| 摘要 |
PROBLEM TO BE SOLVED: To perform accurate position measurement that is sufficient for autonomous movement by providing a differential GPS receiver, a communication machine for providing correction data for the GPS, and a traveling angle calculator, and by calculating the accurate position of a body based on vehicle speed, an traveling angle, a slant, and a position according to the GPS. SOLUTION: Converters a2, b5, and c8 and 9 convert an angular velocity signal from an optical gyro 1, an oblique angle signal from a slant sensor 4, and a vehicle speed signal from vehicle speed sensors 10 and 11, respectively, to a digital signal. A traveling angle calculator 3 uses the digitized angular velocity signal and oblique angle signal to calculate a traveling angle. A GPS receiver 13 calculates a position based on a satellite signal being captured by a GPS antenna 14 and a position correction signal being received by a communication machine 17. A converter d12 converts a position signal from the GPS receiver 13. A position calculator calculates a position according to the traveling and oblique angles, the vehicle speed, and the GPS data based on a specific expression. |
