄢ߈ߊᄌࠊࠅ㧘ᐔဋ 50m ߿ 200m
ߣ߫ࠄߟ߈ࠍ⷗ߖߚ‫ޕ‬႐ᚲߦ߽ࠃࠆ߇㧘ᦨᄢ⺋Ꮕ߇ 3000m㧘
7000m ߣ޿ߞߚ㕖Ᏹߦᄢ߈ߥ⺋Ꮕ߇↢ߓࠆߎߣ߇޽ߞߚ‫ޕ‬ߎࠇߪ៤Ꮺ㔚⹤ౝߢหᦼᄖࠇࠍ⿠ߎߒߚߚ߼ߢ㧘႐ᚲߦࠃࠅ⺋Ꮕߩᄢ߈ߐߪ⇣ߥࠆ⚿ᨐߢ޽ߞߚ‫ߚ߹ޕ‬ታ㛎 2 ߣ

࿑  ᣣᧄో࿖ߩ )25 ⴡᤊߩ⷗߃ᣇ

ห᭽ߦߤߎߩ႐ᚲߢ GPS ߩ᷹ቯࠍⴕߞߡ߽㧘หᦼᄖࠇ߇



5㧑⒟ᐲߩ㗫ᐲߢ⿠߈ࠆߎߣ߇⏕⹺ߢ߈ߚ‫ޕ‬ ߘߎߢᚒ‫ోߪޘ‬࿖ߢหߓ⚿ᨐ߇᷹ቯߢ߈ࠆߩ߆⏕߆߼ ࿑ 11㧘12 ߆ࠄࠊ߆ࠆࠃ߁ߦ㧘ో࿖ߤߎߩ᷹ቯ࿾ὐߢ߽ࠆߚ߼ߦએਅߩታ㛎႐ᚲߢ㧘ߐࠄߦ᷹ቯࠍⴕߞߚ‫ޕ‬Ԙ␹᷹ቯ⺋Ꮕߦ஍ࠅࠍ↢ߓߚ‫ޕ‬ᚒ‫ߩߎߪޘ‬஍ࠅࠍ⸃ᨆߔࠆߚᄹᎹ⋵ᮮᵿᏒ㧘ԙᩔᧁ⋵ᣣశᏒ㧘Ԛᴒ✽⋵߁ࠆ߹Ꮢ㧘ԛ߼ߦᑼ(1)ࠍ↪޿ߡ㧘ߘߩ㊂ࠍቯ㊂ൻߒߚ‫ޕ‬ᴒ✽⋵㇊ⷓᏒ㧘Ԝർᶏ㆏ᧅᏻᏒߩ 5 ࡩᚲߢ޽ࠆ‫ޕ‬ ᧄታ㛎ߢߪ㧘DGPS ៤Ꮺ㔚⹤ࠍ૶↪ߒ㧘1 ಽߏߣߦ GPSᐔ㕙਄ߩ᷹ቯ⺋Ꮕ ᖱႎߩㅪ⛯ขᓧࠍ 1000 ࿁⒟ᐲⴕ޿㧘⺋Ꮕࠍ᷹ቯߒߚ‫߹ޕ‬ߎߎߢ̖  ߚ᷹ቯ᧦ઙࠍหߓߦߔࠆߚ߼㧘ᑪ‛ߩ㜞޿૏⟎㧔4㨪5 㓏㧕ߩ⓹㓙ߢߩ᷹ቯߣߒߚ‫(ޕ‬᷹ቯ⚿ᨐߣߒߡ㧘ታ㛎ࠍⴕߞߚ߁ߜߩ 2 ࡩᚲࠍ࿑ 11㧘12 ߦ␜ߔ㧘߹ߚታ㛎⚿ᨐࠍ⴫ 5: ゲᣇะߩᮡḰ஍Ꮕߦ␜ߔ‫ޕ‬㧙㧙̖  㧚㧚 ደᄖߢߩౣ⃻ᕈ ደ਄㧔਄ⓨߦ૗߽㓚ኂߩߥ޿⁁ᴫ㧕ߦ߅޿ߡ GPS ߩ᷹; ゲᣇะߩᮡḰ஍Ꮕ̖  ቯታ㛎ࠍⴕߞߚ‫ޕ‬GPS ⴡᤊߪ 11 ᤨ㑆 58 ಽߢ޽ࠅ㧘ࠊߕ ታ㛎ࠍⴕߞߚ 5 ࡩᚲߦߟ޿ߡᑼ㧔1㧕ߢ␜ߐࠇࠆ GPS߆ߦ๟ᦼᕈߦ࠭࡟߇↢ߓߡ߅ࠅ㧘ቄ▵ߦࠃࠅࠊߕ߆ߦ⺋ߩ⺋Ꮕ߇ߤߩᣇะߦߤࠇߛߌ⺋Ꮕ߇޽ࠆߩ߆⸃ᨆߒߚ‫ޕ‬Ꮕ߇ᄌࠊࠆߣ޿ࠊࠇߡ޿ࠆ‫ߣ߼ߚࠆ߼߆⏕ࠍࠇߘޕ‬㧘Ᏹ࿑ 13㧘14 ߪ࿑ 11(ᣣశ)㧘12(㇊ⷓ)ߩ⚿ᨐߢ޽ࠆ‫ޕ‬GPS ߩߦหߓ⺋Ꮕ߇ขᓧߢ߈ࠆߩ߆ࠍ⏕߆߼ࠆߚ߼ߦ 2008 ᐕ᷹ቯ⺋Ꮕߪߤߩ႐ᚲߢ߽ဋ╬ߦಽᢔߖߕߦ৻ቯߩᣇะߦ

