| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a positioning device which corrects results positioned by an automated navigation to accurately measure a position of a moving body. <P>SOLUTION: A positioning device 9 is characterized by having a map data storage means 5 storing map data, autonomous sensors 2, 3 which detect the behavioral information of a moving body, an inertia positioning means 82 which accumulates the detected information by the autonomous sensors to a positioned result by an electric navigation positioning means such as GPS to detect an estimated position of the moving body, a feature detecting means 84 which detects a feature around a road, a feature position identifying means 83 which identifies a position of the feature, a feature reference positioning means 85 which estimates a feature estimated position of the moving body based on the position of the feature, and a position estimation means 86 which estimates a position of the moving body by applying an estimated position and the estimated position of the feature to a Kalman filter. <P>COPYRIGHT: (C)2008,JPO&INPIT |
