To accurately estimate or correct the current position of a mobile entity.SOLUTION: Provided is a system comprising: a distance measuring sensor 1s for detecting an object around a mobile entity or a portion of the object and measuring the distance from the mobile entity to each object or each portion and an angle that indicates which direction the object or the portion exists as seen from the mobile entity; a storage unit 101 for storing the coordinate of the position of each of a plurality of known objects or object portions present near a position before movement and a position after movement; and an estimation unit 102 for attempting to verify which known object or portion does each object or each portion detected by the distance measuring sensor 1s correspond and selecting the coordinate of the position after movement for which the number of matches is maximum, on the basis of the distance from the mobile entity of the plurality of objects or object portions detected by the distance measuring sensor 1s at the position after movement and the angle of direction seen from the mobile entity and the coordinates of positions of the plurality of known objects or object portions stored in the storage unit 101.SELECTED DRAWING: Figure 2

    【課題】移動体の現在位置を精確に推定しまたは補正する。【解決手段】移動体の周囲の物体若しくは物体の部分を検出し、移動体から各物体若しくは各部分までの距離及び移動体から見て当該物体若しくは当該部分がどの方向に存在しているかを示す角度を計測する測距センサ1sと、移動前位置及び移動後位置の付近に所在する既知の複数の物体若しくは物体の部分の各々の位置の座標を格納する格納部101と、移動後位置にて測距センサ1sにより検出した複数の物体若しくは物体の部分の移動体からの距離及び移動体から見た方向の角度と、格納部101に格納している既知の複数の物体若しくは物体の部分の位置の座標とを基に、測距センサ1sにより検出した各物体若しくは各部分が既知の何れの物体若しくは部分に該当するのかの照合を試み、合致数が最大となる移動後位置の座標を選定する推定部102とを具備するシステムを構成した。【選択図】図2


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    Title :

    MOBILE ENTITY POSITION ESTIMATION SYSTEM


    Additional title:

    移動体位置推定システム


    Contributors:

    Publication date :

    2020-08-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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