NAVIGATION APPARATUS, AND METHOD AND PROGRAM FOR COMPUTING NAVIGATION INFORMATION

摘要

PROBLEM TO BE SOLVED: To highly accurately compute the speed and a current position of a vehicle even when signals can not be received from satellites by previously highly accurately computing a mounting angle of an acceleration sensor to the vehicle. SOLUTION: Accelerationαx in a traveling direction is computed according to a vehicle speed. Accelerationαy in lateral directions is computed according to a speed and a bearing of the vehicle. Motion accelerationαand gravitational acceleration g of the vehicle are observed to compute a tilt angleθof a road surface with respect to the traveling direction on the basis of a differenceΔH in altitude of the road surface computed according to an atmospheric pressure value PR and a distance traveled Lm according to the vehicle speed V. A mounting angle of the acceleration sensor 5 to the vehicle is determined on the basis of multi-dimensional function expressions fx, fy and fz expressed by the accelerationαx in the traveling direction; the accelerationαy in lateral directions; observed values AD of actual acceleration in the traveling direction and actual acceleration in lateral directions; and the tilt angleθ. COPYRIGHT: (C)2008,JPO&INPIT