| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving body which detects its current position using information on positioning by GPS and that accurately finds the current position even if a reception state of radio waves from GPS satellites is inferior.SOLUTION: A moving body 1 according to the present invention comprises: a storage part 14 which stores map information 14a including body information representing positions of a plurality of fixed bodies; a body recognition part 15 which recognizes the bodies; a relative position calculation part 10a which calculates current relative positions of the moving body 1 with respect to the bodies based upon the body information and recognition results by the body recognition part 15; a position estimation part 10b which retrieves and estimates positions of the bodies on a map that map information represents, and finds a current estimated position of the moving body 1 on the map that the relative positions indicate; and a position estimation part 10c which weights the current estimated position found by the position estimation part 10b and a current positioning position that GPS positioning information indicates according to a likelihood of estimation by the position estimation part 10b, and determines a current position of the moving body 1.SELECTED DRAWING: Figure 1A |
