POSITION DETERMINATION APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a position determination apparatus by which the error of a position signal to be output by an inertial navigation system(INS) is estimated and a precise position signal is obtained. SOLUTION: A position determination apparatus is provided with a speed- error measuring part 33 which measures the speed error of a navigating body when the navigating body is stopped and a position-error estimation part 35 which estimates a position error on the basis of the speed error measured by the speed-error measuring part and on the basis of its time differentiated value. The speed-error measuring part measures the speed error of the navigating body on the basis of a speed signal to be supplied by an inertial navigation system, and a position signal which is supplied by the inertial navigation system is corrected on the basis of the position error which is estimated by the position- error estimation part. The position-error estimation part estimates a speed error by using the Kalman filter.