| 摘要 |
PURPOSE: To suppress the error of a bearing sensor when the direction of the sensor is changed by means of a turntable, etc., by judging the relative movement of a vehicle when the vehicle comes to stop and outputting the offset value of the sensor to a bearing calculating means after correcting the offset value based on the output of the sensor only when the vehicle does not move. CONSTITUTION: After a distance sensor 11 detects the stoppage of a vehicle, a relative movement judging means 13 reads the present value of a bearing sensor 12 and detects the relative movement of the vehicle caused by an external force. When the vehicle is relatively moved, the running and stopping of the vehicle are repetitively detected without correcting the offset value of the sensor 12. When the vehicle is not relatively moved, an offset value correcting means 14 finds the corrected offset value of the sensor 12 based on the output of the sensor 12. Then a vehicle bearing calculating means 16 finds the bearing of the vehicle by subtracting the corrected offset value from the output of the sensor 12 and a vehicle position calculating means 17 finds the position of the vehicle from the output of the distance sensor 11. Therefore, the error of the bearing sensor 12 can be suppressed when the sensor is moved by means of a turntable, etc. |
