| 摘要 |
PROBLEM TO BE SOLVED: To obtain always a stable position measured result by obtaining the unstable change and accidental change of an error included in the absolute position measured result by subtracting the relative position measured result from the absolute position measured result, applying filtering to it and again adding the relative position measured result to it. SOLUTION: Absolute position measuring means 1 such as, for example, GPS and relative position measuring means 2 such as, for example an inertial navigation are employed together. The position data obtained by the means 2 is subtracted from the position data obtained by the means 1, an error amount is applied by filtering, and the position data obtained by the means 2 is added to obtain a position measured result. The position measured result by the means 2 is accumulated at the error as time goes. If it is abruptly corrected, it is quickly changed. Therefore, if the correction of the relative position data is executed, the data of the past predetermined time used for filtering means 4 is corrected by the same amount as the correction, and hence the smoothness of the data can be held. |
