Positioning device, positioning method, positioning program, speed vector calculation device, speed vector calculation method and speed vector calculation program

摘要

PROBLEM TO BE SOLVED: To locate the position of a vehicle with high precision when a GPS satellite is invisible.;SOLUTION: When GPS is visible, a GPS processing unit 120 calculates a double phase difference residual on the basis of the carrier phase of each GPS receiver. A Kalman filter 150 calculates an error correction amount of an IMU processing unit 140 using the double phase difference residual. The IMU processing unit 140 calculates a position, an attitude, and a velocity vector on the basis of an acceleration vector and an angular velocity vector and corrects them with the error correction amount. A sideslip characteristics learning unit 110 learns sideslip characteristics on the basis of the located velocity vector. When the GPS is invisible, an ODO processing unit 130 calculates a velocity vector on the basis of a vehicle speed pulse and the sideslip characteristics, and also calculates a residual with the located velocity vector. The Kalman filter 150 calculates the error correction amount using the velocity vector residual. The IMU processing unit 140 locates a position, an attitude, and a velocity vector using the error correction amount.;COPYRIGHT: (C)2011,JPO&INPIT