To provide a moving body, positioning system, positioning program, and positioning method such that it is possible for the moving body to estimate its own position quickly and highly accurately usinga GNSS using carrier phases. A moving body according to the present invention comprises a sensor, a map position estimation unit, a relative position estimation unit, a GNSS reception unit, and an absolute position estimation unit. The sensor acquires periphery information. The map position estimation unit estimates the position of the moving body in a local map on the basis of output from the sensor. The GNSS reception unit receives GNSS positioning information using a first carrier phase distance. The absolute position estimation unit estimates the absolute position of the moving body on thebasis of the GNSS positioning information using the first carrier phase distance, GNSS positioning information using a second carrier phase distance received in another moving body, and a relative position.
为了提供移动物体、定位系统、定位程序和定位方法,其能够通过使用载波相位的GNSS以高速执行高精度的自身位置估计。根据本技术的移动物体包括传感器、地图位置估计单元、相对位置估计单元、GNSS接收单元和绝对位置估计单元。传感器获取周围信息。地图位置估计单元基于传感器的输出来估计本地地图中的自身位置。GNSS接收单元接收使用第一载波相位距离的全球导航卫星系统(GNSS)定位信息。绝对位置估计单元基于使用第一载波相位距离的GNSS定位信息、使用第二载波相位距离的GNSS定位信息以及相对位置来估计自身绝对位置,使用第二载波相位距离的GNSS定位信息是由另一个移动物体接收的。
MOVING BODY, POSITIONING SYSTEM, POSITIONING PROGRAM, AND POSITIONING METHOD
移动物体、定位系统、定位程序和定位方法
2020-07-10
Patent
Electronic Resource
Chinese
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