| 摘要 |
PURPOSE:To improve position measuring precision by performing the determination of a position, the detection of the presence of a road, the selection of a proper detection means of a self navigational system, the correction of a direction detecting means and the like with the use of a position measuring system by the use of a GPS satellite. CONSTITUTION:A GPS receiver 1 finds a first velocity vector of a moving body from the distance between a GPS satellite and the moving body and the distance rate-of-change to integrate the velocity vector so as to output a first piece of position information. An operation part 4 outputs a second velocity vector and a second piece of position information with the aid of the output from a wheel velocity sensor 5, an angle-of-skew sensor 6, an earth magnetism sensor 7, a gyroscope sensor 8. In addition, the need for traveling on a road not shown in a road map is detected from the first velocity vector in the operation part 4 so as to determine its own position. Further the operation part 4 selects a correct detection means from the output of the first velocity vector, a velocity detection means and a direction detecting means and further the correction of the direction detecting means is performed with the aid of the first velocity vector. |
