| 摘要 |
PURPOSE:To improve the accuracy of position determination to a large extent, by determining the present position from the data of the geometrical features of intersections and paths and the distance after the change of a course, based on the coarse position determined by a gyroscope and radiowaves from a GPS and the like. CONSTITUTION:The position of an automobile 1, which is determined by the radiowave of a satellite such as a GPS signal, is stored in a memory part 6. The coordinate values of each intersection in the total area of the vicinity of a running path are stored in a memory part 10. The numbers of the intersections within error scopes 6 and 7 in position measurement, which is performed based on the satellite radiowave, are searched by a processing part 9 in reference with the memory parts 8 and 10. The numbers are written in a memory part 11. A path detecting part 12 writes the amount of the features of the geometric pattern of the running path, which is detected by a distance meter and an attitude sensor. A processing part 14 performs the pattern matching of the path by using the memory part 11 and the memory part 10, in which the intersection numbers in the vicinity at that time are stored. The number of each intersection, which remains as a candidate, is written in a memory part 15. A processing part 16 computes the present position of the automobile 1 based on the data in the memory parts 15, 13, 8 and 10. The position is displayed on a display part 17. |
