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|1. (WO2017064790) POSITIONING DEVICE AND POSITIONING METHOD|
|Applicants:||MITSUBISHI ELECTRIC CORPORATION
|Title:||POSITIONING DEVICE AND POSITIONING METHOD|
The purpose of the present invention is to provide a positioning device and positioning method capable of estimating the position of a vehicle regardless of the angle of attachment to the vehicle. A positioning device according to the present invention is provided with: a GNSS receiver; a velocity sensor; a triaxial acceleration sensor; a triaxial-angular-velocity sensor; a distance measurement unit; a triaxial-acceleration-sensor zero-point calculation unit for using, in a case where a moving body is traveling, at least a triaxial speed calculated by the GNSS receiver, a front-back-direction acceleration calculated by the distance measurement unit, and a triaxial acceleration detected by the triaxial acceleration sensor to determine whether the moving body is traveling straight at a constant speed on a horizontal plane and calculate a triaxial-acceleration zero point when a determination is made that the moving body is traveling straight at a constant speed on a horizontal plane; a device-housing attachment-angle calculation unit for calculating a pitch-direction attachment angle and roll-direction attachment angle on the basis of the triaxial-acceleration zero point; a triaxial-angular-velocity coordinate-conversion unit for converting the triaxial angular velocity into coordinates; and a position estimation unit for estimating the current position of the moving body on the basis of at least a yaw rate determined from the triaxial angular velocity.