| 摘要 |
PROBLEM TO BE SOLVED: To position self-position will not become unfixed, when determining the self-position, by using the incoming direction of radio waves from a plurality of radio wave transmitters whose positions are known. SOLUTION: Each radio wave transmitter 1 whose position is known in an absolute coordinate system transmits a radio wave. An antenna device 2 receives radio waves from four or more radio wave transmitters 1, and detects the incoming direction of the radio wave from each radio wave transmitter 1. Each of two circles C1, C2 passing three points of each of two radio wave transmitters 1 and the antenna device 2 is set by using the incoming direction acquired by the antenna device 2 and the positions of the radio wave transmitters 1, and the position excluding the positions of the radio wave transmitters 1 among intersection points between the circles C1, C2 is determined as the position of the antenna device 2. In this case, when three or more radio wave transmitters 1 are included in a determination domain D1 set by a specified width inside and outside one circle C1, a radio wave transmitter 1 outside the determination domain D1 is used as a radio wave transmitter of either circle between the two circles for determining the circle C2. COPYRIGHT: (C)2006,JPO&NCIPI
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