Patent ID: 11874117
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A vehicle positioning device being mounted on a vehicle and positioning a position of the vehicle, the vehicle positioning device being connected to a first sensor outputting satellite positioning data, and a second sensor detecting a state amount of the vehicle and outputting the state amount as state amount data, and being connected to at least one of a third sensor detecting a terrestrial object and outputting data of a relative relationship between the terrestrial object and the vehicle, and a fourth sensor detecting a road line shape and outputting road line shape data, the vehicle positioning device comprising:
observed value processing circuitry configured to receive the satellite positioning data and at least one of the data of the relative relationship and the road line shape data, and generate an actual observed value by integrating the received pieces of data;
sensor correction circuitry configured to correct a sensor error included in the state amount data, the sensor correction circuitry being connected to the second sensor;
inertial positioning circuitry configured to perform inertial positioning by using a corrected sensor value corrected in the sensor correction circuitry and output results as inertial positioning results;
observed value prediction circuitry configured to predict an observed value by using at least the inertial positioning results and output the observed value as a predicted observed value; and
a filter configured to perform positioning calculation by using the predicted observed value and the actual observed value and output results as positioning results, and estimate the sensor error and output the sensor error as a sensor correction amount, wherein
the filter feeds back the sensor correction amount to the sensor correction circuitry, and
the sensor correction circuitry corrects the sensor error by using the sensor correction amount.