| 摘要 |
PURPOSE:To enhance measuring accuracy by compensating a bias error, by performing two kinds of different least square treatments on the basis of informations from a plurality of sensors and correcting data on the basis of the difference between respective estimation positions. CONSTITUTION:The sonic waves emitted from a moving body 1 are received by a plurality of sensors S1-Sn present at positions distances d1-dn from said moving body 1 and receiving time signals t1-tn received by the sensors S1-Sn are introduced into a data processing apparatus 2. In the data processing apparatus 2, data processing according to a position measuring method using two different methods of least squares such as a hyperboloid position measuring method and a spherical surface position measuring method is performed. On the basis of the difference between estimation positions of the moving body 1 obtained by these methods, a parameter amount causing a bias error is inversely estimated and a sensor position or a sonic wave propagation speed forming the foundation of position estimating operation processing is corrected by using said parameter amount. |
