MOBILE OBJECT POSITION ESTIMATION APPARATUS AND METHOD

摘要

A mobile object position estimation apparatus mounted in a mobile object includes a first estimation mechanism for estimating the mobile object position based on the outputs from an inertial navigation sensor device (acceleration sensor, and yaw rate sensor, or the like) mounted on the mobile object, a storage for storing map information including at least node information, a second estimation mechanism for estimating the mobile object position based on a predicted path of traveling of the mobile object predicted from the node information, and a synthesis mechanism for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation mechanism and the mobile object position estimated by the second estimation mechanism.