| 摘要 |
The purpose of the present invention is to accurately obtain the current position, even in situations when the reception state of radio waves from a satellite is poor, in a moving body which uses positioning information generated by a satellite positioning system to detect the current position thereof. A moving body (1) according to the present invention is provided with: a storage unit (14) which stores map information (14a) including object information indicating the positions of a plurality of fixed objects; an object recognition unit (15); a relative-position calculation unit (10a) which, on the basis of the object information and recognition results from the object recognition unit (15), calculates the current relative position of the moving body (1) with respect to the objects; a position estimation unit (10b) which searches for and estimates the positions of the objects on a map indicated by the map information, and obtains a current estimated position of the moving body (1) on the map, said current estimated position being indicated by the relative position; and a position confirmation unit (10c) which applies, to the obtained current estimated position and the current positioning position indicated by the positioning information, weighting corresponding to the likelihood of the estimation by the position estimation unit (10b), to confirm the current position of the moving body (1). |
