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POSITIONING DEVICE

  • US 20100004856A1
  • Filed: 06/08/2007
  • Published: 01/07/2010
  • Est. Priority Date: 06/21/2006
  • Status: Active Grant
First Claim
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1. A positioning device comprising:

  • a map data storing unit configured to store map data;

    an autonomous sensor configured to detect behavior information of a moving object;

    an inertial positioning unit configured to detect an estimated position of the moving object by applying the behavior information detected by the autonomous sensor to positioning results obtained by an electronic navigation positioning unit such as a GPS;

    a planimetric feature detecting unit configured to detect a planimetric feature located around a road and calculate planimetric feature position information of the planimetric feature;

    a planimetric feature position identifying unit configured to identify a position of the planimetric feature in the map data in the event of acquiring four or more items of the planimetric feature position information that has been repeatedly calculated by the planimetric feature detecting unit;

    a planimetric feature reference positioning unit configured to estimate a planimetric feature estimated position of the moving object by using the position of the planimetric feature as a reference; and

    a position estimating unit configured to estimate a position of the moving object by applying the estimated position and the planimetric feature estimated position to a Kalman filter.

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