| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To prevent a dramatically degraded positioning result from being outputted by enabling determination of whether or not the correction of a detection value of an external sensor is appropriate, even when inertial navigation is performed. <P>SOLUTION: A navigation device 100 comprises a GPS receiver 11, an acceleration sensor 12 for detecting at least two-axis accelerations in an X-axis direction that is the front-back direction of a mobile object and a Y-axis direction that is the right-left direction of the mobile object, and an at least one-axis angular velocity sensor 13 for detecting the angular velocity in an azimuth direction around a Z-axis orthogonal to the X-axis direction and the Y-axis direction respectively. A sensor detection value appropriate correction determination part 22 of an integrated calculation unit 30 composed of a CPU or the like finds the product of the value (velocity) obtained by integrating the acceleration detection value in the X-axis direction and the angular velocity detection value in the azimuth direction, acquires the error between the value of the product and the acceleration detection value in the Y-axis direction, and determines whether or not corrections made by the acceleration sensor and the angular velocity sensor are appropriate by determining whether or not the error exceeds a predetermined threshold value. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
