POSITION ESTIMATION METHOD, SYSTEM AND RECORDED MEDIA OF MOBILE SYSTEM USING ODOMETER AND HEADING SENSOR

摘要

A position estimation method and system, and a recording medium for recording the method, using an odometer and a direction sensor are provided to remove the need of an external observation sensor by using a direction angle as a reference observation value by receiving moving distances along X and Y axes and a direction disparity value for calculating the present position of the moving body. A position estimation system using an odometer and a direction sensor(20) comprises an X shaft switching part(6), a Y shaft switching part(4), a direction disparity sensor(10), and a Karman filter(40). The X shaft switching part calculates a moving distance along an X axis by multiplying cos(Theta(t)) by an absolute position disparity volume. The Y shaft switching part calculates a moving distance along a Y axis by multiplying sin(Theta(t)) by the absolute position disparity volume. The direction disparity sensor detects a direction disparity value by using reference direction information from the direction sensor. The Karman filter calculates the present position of the moving body by receiving the moving distances along X and Y axes and the direction disparity value. An input value generating part(12) calculates an input value inputted to the Karman filter by using the Jacobian matrix.