| 摘要 |
<P>PROBLEM TO BE SOLVED: To stably estimate a speed vector of a traveling object with high accuracy even in environment having a few observation satellites. <P>SOLUTION: Vehicle speed data V<SP POS="POST">t</SP><SB POS="POST">wheel</SB>, yaw rate data ω<SP POS="POST">t</SP>, and GPS data are acquires in time series and stored in a time series vehicle speed storage part 20, a time series yaw rate storage part 22 and a time series GPS data storage part 24, respectively. An azimuth angle time change calculation part 26 calculates azimuth angle time change θ<SP POS="POST">t</SP><SB POS="POST">gyro</SB>on the basis of the time series yaw rate data ω<SP POS="POST">t</SP>, and a satellite direction speed calculation part 28 calculates a satellite direction speed Vs<SP POS="POST">t</SP><SB POS="POST">i</SB>. An own vehicle speed estimation part 30 substitutes an observed value for an equation for estimating a speed vector on the basis of GPS data and obtained by restricting time change of an unknown parameter changing in each time with a time change in an azimuth angle and a time change in a clock drift, forms an equation for the number of observation satellites of time number×each time, and estimates a speed vector of the own vehicle by using the acquired parameter. <P>COPYRIGHT: (C)2013,JPO&INPIT |
