| 摘要 |
PCT No. PCT/SE86/00413 Sec. 371 Date Jun. 29, 1987 Sec. 102(e) Date Jun. 29, 1987 PCT Filed Sep. 16, 1986 PCT Pub. No. WO87/01814 PCT Pub. Date Mar. 26, 1987.Method of navigating a vehicle (11) moving generally in one plane in which the actual position and direction (L) of the vehicle is determined by measuring the angles in said plane from a reference point of the vehicle (X, Y) to fixed points in relation to a reference direction on the vehicle. A plurality of points (X1Y1, X2Y2, X3Y3) anonymous but fixed as to the position thereof are arranged for the navigation, and the position of all the fixed points together with existing sight obstacles between the reference point of the vehicle and the fixed points are registered in an electronic memory. The movement of the vehicle in said plane is initiated in a known position and with a known direction for identifying the fixed points visible from the reference point in said position. In each position and direction of the vehicle during movement thereof the latest known position and direction are utilized in determining the identify of the fixed points visible at that moment. |
