| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus in which a plurality of sensors for detecting the attitude of a mobile are subjected to time synchronization to eliminate the control of reading and individual maintenance for every sensor, and basically the attitude of mobile is detected only by means of positioning, and to provide a course-maintaining support apparatus for making the mobile move along a target course. SOLUTION: Antennas for positioning are provided at positions Pa, Pb to the right and to the left of the mobile. The relative positions of the two antennas for positioning are determined by using signals for positioning that are received by the two antennas. A time-synchronized rolling angle and forward orientation of the mobile are detected from the relative positions. Also, an amount of orientation correction (θ1+θ2) is determined by using cross track errors with respect to the target course and the direction to a target point on the target course. COPYRIGHT: (C)2003,JPO
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