An error correcting device 34 is mounted in a working vehicle and corrects an error in measurement value of a sensor device having a GNSS sensor and a gyro sensor. The error correcting device 34 includes: a first acquisition part 341 that acquires a vehicle position of the working vehicle in a local coordinate system, the vehicle position being measured by the GNSS sensor, and an angular velocity in a sensor coordinate system having three axes set with reference to the sensor device, the angular velocity being measured by the gyro sensor; a coordinate transformation part 345 that coordinate-transforms, based on the acquired angular velocity, a relative position vector of a measurement position in the sensor coordinate system at which the sensor device is provided, the relative position vector extending from a set position set at a different position from the position of the sensor device in the sensor coordinate system, to a relative position vector in the local coordinate system; and a vehicle position correcting part 346 that calculates a position vector Pa of the set position extending from an origin of the local coordinate system according to an expression of Pa = Ps - L, wherein Ps denotes a position vector of the measurement position and L denotes the coordinate-transformed relative position vector, to correct an error in the vehicle position measured by the GNSS sensor.
ERROR CORRECTION APPARATUS
VORRICHTUNG ZUR FEHLERKORREKTUR
APPAREIL DE CORRECTION D'ERREUR
21.12.2022
Patent
Elektronische Ressource
Englisch
ELECTRONIC APPARATUS, ERROR CORRECTION METHOD, AND PROGRAM
Europäisches Patentamt | 2019
|NTRS | 1966
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