| 摘要 |
PROBLEM TO BE SOLVED: To provide a travel trajectory estimation device which surely detects accuracy degradation of the Doppler frequency and corrects a travel trajectory according to the accuracy of the Doppler frequency.SOLUTION: A travel trajectory estimation device 10 includes: a position calculation part 11; a GPS velocity calculation part 12; a DR velocity calculation part 13; an accuracy detection part 14 ; and a travel trajectory calculation part 15. The position calculation part 11 calculates an estimated position of a vehicle based on a pseudo distance obtained from a GPS. The GPS velocity calculation part 12 calculates an estimated velocity vector of the vehicle based on the Doppler frequency obtained from the GPS. The DR velocity calculation part 13 calculates a reference velocity vector of the vehicle based on an azimuth change amount detected by an angle sensor and a vehicle velocity pulse. The accuracy detection part 14 detects the accuracy of the Doppler frequency by comparing the estimated velocity vector and the reference velocity vector. The travel trajectory calculation part 15 calculates a travel trajectory based on the estimated position, the estimated velocity vector, and the accuracy of the Doppler frequency.SELECTED DRAWING: Figure 1 |
