| 摘要 |
PROBLEM TO BE SOLVED: To provide a device which measures a self-position stably and with a high precision. SOLUTION: The method comprises: the position measuring means 2, 45 equipped in a device 1 which measure a relative position of at least one characteristic point in a surrounding before movement; a process before movement which detects an attitude information of the device by an attitude detecting means 3 installed in the device 1; the position measuring means 2, 41 which measure the relative position of the characteristic point after movement; a process after movement which detects the attitude information of the device by the attitude detecting means 3; a calculation means 45 installed in the device which calculates the attitude change information as the attitude change amount before and after movement of the device from detected attitude information; and a calculation process which calculates the self-position after movement to the device before movement based on the attitude change information and each relative position information before and after movement of the characteristic point. COPYRIGHT: (C)2005,JPO&NCIPI
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