| 摘要 |
Provided is a speed estimation device comprising an initial setting value determination unit (126) and an estimated speed determination unit (128). The initial setting value determination unit (126) determines a speed initial value V0 for a mobile body from: a speed estimation formula which indicates the relationship of a satellite direction speed, a line-of-sight vector, the speed of the mobile body, and the travelling orientation of the mobile body; a satellite direction speed Vs; a line-of-sight vector (Gx, Gy, Gz); an acceleration integrated value ΔVG; and a relative azimuth θgyro. The estimated speed determination unit (128) estimates the speed of the mobile body on the basis of the acceleration integrated value ΔVG and the speed initial value V0. With respect to a formula which indicates the relationship of the satellite direction speed Vs, the line-of-sight vector (Gx, Gy, Gz), and a speed vector (Vx, Vy, Vz) of the mobile body, a speed estimation formula of an embodiment of the present invention restricts the magnitude of the speed vector by the speed of the mobile body, and restricts the change over time of the orientation of the speed vector using the change over time of the travelling direction azimuth of the mobile body. |
