| 摘要 |
PROBLEM TO BE SOLVED: To automatically correct a scale factor value during running of a vehicle and improve detection accuracy for the position of the vehicle, by obtaining the ratio of turning angle to self-contained navigation track by an angular velocity sensor using a GPS track obtained from GPS data as reference data, and correcting the scale factor value. SOLUTION: A GPS receiver 3 outputs measured data such as a coordinate position where a vehicle is present, etc. A self-contained navigation means 4 obtains distance information and azimuth information respectively from a distance sensor 1 and an angular velocity sensor 2, thereby estimating the position of the vehicle. A track- holding means 5 obtains a self-contained navigation track which is the track of an estimated position by the self-contained navigation means 4 and a GPS track which is the track of a measured position by the receiver 3. Moreover, the holding means 5 determines and outputs the position of the vehicle and a moving direction every predetermined time from the measured position by the GPS receiver 3 and estimated position by the self-contained navigation means 4. A correcting means 6 obtains a ratio of a turning angle to the self-contained navigation track with using the GPS track as reference data, thereby correcting a scale factor value and an offset value of the angular velocity sensor 2. |
