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1. (WO2017064790) POSITIONING DEVICE AND POSITIONING METHOD

Pub. No.:    WO/2017/064790    International Application No.:    PCT/JP2015/079155
Publication Date: Fri Apr 21 01:59:59 CEST 2017 International Filing Date: Fri Oct 16 01:59:59 CEST 2015
IPC: G01C 21/12
G01S 19/49
Applicants: MITSUBISHI ELECTRIC CORPORATION
三菱電機株式会社
Inventors: ISHIGAMI Tadatomi
石上 忠富
IRIE Takashi
入江 崇志
FUJII Masatoshi
藤井 将智
FUJIMOTO Kohei
藤本 浩平
NISHIUMA Norihiro
西馬 功泰
MORI Atsushi
毛利 篤史
Title: POSITIONING DEVICE AND POSITIONING METHOD
Abstract:
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.