10 ᦬ 16 ᣣߣ 2009 ᐕ 1 ᦬ 6 ᣣ㧘1 ᦬ 11 ᣣߦౣᐲ GPS ᷹஍ࠅࠍ⷗ߖࠆ⚿ᨐߣߥߞߚ‫ޕ‬ቯታ㛎ࠍⴕߞߚ‫ޕ‬ขᓧߒߚ⚿ᨐࠍ⴫ 6 ߦ␜ߔ‫ߚ߹ޕ‬࿑ 15㧘16㧘17 ߦࡅࠬ࠻ࠣ࡜ࡓࠍ␜ߔ‫ޕ‬⴫㧢 ደ਄ߦ߅ߌࠆታ㛎⚿ᨐ㧔න૏㧦㨙㧕㩷࿑ ᣣశᏒߢߩ᷹ቯ⚿ᨐ㧔ᢔᏓ࿑㧕࿑  ᦬ߦ៤Ꮺ㔚⹤ࠍ↪޿ߚደ਄ߢߩขᓧ⚿ᨐ࿑ ᴒ✽⋵㇊ⷓᏒߢߩ᷹ቯ⚿ᨐ㧔ᢔᏓ࿑㧕 ៤Ꮺ㔚⹤ GPS ߩ஍ࠅ㧘⺋Ꮕߩᄢ߈ߐࠍ⸃ᨆߒߚ⚿ᨐ㧘
GPS ߩ஍ࠅ⺋Ꮕߪߤߩ႐ᚲߢ߽⊒↢ߔࠆ‫⺋ߩߘߚ߹ޕ‬Ꮕߩᄢ߈ߐߪ႐ᚲߦࠃࠅ⇣ߥࠆ‫ޕ‬ᑪ‛ౝ㧘߽ߒߊߪᑪ‛ㄭㄝߦ߅޿ߡߪࡑ࡞࠴ࡄࠬ߇⊒↢ߔࠆߎߣߦࠃࠅ㧘৻ቯߩ࿑ 㧝᦬㧢ᣣߦ៤Ꮺ㔚⹤ࠍ↪޿ߚደ਄ߢߩขᓧ⚿ᨐᣇะ߳ߩ஍ࠅ⺋Ꮕ߇↢ߓߚߣ⠨߃ࠄࠇࠆ[11ѝ12]‫ޕ‬㧚 ౣ⃻ᕈ
 GPS ࠍᚒ‫↢ߩޘ‬ᵴߦ೑↪ߔࠆ႐ว㧘ߚߣ߃޽ࠆ৻ቯߩ
⺋Ꮕ߇⊒↢ߒߡ߽㧘ߎࠇࠄߩ⺋Ꮕ߇ౣ⃻ᕈߩ޽ࠆ߽ߩߥࠄ߫㧘චಽߦታ↪⊛ߢ޽ࠆ‫ߢߎߘޕ‬એਅߦ GPS ⺋Ꮕ㧘஍ࠅᐲว޿㧘หᦼᄖࠇߩౣ⃻ᕈࠍᚑくᄢቇౝ㧘ᑪ‛ߩਛ㧘ደ਄ߥߤߩደᄖߢታ㛎ࠍⴕ޿⏕⹺ߒߚ‫ޕ‬ ᧄታ㛎ߪታ㛎 2 ߣหߓࠃ߁ߦ GPS ᖱႎࠍ 1 ಽߏߣߦㅪ࿑ 㧝᦬  ᣣߦ៤Ꮺ㔚⹤ࠍ↪޿ߚደ਄ߢߩขᓧ⚿ᨐ⛯ขᓧߒ㧘⺋Ꮕߩᄢ߈ߐ㧘ᑼ(1)ߩ஍ࠅࠍ↪޿ߡ⸃ᨆߒ㧘㗫ᐲߣᢔᏓ࿑ߢ⹏ଔࠍⴕߞߚ‫ޕ‬㧙㧙 ⴫ 6㧘࿑ 15㧘16㧘17 ࠃࠅหߓ႐ᚲߦ߅޿ߡ㧘਄ⓨߦ㓚ኂߩߥ޿႐ᚲߥࠄ߫㧘ᦨᄢ⺋Ꮕ㧘ᐔဋ⺋Ꮕ߿⺋ᏅಽᏓߥߤ㧘߶ߣࠎߤหߓߣ⠨߃ࠄࠇࠆ⺋Ꮕ㊂ߢ޽ߞߚ‫ࠅ߹ߟޕ‬ደᄖߦ߅޿ߡߪౣ⃻ᕈ߇޽ࠆߣ⠨߃ࠄࠇࠆ‫ޕ‬ ደౝߢߩౣ⃻ᕈ ᰴߦ㧘ᑪ‛ౝߢ GPS ߩ᷹ቯታ㛎ࠍⴕ޿㧘ౣ⃻ᕈ߇޽ࠆߩ߆ਃᣣㅪ⛯ߒߡታ㛎ࠍⴕߞߚ‫ޕ‬ታ㛎ࠍⴕߞߚ႐ᚲߪታ

