| 摘要 |
PURPOSE:To perform the correction of an integral position in a range generating no trouble from a practical aspect even when the deterioration index (DOP) value of position measuring accuracy is larger than predetermined quantity, by providing an error dispersion discriminating means. CONSTITUTION:An integrating navigation type position detecting means 2 adds the moving quantity DELTAl detected by a vehicle moving quantity detection means 1 to a reference position to detect the present position P of a vehicle. A course guide means 3 performs the curse guide processing of the vehicle on the basis of the position P of the vehicle. A radio wave navigation type detection means 4 inputs the satellite data from a plurality of satellites to detect the present position PG of the vehicle. Further, a DOP value judge means 5 calculates a DOP value and outputs the position PG when judges that an index value is a predetermined value or less. When it is judged that the calculated DOP value is larger than a predetermined value, an error dispersing direction discriminating means outputs the position PG when the direction showing the max. value of the error dispersion formula of a horizontal surface almost coincides with a vehicle advance azimuth theta. An integral position correcting means 7 corrects the present position P on the basis of the position PG from the means 5, 6. |
