POSITIONING DEVICE

摘要

A positioning device 9 includes a map data storing unit 5 configured to store map data; autonomous sensors 2, 3 configured to detect behavior information of a moving object; an inertial positioning unit 82 configured to detect an estimated position of the moving object by applying the behavior information detected by the autonomous sensors to positioning results obtained by an electronic navigation positioning unit such as a GPS; a planimetric feature detecting unit 84 configured to detect a planimetric feature located around a road; a planimetric feature position identifying unit 83 configured to identify a position of the planimetric feature; a planimetric feature reference positioning unit 85 configured to estimate a planimetric feature estimated position of the moving object by using the position of the planimetric feature as a reference; and a position estimating unit 86 configured to estimate a position of the moving object by applying the estimated position and the planimetric feature estimated position to a Kalman filter.