| 摘要 |
PROBLEM TO BE SOLVED: To provide a positioning device, capable of eliminating the need for external sensors to measure acceleration, etc., and achieving compactness and lightness in weight. SOLUTION: A control information creating part 22 in a Kalman filter 28 determines the state of movement of the positioning device, on the basis of the value obtained by subtracting an input predicted value zk- from input zk to output a gain Kk of the Kalman filter 28. Therefore, the need for external sensors to measure the state of movement of the positioning device is eliminated, and it is possible to achieve the compactness and lightness in weight of the positioning device and to reduce cost.
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