Patent ID: 11874384
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 5:
6. A positioning method comprising:
obtaining GNSS data from a GNSS receiver, the GNSS data being data received by the GNSS receiver from a GNSS satellite;
obtaining autonomous sensor data that is data output by an autonomous sensor;
calculating an interpolated value for the autonomous sensor data when the autonomous sensor data is obtained after the GNSS data is obtained, the interpolated value corresponding to a time of latest GNSS data;
performing complex positioning using the latest GNSS data and the interpolated value for the autonomous sensor data;
performing first autonomous navigation positioning using the interpolated value for the autonomous sensor data, and performing second autonomous navigation positioning using latest autonomous sensor data;
calculating a modified amount of autonomous navigation positioning, based on a difference between a first complex positioning fix that is a result of the complex positioning and a first autonomous navigation positioning fix that is a result of the first autonomous navigation positioning; and
modifying, using the modified amount, a second autonomous navigation positioning fix that is a result of the second autonomous navigation positioning to calculate a second complex positioning fix, and outputting the second complex positioning fix as a measurement result of a current position.