Navigation apparatus
First Claim
1. A navigation apparatus that detects a position of a movable body, comprising:
- a map data storage portion that stores map data;
an autonomous sensor that detects behavior information of the movable body;
a position-determination portion for determining whether radio waves for radio navigation are blocked;
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, the inertial position-determination position being a determined position of the movable body that is based on a result of position determination performed using radio navigation;
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 of a road position corresponding to the characteristic position, by referring to the map data storage portion; and
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,wherein the characteristic behavior is a behavior in which a travel direction of the movable body is changed by a predetermined amount in a short time.
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Accused Products
Abstract
A navigation apparatus that detects a position of a movable body includes map data storage means for storing map data; an autonomous sensor that detects information on behavior of the movable body; inertial position determination means for detecting an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor on a result of position determination performed using radio navigation; characteristic position detection means for detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; correction amount detection means for extracting positional information on a road position corresponding to the characteristic position, by referring to the map data storage means; and position correction means for correcting the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position.
7 Citations
12 Claims
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1. 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 behavior information of the movable body; a position-determination portion for determining whether radio waves for radio navigation are blocked; 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, the inertial position-determination position being a determined position of the movable body that is based on a result of position determination performed using radio navigation; 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 of a road position corresponding to the characteristic position, by referring to the map data storage portion; and 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, wherein the characteristic behavior is a behavior in which a travel direction of the movable body is changed by a predetermined amount in a short time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of correcting a detected position of a movable body, comprising:
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determining whether radio waves for radio navigation are blocked; detecting behavior information of the movable body when the radio waves for radio navigation are blocked; detecting an inertial position-determination position of the movable body by accumulating the behavior information when the radio waves for radio navigation are blocked, the inertial position-determination position being a determined position of the movable body that is based on a result of a position determination performed using radio navigation; detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; extracting positional information of a road position corresponding to the characteristic position, by referring to a map data; and correcting with a computer the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position; wherein the characteristic behavior is a behavior in which a travel direction of the movable body is changed by a predetermined amount in a short time. - View Dependent Claims (12)
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Specification