| 摘要 |
PROBLEM TO BE SOLVED: To provide a self position estimation system capable of improving an accuracy in estimation of a self position of a moving body.SOLUTION: A self position estimation system 100 is provided with a control part 15 that estimates positional information of a cart 10 in a predetermined zone 200 on the basis of a rotation angle detected by an encoder 12 and an angular velocity of the cart 10 detected by a gyro sensor 13. The control part 15 is configured to perform first correction that corrects angle information of the cart 10, which is obtained from the angular velocity detected by the gyro sensor 13, to angle information corresponding to straight advancing, when an amount of change of the angle information of the cart 10 obtained from the angular velocity detected by the gyro sensor 13 is a minute angle or less and it is determined, on the basis of the positional information of the cart 10, that the cart 10 is approximately straightly advancing.SELECTED DRAWING: Figure 3 |
