POSITIONING DEVICE, AND NAVIGATION SYSTEM

摘要

Provided is a positioning device (9) for detecting the position of a mover by radio-navigation positioning means (81). The positioning device (9) is characterized by comprising first and second autonomous sensors (2, 4, 3) for detecting the behavior information of the mover, position detecting means (82) for accumulating the detected information of the first autonomous sensor on the positioning result to detect an estimated position and an estimated direction, map data positioning means (83) for referring to map data storage means (5) on the basis of the estimated position to detect the map data estimated position of a predetermined distance from a corresponding link, direction detecting means (84) for accumulating the detected information of the second autonomous sensor on the positioning result to detect an accumulation estimated direction, and most probable position estimating means (85) for applying the estimated position and the map-data estimated position, and the estimated direction and the accumulated estimated direction to a Kalman filter to estimate the position of the mover.