| 摘要 |
PURPOSE:To operate offset accurately during the short-time stop of a vehicle and to make it possible to estimate the highly accurate position by filtering the output of an angular speed sensor. CONSTITUTION:When a vehicle is running, a vehicle-position operating means 146 operates the present position based on the results of the operations of a running-distance operating means 141 and a vehicle-bearing operating means 145. The position information is sent into a control means 15. When the vehicle is not running, a vehicle-stop detecting means 142 outputs the vehicle-stop information into an offset operating means 144. Then, the means 144 receives the output of an angular-speed sensor 12 which undergoes low-pass filtering through a filtering means 143 and outputs the result of the operations into the means 145. In the means 145, the offset output is subtracted from the output of the angular speed sensor 12, and the accurate vehicle bearing is operated. The means 146 operates the accurate present position of the vehicle based on the output and the output of the means 141. Thus, the offset is accurately corrected, and the errors in position operation can be reduced. |
