| 摘要 |
PROBLEM TO BE SOLVED: To provide "repeated calculation control method and device in Kalman filter processing" for accurately estimating a position, speed, and the like with a small number of repeated calculations. SOLUTION: In the Kalman filter processing for estimating a state quantity including the position and speed of a vehicle and the attitude of a sensor, a Kalman filter processing section 14 calculates the state quantity including the position and speed of the vehicle and the attitude of the sensor, and a repeated calculation stop control section 22 of the Kalman filter calculates difference between the previous time and this time in a predetermined state quantity, of the calculated state quantity, or a value corresponding to the state quantity. When the difference becomes larger than the previous difference, or when the difference becomes a predetermined value or lower, the repeated calculation stop control section 22 stops the repeated calculations of the state quantity by the Kalman filter processing section 14, and a correction state quantity output section 21 outputs the state quantity calculated by the Kalman filter processing section 14 as correction state quantity. COPYRIGHT: (C)2010,JPO&INPIT |
