| 摘要 |
PROBLEM TO BE SOLVED: To improve the position measurement precision of a moving body by suppressing a distance measurement error due to variation in the wheel diameter of the moving body. SOLUTION: An arithmetic part 14 executes a first step for calculating moving speeds by the steering wheels 41 and fixed wheels 42 from the detection result of a pulse encoder 12, a second step for calculating a wheel diameter correction coefficient by estimating the ratios of distance measurement errors due to wheel diameter variation by the wheels from the ratio of the moving speeds, a third step for calculating the moving speed of the moving body by correcting the moving speeds by the wheels according to the calculated wheel diameter correction coefficient and averaging the corrected moving speeds by the wheels, and a fourth step for calculating the position of the moving body by integrating the calculated moving speeds. |
