| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate a position of a moving object by setting a position obtained by moving parallel a trajectory of the moving object so that a difference in distance between each of obtained information sources and the moving object becomes minimum to a position of the moving object.SOLUTION: The position estimating device is mounted on a vehicle. A GPS information acquiring part 20 acquires GPS information including trajectory information of each of GPS satellites transmitted from each of the GPS satellites, a GPS false distance data, and Doppler frequency information. A trajectory estimating part 40 calculates velocity vectors of an own vehicle based on the acquired GPS information, and a trajectory of the own vehicle is calculated by integrating the calculated velocity vectors for predetermined time. A false distance/satellite position storing part stores the obtained GPS false distance data and a position coordinate of each of the GPS satellites obtained from the trajectory information of each of the GPS satellites. An optimized position estimating part 60 estimates a position of a moving object by moving parallel a trajectory of the own vehicle so that the sum of the total false distance differences between distances from epochs on the trajectory of the own vehicle to the respective GPS satellites and false distances at the respective epochs of all GPS satellites of all epochs becomes minimum. |
