PROBLEM TO BE SOLVED: To improve derivation accuracy of angular velocity even in a short period after start.;SOLUTION: A measuring part 10 acquires positioning data of an object positioned based on a signal from a GPS satellite, and angular velocity of the object output from an angular velocity sensor 26. An offset value operation part 28 estimates a traveling state of the object based on the positioning data and the angular velocity. The offset value operation part 28 derives successively each temporary offset value, while changing a combination between the positioning data and the angular velocity, corresponding to the estimated traveling state of the object, and then executes statistical processing to each temporary offset value, to thereby derive an offset value. A sensitivity coefficient operation part 30 derives successively each temporary sensitivity coefficient based on the positioning data and the angular velocity, and then executes statistical processing to each temporary sensitivity coefficient, to thereby derive a sensitivity coefficient. An angular velocity conversion part 14 derives the final angular velocity based on the sensitivity coefficient, the offset value and the angular velocity.;COPYRIGHT: (C)2010,JPO&INPIT
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