| 摘要 |
PROBLEM TO BE SOLVED: To provide a self position estimation device that uses a GPS/INS integrated navigation system estimating a self position of a moving body, and can estimate the self position of the moving body without using image information in an environment where the GPS cannot be used.SOLUTION: A self position estimation device of the present invention calculates positional coordinates and the speed of a moving body with a reference information calculation unit 6, on the basis of positional coordinates of a passage point through which the moving body passes, and the speed and passage time at which the moving body passes through the passage point, each of which is set by a passage point coordinate setting unit 5, and corrects the calculated positional coordinates and speed with a DR calculation unit 3, thereby estimating a self position without using image information even when the GPS cannot be used. |
