초록 ▼

Even when inertial navigation is performed, whether or not the correction of a value detected by an external sensor is appropriate can be judged, so that a dramatically degraded positioning result is prevented from being outputted. A navigation device (100) comprises a GPS receiver (11), an accelera

Even when inertial navigation is performed, whether or not the correction of a value detected by an external sensor is appropriate can be judged, so that a dramatically degraded positioning result is prevented from being outputted. A navigation device (100) comprises a GPS receiver (11), an acceleration sensor (12) for detecting at least two-axis accelerations in an X-axis direction that is the front-back direction of a moving body and a Y-axis direction that is the right-left direction of the moving body, and a at least one-axis angular velocity sensor (13) for detecting the angular velocity in an azimuth direction around a Z-axis orthogonal to the X-axis direction and the Y-axis direction. A sensor detection value appropriate correction judgment module (22) of an integrated calculation module (30) having a CPU or the like finds the product of the value (velocity) obtained by integrating the acceleration detection value in the X-axis direction and the angular velocity detection value in the azimuth direction, acquires the error between the value of the product and the acceleration detection value in the Y-axis direction, and judges whether or not corrections made by the acceleration sensor and the angular velocity sensor are appropriate by judging whether or not the error exceeds a predetermined threshold value.

대표청구항 ▼

1. A satellite navigation/dead-reckoning navigation integrated positioning device, comprising: an integrated positioning calculation module for finding navigation data of a moving body based on a positioning signal of a navigation satellite and a detection value of an external sensor and finding a c

1. A satellite navigation/dead-reckoning navigation integrated positioning device, comprising: an integrated positioning calculation module for finding navigation data of a moving body based on a positioning signal of a navigation satellite and a detection value of an external sensor and finding a correction value for the detection value of the external sensor to feedback to the detection value of the external sensor, the external sensor including at least an acceleration sensor for detecting an acceleration and an angular velocity sensor for detecting an angular velocity, the acceleration sensor being an acceleration sensor for detecting at least two-axis accelerations in an X-axis direction that is a front-back direction of the moving body and a Y-axis direction that is a right-left direction of the moving body, and the angular velocity sensor being an at least one-axis angular velocity sensor for detecting the angular velocity in an azimuth direction around a Z-axis orthogonal to the X-axis direction and the Y-axis direction; anda sensor detection value appropriate correction determination module for finding a product of a velocity in the X-axis direction obtained by integrating the detection value of the acceleration sensor for detecting the acceleration in the X-axis direction and the detection value of the angular velocity sensor and finding a difference between the detection value of the acceleration sensor for detecting the acceleration in the Y-axis direction and the product to determine whether or not the detection values of the acceleration sensor and the angular velocity sensor are appropriate by determining whether or not the difference exceeds a predetermined threshold value to correct the detection values of the acceleration sensor and the angular velocity sensor, and wherein the sensor detection value appropriate correction determination module is configured to judge whether the correction of a value detected by the external sensor is appropriate or not based on said corrected detection values. 2. The satellite navigation/dead-reckoning navigation integrated positioning device according to claim 1, wherein the integrated positioning calculation module, when the detection value is determined to be appropriate, continues positioning calculations using the detection values of the acceleration sensor and the angular velocity sensor or outputs a result of the positioning calculation, and when the detection value is determined to be not appropriate, stops the positioning calculations using the detection value of the external sensor or outputs a result of the positioning calculation immediately before stopping the positioning calculation other than the result of the positioning calculation using the detection value of the external sensor. 3. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 2, wherein the appropriate correction determination module performs the determination when an absolute value of a velocity in an X-axis direction and an absolute value of the angular velocity in an azimuth direction respectively exceeds a predetermined threshold value. 4. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 2, wherein the appropriate correction determination module performs the determination depending on whether or not an absolute value of a product of a velocity in an X-axis direction and the angular velocity in an azimuth direction exceeds a comparison value including an absolute value of the acceleration in an Y-axis direction. 5. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 2, wherein the appropriate correction determination module performs the determination depending on whether or not a product of a velocity in an X-axis direction and the angular velocity in an azimuth direction has the same sign as the acceleration in an Y-axis direction. 6. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the appropriate correction determination module performs the determination when an absolute value of a velocity in an X-axis direction and an absolute value of the angular velocity in an azimuth direction respectively exceeds a predetermined threshold value. 7. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 6, wherein the appropriate correction determination module performs the determination depending on whether or not an absolute value of a product of a velocity in an X-axis direction and the angular velocity in an azimuth direction exceeds a comparison value including an absolute value of the acceleration in an Y-axis direction. 8. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 6, wherein the appropriate correction determination module performs the determination depending on whether or not a product of a velocity in an X-axis direction and the angular velocity in an azimuth direction has the same sign as the acceleration in an Y-axis direction. 9. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the appropriate correction determination module performs the determination depending on whether or not an absolute value of a product of a velocity in an X-axis direction and the angular velocity in an azimuth direction exceeds a comparison value including an absolute value of the acceleration in an Y-axis direction. 10. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 9, wherein the appropriate correction determination module performs the determination depending on whether or not a product of a velocity in an X-axis direction and the angular velocity in an azimuth direction has the same sign as the acceleration in an Y-axis direction. 11. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the appropriate correction determination module performs the determination depending on whether or not a product of a velocity in an X-axis direction and the angular velocity in an azimuth direction has the same sign as the acceleration in an Y-axis direction.