| 摘要 |
PURPOSE: To provide a navigation device which can suppress the affection of cumulative errors as small as possible and can detect and display a present position as precise as possible even in autonomous traveling. CONSTITUTION: A GPS receiving part 2 receives GPS signals and sends accurate absolute position information to a control part 3. Also, an angular velocity and angular acceleration are output from a relative position detecting part 4. Then, an output from an acceleration sensor 8 is sent to a stop judgment part 10, the characteristic amount of a sensor waveform is extracted and, for example, when a difference between the maximum and minimum values for each unit time is equal or less than a threshold it is judged that a car is stopped, and a sensor output at that time is obtained so that a difference from a standard value (offset value) can be obtained. During the movement after that, the sensor output is subtracted for compensation using the offset value obtained. Thus, even if an external environment is varied, correct signals can be output. |
