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MOBILE POSITIONING SYSTEM

  • US 20080306689A1
  • Filed: 06/04/2008
  • Published: 12/11/2008
  • Est. Priority Date: 06/08/2007
  • Status: Active Grant
First Claim
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1. A mobile positioning apparatus comprising:

  • a position storage device which holds a position information group indicating a current position of a mobile body and likelihood information thereof as a nonparametric distribution;

    a movement vector estimation device which outputs a movement vector indicating a moving distance and a moving direction of the mobile body at a discrete time T and likelihood information thereof;

    an image database which holds a peripheral map of a range of movement of the mobile body as an image group of a resolution according to a moving resolution of the mobile body; and

    a pixel crossing determination device which performs map matching using the position information group and the movement vector based on the peripheral map;

    wherein the image database accumulates the peripheral map as a pixel image group which has a different pixel value depending on a region where the mobile body can move and the other regions and which has a known correspondence to position information; and

    the pixel crossing determination device generates a position candidate group at a discrete time T+1 based on a position information group at a discrete time T held by the position storage device, a movement vector outputted by the movement vector estimation device, and likelihood information of the movement vector;

    performs a pixel crossing determination on each position candidate taken from the position candidate group to determine whether a moving path connecting between a point before movement and a point after movement thereof crosses a pixel inhibiting movement and passage on an image;

    filters the generated position candidate group and generates the remaining position candidate group;

    normalizes the result, generates a position information group of a nonparametric distribution of a position at a discrete time T +1, and updates a content of the position storage device.

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