| 摘要 |
PROBLEM TO BE SOLVED: To detect the azimuth of the moving vehicle with high precision by compensating a decrease in azimuth detection precision due to decrease in the photodetection position resolution of a couple of optical sensors receiving light beams for guidance. SOLUTION: The light beams A1 and A2 for guidance are projected along a guide course, and the moving vehicle is provided with a couple of optical sensors S1a and S1b which have a photodetection position D of specific resolution in a direction crossing the beam projection direction and are arranged successively at a specific interval (d) in the beam projection direction and an angular velocity detecting means which detects the angular velocityωaround a longitudinal axis. Their photodetection information and angular speed detection information are inputted at every set time and if the current photodetection position information has a difference from last one, the azimuth of the moving vehicle to the beam projection direction is found according to the current photodetection position information and information on the interval (d), but when no difference is found, the azimuth detected value found from the photodetection position information obtained when the difference is found is corrected with angle variation quantity obtained by integrating detection information on the angular velocityωat every set time with the time to find the azimuth of the moving vehicle.
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