| 摘要 |
PURPOSE:To perform drift arithmetic during the traveling of a vehicle to correct the drift of a rate gyro without making any long-period stop, and to improve calculation accuracy by detecting a current traveling route by a straight traveling detecting means and computing the drift of the rate gyro when a straight path deciding means decides that the current traveling path is straight. CONSTITUTION:Map information is stored in an auxiliary storage means 15 connected to the control means 14 of an on-vehicle navigation device, a traveling distance sensor 11 detects the traveling distance of the vehicle, and the rate gyro 12 detects the traveling direction of the vehicle. Further, the straight traveling detecting means of an arithmetic means 13 is supplied with pieces of detection information from the sensor 11 and gyro 12 and the straight path deciding means 13 decides whether or not the output of a traveling path selecting means 134 indicates straight traveling. Then, when it is decided that the current traveling path is straight, a drift arithmetic means 136 computes the drift of the gyro 12 and controls a position control means 132 to correct the drift without stopping the vehicle for a long time. |
