| 摘要 |
PURPOSE:To improve accuracy, by providing two accelerometers and an operating device in a moving car, measuring the acceleration in the direction of the central line of the moving car, accumulating the amount of changes in the running distance and direction of the moving car in a fine unit time, and obtaining the car's own position. CONSTITUTION:A moving car 1 comprises a body 2, wheels L3 and R4, motors L5 and R6, and the like. Two accelerometers L12 and R13 are provided at positions, which are aligned with or in parallel with an axial line S-S and are separated from the central line C-C by an equal distance, are provided on the moving car 1. An operating device 14 comprising a microcomputer is provided. When the moving car 1 is moved, acceleration values a(L)i-1, a(L)i, a(R)i-1, and a(R)i are measured at an arbitrary time ti-1 and a time ti after a fine unit time has elapsed, by the accelerometers L12 and R13. Based on these values, the amounts of changes of the moving car 1 are accumulated and processed by the operating device 14. Thus the car's own position is accurately computed. |
