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
2022-12-21
Patent
Elektronische Ressource
Englisch
ELECTRONIC APPARATUS, ERROR CORRECTION METHOD, AND PROGRAM
Europäisches Patentamt | 2019
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