| 摘要 |
PURPOSE:To calculate the current position of a vehicle with high accuracy by finding a summed azimuth angle and a summed traveled distance by using specific equations during the turning of the vehicle. CONSTITUTION:The current position of the vehicle at the (n)th point (Xn, Yn) when the vehicle turns with a constant radius is expressed by equations I (where DELTAthetais the summed azimuth angle and DELTAd is the summed traveled distance) based on the (n-1)th point (Xn-1, Yn-1). Then, the summed azimuth angle DELTAtheta and summed traveled distance DELTAd are found from equations II (where thetan-1 and thetan are absolute azimuths at the (n)th and the (n-1)th points and (lambda) is the absolute distance of the (n)th section from the (n-1)th point to the (n)th point. Then, the coordinates of the (n)th point are calculated from equations I to find the current position of the vehicle. Consequently, the current position of the vehicle is determined with high accuracy. |
