| 摘要 |
PURPOSE: To provide a position specifying method for moving body and a posi tion specifying device for moving body capable of obtaining solutions (position and moving direction of the moving body) hardly affected by a measurement error in light reception angle independently of the layout patterns and distances of light reflecting means. CONSTITUTION: The position and moving direction of a moving body are determined by trigonometrical survey (S1-6) for combinations selecting three light reflecting means among three or more light reflecting means (S1-5). The x- direction component xt and y-direction yt of the position of the moving body are selected (S1-10, 11, 14) from the combination that one of the change rates dXP/dα, XP/ β of the x (or X)-direction component and the change rates dYP/dα, dYP/dβ of the y (or Y)-direction component for the measurement errors of two opening angles α, β among three reflecting means in each combination on the determined multiple solutions. The average value of the moving directions in two combinations on each direction component is specified as the moving direction &phgr; of the moving body (S1-14).
|
