| 摘要 |
PROBLEM TO BE SOLVED: To obtain a vehicle-position measuring apparatus by which the present position and the advance direction of a vehicle can be simultaneously calculated with high accuracy on the basis of observation information from a global positioning system(GPS) receiver and on the basis of measuring information from an onboard sensor. SOLUTION: In a vehicle-position measuring apparatus, position information and direction information on a system model are set at the matrix element of a status vector on the basis of the system model which calculates the position information and the direction information by a direction change and a movement distance in every unit time from onboard sensors 1, 3 and on the basis of an observation model which expresses the relationship between position information from a GPS receiver 2 and position information by the system model. While a Kalman filter in which the position information from the GPS receiver 2 is set is used for an observed value, a Kalman gain is set in such a way that the correction amount of an advance direction as the matrix element of the status vector becomes a prescribed value or lower, and the status vector is calculated. |