㛎 1 ߩԝ(ደౝߢ 6 㓏ᑪߡߩᑪ‛ߩ 6 㓏ਛᔃㇱ)ߢ޽ࠆ‫ޕ‬࿑ ࿑  ߩታ㛎ߩಽᢔ࿑

⴫㧣ߦታ㛎⚿ᨐࠍ␜ߔ‫ߚ߹ޕ‬࿑ 18㧘19 ߦߪ৻࿁⋡ߣੑ࿁⋡ߩታ㛎⚿ᨐߩ⺋Ꮕࡅࠬ࠻ࠣ࡜ࡓࠍ␜ߔ‫ޕ‬⴫  ደౝߢߩฦታ㛎⚿ᨐ࿑ ࿑  ߩታ㛎ߩಽᢔ࿑ ࿑ 20㧘21 ࠃࠅ⺋Ꮕߩᄢ߈ߐߪ 10m ⒟ᐲߩ㆑޿ߢ޽ࠅ㧘⺋Ꮕߩ஍ࠅߩᣇะ߽߶߷หߓߢ޽ߞߚ‫ ߩߎޕ‬10m ⒟ᐲߩᐔဋ⺋Ꮕߩ㆑޿ߪ㧘ⷐ࿃ߣߒߡⴡᤊߩ๟ᦼߦࠃࠆ࠭࡟ߦ
ࠃࠅ㧘Ფᤨ㑆㆑ߞߚࡑ࡞࠴ࡄࠬ߇⿠ߎࠆߚ߼ߦ㧘หߓ႐ᚲߢ߽ᄙዋ㆑߁⺋Ꮕ߇⊒↢ߔࠆߣ⠨߃ࠄࠇࠆ‫ޕ‬ ߹ߚฦታ㛎ߦࠃࠅᓧࠄࠇߚ࠺࡯࠲߆ࠄ DGPS ᣇᑼߩ៤࿑ ႐ᚲԝߢߩታ㛎⚿ᨐ 㧝ᣣ⋡ Ꮺ㔚⹤ GPS ࠍ↪޿ࠇ߫㧘⚂ 90%߇ඨᓘ 100m ߦ૏⟎ࠍ․ቯߢ߈ࠆߎߣ߇ࠊ߆ߞߚ‫ޕ‬㧟㧚ኾ↪ᯏߣߩᲧセ ࿑ 22, 23, ߪᏒ⽼ߒߡ޿ࠆ GPS ኾ↪ᯏࠍ↪޿ߚࠝ࡯ࡊࡦࠬࠞࠗߥ⁁ᴫߦ߅޿ߡߩ GPS ᷹ቯታ㛎⚿ᨐߩ⺋Ꮕ㊂ߣ㧘ಽᢔᐲว޿ߢ޽ࠆ‫ޕ‬਄ⓨߦ㓚ኂߩߥ޿႐ᚲߦ߅޿ߡ
ߪኾ↪ᯏߩᣇ߇៤Ꮺ㔚⹤ࠃࠅߪࠆ߆ߦ⦟ᅢߥ⚿ᨐࠍ␜ߒ࿑ ႐ᚲԝߢߩታ㛎⚿ᨐ 㧞ᣣ⋡ ߚ‫ߩߎޕ‬ታ㛎ߩ᧦ઙߢߩ GPS ⺋Ꮕߪ߶߷ 3㨪5m એౝߢ޽ߞߚ‫ޕ‬ ࿑ 18㧘19 ࠃࠅ㧘ߎߩታ㛎ߦ߅޿ߡ GPS ⺋Ꮕߪᐔဋ 50
