| 摘要 |
PROBLEM TO BE SOLVED: To acquire highly accurate navigation information by performing a specific Kalman filtering on a GPS data and an estimated positional data calculated from speed information and orientation information as observation values. SOLUTION: A GPS receiver 1 in a navigation system comprises an operating section 12 performing positioning based on a data from a GPS receiving section 11, a section 13 for calculating a position by estimation navigation based on information from a speed sensor 2 and an orientation sensor 3 and a positional data calculating section 14 performing Kalman filtering on both data. Using a GPS data and an estimated positional data as observation data, the positional data calculating section 14 determines the filter gain of a Kalman filter for these data with errors predicted by a specified method as parameters and calculates a positional data by minimum variance while weighting to reduce the error. |
