Navigation Apparatus
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Accused Products
Abstract
A navigation apparatus (1) that detects a position of a movable body includes map data storage means (13) for storing map data; an autonomous sensor (12) that detects information on behavior of the movable body; inertial position determination means (10b) for detecting an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor (12) on a result of position determination performed using radio navigation; characteristic position detection means (10d) for detecting a characteristic position (31) that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; correction amount detection means (10e) for extracting positional information on a road position (22) corresponding to the characteristic position (31), by referring to the map data storage means (13); and position correction means (10f) for correcting the characteristic position (31) using a Kalman filter based on a condition that the characteristic position (31) is close to the road position (22).
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Citations
13 Claims
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1. (canceled)
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12. A method of detecting a position of a movable body, comprising:
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detecting information on behavior of the movable body; detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; extracting positional information on a road position corresponding to the characteristic position, by referring to a map data; correcting the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position; determining whether radio waves for radio navigation are blocked; and detecting an inertial position-determination position of the movable body, by accumulating the information on the behavior when the radio waves for radio navigation are blocked, on a result of position determination performed using radio navigation.
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13. A navigation apparatus that detects a position of a movable body, comprising:
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a map data storage portion that stores map data; an autonomous sensor that detects information on behavior of the movable body; a characteristic position detection portion that detects a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; a correction amount detection portion that extracts positional information on a road position corresponding to the characteristic position, by referring to the map data storage portion; a position correction portion that corrects the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position; position determination portion for determining whether radio waves for radio navigation are blocked; and an inertial position determination portion that detects an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor when the radio waves for radio navigation are blocked on a result of position determination performed using radio navigation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification