Hybrid traveling locus acquisition method and hybrid traveling locus acquisition system

摘要

PROBLEM TO BE SOLVED: To acquire a running track of high accuracy, while a self-contained navigation running track obtained on the basis of a self-contained navigation sensor loaded on a vehicle running on a road to be investigated, and a satellite navigation running track obtained on the basis of position data from a GPS satellite, are used jointly. SOLUTION: On the basis of output information from a direction sensor 3 and a vehicle speed sensor 4 in a mobile station 1 running on a road, on the basis of position information received by an on-vehicle GPS mobile-station receiver 6 and on the basis of position information received by a base-station GPS receiver 8 in a reference station 2, a hybrid running-track computing device 10 finds a satellite- navigation running track and a self-contained navigation running track. In addition, the gain correction value and the offset correction value of the direction sensor, by which the sum of residual squares of both running tracks becomes minimum, the vehicle speed/distance conversion factor of the vehicle speed sensor, the vehicle initial position [x(0), y(0)] of a self-contained navigation operation and an initial direction, are specified. A self-contained navigation running track which is computed by self-contained navigation running data on the basis of these parameters is regarded as a hybrid running track.