| 摘要 |
PURPOSE: To reduce influences when a position-measuring position changes relatively large and quickly converge to a correct position-measuring position, by sequentially estimating a next position-measuring position based on a moving direction and a moving speed at a determined position-measuring position. CONSTITUTION: At the first determination, a system controller determines a position-measuring position m1 based on measured data by a GPS. Then, an estimated shift V0 of an initially determined position d0 to the position m1 is set from a moving speed and a moving direction of one's own vehicle, and also an estimation range A0 is set. When the position m1 is compared with the estimation range A0 and detected to be included in the estimation range A0, a position d1 obtained by adding a vector from a position m0 to the position m1 to the position d0 is set as a determined position-measuring position. If a second position-measuring position m2 is not included in an estimation range A1 by influences of multipaths, a position d2 obtained by adding an estimated shift V1 to the position d1 is set as the determined position. Positions d3, d4 are sequentially obtained afterwards by adding estimated shifts V2, V3 respectively. |
