| 摘要 |
PURPOSE: To reduce an error when the accuracy of azimuth/speed measured by GPS decreases when the estimation navigation is compensated by the GPS. CONSTITUTION: An offset error, a distance coefficient error, an absolute azimuth error, and an absolute position error in the estimation navigation are obtained for compensation by a Karman filter 6 according to the information of the position, azimuth, and vehicle speed obtained from the estimation navigation and the information of the position, azimuth, and vehicle speed outputted from GPS 3 for the estimation navigation by a distance sensor 1, a relative azimuth sensor 2, a relative trace operation part 4, and an absolute trace operation part 5. When the decrease in the accuracy of azimuth/speed measured by the GPS 3 is judged, an error is obtained only by the information of the position of the vehicle. |
