| 摘要 |
PURPOSE:To achieve simple processing and to reduce data by dividing the bearing of a vehicle by a value, which is obtained through integration by a travel distance, by the integral value of the travel distance and correcting the position and bearing of the vehicle with this value as the average advancing bearing of the vehicle in some section. CONSTITUTION:A signal outputted from a speed sensor 5 for indicating the travel distance of the vehicle and a signal outputted from an angular velocity sensor 6 for indicating the travel bearing of the vehicle are cumulatively added by an estimated position calculating means 7 and an estimated bearing calculating means 8, and the estimated current position and bearing of the vehicle are calculated. Since these estimated position and bearing include cumulative errors, an average advancing bearing calculating means 9 divides the value, which is obtained by integrating the estimated bearing of the vehicle by the travel distance, by the integral value of the travel distance and takes it as the average advancing bearing of the vehicle in some section. After that, a position/bearing correcting means 11 compares the value with map data 10, and corrects the position and bearing of the actual vehicle. Thus, a bearing suitable for comparing with map data can be calculated by simple arithmetic function. |