㨪60m ߢ޽ߞߚ‫ߚ߹ޕ‬஍ࠅߦߟ޿ߡߪታ㛎 2-1㧘2-3 ߣห᭽ߦᑼ(1)ࠍ↪޿ߡ⸃ᨆࠍⴕߞߚ‫ޕ‬࿑ 20, 21 ߪߘߩ⚿ᨐߢ޽ࠆ‫ޕ‬࿑ )25 ኾ↪ᯏࠍ↪޿ߚขᓧ⚿ᨐ㧙㧙߃ࠄࠇࠆ‫ߥ⚦⹦ޕ‬૏⟎ᖱႎߩ⎇ⓥߪߎࠇ߆ࠄߩ ICT ␠ળߦߪᔅⷐਇนᰳߢ޽ࠈ߁‫ޕ‬ ᧄ⎇ⓥߩ৻ㇱߪ㧘ᢥ⑼⋭ᚢ⇛⊛⎇ⓥၮ⋚ᒻᚑᡰេ੐ᬺߦࠃߞߡⴕࠊࠇߚ‫ߡߒ⸥ޕ‬㧘ᗵ⻢ߔࠆ‫ߚ߹ޕ‬㧘ᧄ⺰ᢥߢ␜ߒߚ޿ߊߟ߆ߩ᷹ቯ㗄⋡ߪ㧘ቇળ[5]ߢ⊒⴫ߒߚ㓙ߩ⾰໧ߦ╵߃ࠆ߽ߩߢ޽ࠆ‫ޕ‬࿑  ࿑  ߩ⺋Ꮕಽᢔ࿑ ᧄታ㛎ࠍታ࿾ߔࠆߦ޽ߚࠅ㧘߅਎⹤ߦߥߞߚ KDDI ⎇ⓥᚲࠣ࡞࡯ࡊ࡝࡯࠳࡯Ṛ᎑ඳ჻ߦᗵ⻢ߔࠆ‫ޕ‬㧠㧚หᦼߪߕࠇߩ․ᕈෳ⠨ᢥ₂ หᦼߪߕࠇ߇⊒↢ߔࠆߣᢙ 100m ߩ⺋Ꮕࠍ↢ߓࠆ‫ߎޕ‬ߩหᦼᄖࠇߪਇቯᦼߦ⊒↢ߒ㧘1 ᣣਛ⊒↢ߒߥ޿ߎߣ߽

1.

޽ࠇ߫ᢙᤨ㑆ߦ૗ᐲ߽⊒↢ߔࠆߎߣ߽޽ࠅ㧘ౣ⃻ᕈߪߥ

M. Helft,̌Google Zooms In Too Close for Some,” NewYork Times, May 31, 2007.

޿ߣ⠨߃ࠄࠇࠆ‫ޕ‬࿑ 24 ߪᤨ㑆ߏߣߦࠃࠆ⺋Ꮕ㊂ߩࠣ࡜ࡈ2.

