| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a positioning device, a positioning method, and a program having a favorable followability to the moving of a walking body and capable of executing a highly accurate positioning. <P>SOLUTION: This positioning device includes: an autonomous navigation sensor being held by a walking body and detecting a walking movement and an azimuth; moving amount calculation means for calculating the moving amount of the walking body based on an output and stride data of the autonomous navigation sensor; and moving direction calculation means (a step S1) for calculating a moving direction for every step based on the output of the autonomous navigation sensor. The moving distance calculation means includes a deviation angle calculation means (S2-S4) for calculating, based on the output of the autonomous navigation sensor, a deviation angle (θ) for every step in the moving direction caused by a difference between the stepping directions of the left foot and the right foot, corrects a value of the stride data in such a manner that, as the deviation angle (θ) is enlarged, the stride width increases, and calculates it as the moving distance for every step (S5). <P>COPYRIGHT: (C)2012,JPO&INPIT |