ᐔ㊁et al “GPS ᖱႎߩ⺋Ꮕ❗ዊ” ᤋ௝ᖱႎࡔ࠺ࠖࠕቇળ 2008 ᐕᤋ௝ᖱႎࡔ࠺ࠖࠕቇળ౻ቄᄢળ7-3Ⴆ↰et al̌៤Ꮺ㔚⹤ )25 ․ᕈߩ⹦⚦᷹ቯߣߘߩ
ᬌ⸛̍ ITE Technical Report Vol33, No.11, PP.29~32
Feb 2009

4.

ᵻᎹet al̌ἴኂᤨߦ߅ߌࠆ቟ో቟ᔃᖱႎߩ෼
㓸࡮⴫␜ࠪࠬ࠹ࡓߦߟ޿ߡ㧙)25 ᯏ⢻ࠍ↪޿ߚ៤Ꮺ㔚⹤ߩᔕ↪㧙̍ ITE Technical Report Vol33, No.11,PP.123~126 Feb 20095.

࿃et al̌GPS ߣࠞࡔ࡜↹௝ߦࠃࠆ૏⟎․ቯᴺߩ
ᬌ⸛̍ITE Technical Report Vol33, No.11, PP.25~28
(GD2009

6.

ᐔ㊁ et al “៤Ꮺ㔚⹤ߩࠞࡔ࡜↹௝㧘GPS ᖱႎ߅ࠃ߮࿾࿑ᖱႎⲢวߦࠃࠆ࡙ࡆࠠ࠲ࠬⅣႺߩ᭴▽”ITE Technical Report Vol.32, No.39, PP.1~4 Sep 2008

7.

Montemerlo, M., Thrun, S., Koller, D. and Wegbreit, B.

ߢ޽ࠆ‫ޕ‬࿑ 24 ߦ⴫ߐࠇߡ޿ࠆࠃ߁ߦ㧘৻ᐲ⊒↢ߔࠆߣㅪ⛯ߢ⊒↢ߒ⛯ߌࠆߎߣ߇ᄙ޿‫ߩߎޕ‬หᦼᄖࠇࠍᷫዋߐߖࠆߎߣߪ㧘ో૕ߩ GPS ⺋Ꮕߩ♖ᐲะ਄ߦߪᭂ߼ߡ㊀ⷐߢ޽ࠅ㧘੹ᓟߩ㊀ⷐߥᬌ⸛⺖㗴ߢ޽ࠆ‫ޕ‬FastSLAM A factored solution to the simultaneous

localization and mapping problem, In Proc. of theAAAI࿑  㧢㓏ᑪߡᑪ‛ߩ㧢㓏⓹ߢߩหᦼᄖࠇ

National Conference on Artificial Intelligence, 2002.

8.

㧡޽ߣ߇߈

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ߩ↢ᵴߦਇนᰳߣߥࠆ៤Ꮺ㔚⹤ GPS ၮᧄ․ᕈߦߟ޿ߡ㧘⹦⚦ߦ᷹ቯ㧘ᬌ⸛ࠍⴕߞߚ‫ޕ‬ㄭߊߦᑪ‛߇ߥ޿ࠝ࡯ࡊࡦࠬࠞࠗߩⅣႺߢߪ㧘߶߷ 100㨙એౝߩ⺋Ꮕߦߥࠆߎߣࠍ⏕⹺ߒߚ‫ߒߛߚޕ‬㧘ਇቯᦼߥหᦼߪߕࠇ߇ේ࿃ߣᕁࠊࠇࠆᄢ߈ߥ⺋Ꮕ߇㧘ዋߥ߆ࠄߕ⊒↢ߔࠆ‫ߩߎޕ‬หᦼߪߕࠇ

9.

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everywhere?”, San Jose Mercury News, June 20, 2004.
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locationawarenessࠍଢ೑ߦߔࠆߛߌߢߥߊ㧘1 ┨ߢㅀߴߚⅣႺ໧㗴㧘Noxandnavigation” Proceedings of the SPIE, Volume 5308,

߿⎫ൻ᳓⚛໧㗴ߥߤ਎⇇⊛ߥ␠ળ໧㗴߽⸃᳿ߢ߈ࠆߣ⠨pp.102-109 (2004).

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