Patent ID: 11953608
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 1:
2. The position estimation device according to claim 1, wherein
when the estimation accuracy of the estimated position of the peripheral moving body is higher than the estimation accuracy of the estimated position of the subject moving body, and both the sensing information of the peripheral moving body and the radio wave positioning of the subject moving body by wireless communication with the peripheral moving body are selected as the position correction method,
based on the estimated position of the peripheral moving body,
a position of the subject moving body is estimated as a first subject position from the relative distance and the relative angle calculated from the estimated positions of the subject moving body and the peripheral moving body,
a position of the subject moving body is estimated as a second subject position from the relative distance and the relative angle calculated from the sensing information of the peripheral moving body,
a position of the subject moving body is estimated as a third subject position from the relative distance and the relative angle calculated from the radio wave positioning of the subject moving body by radio wave communication with the peripheral moving body, and
the estimated position of the subject moving body is corrected based on the first subject position, the second subject position, and the third subject position, and
when the estimation accuracy of the estimated position of the subject moving body is higher than the estimation accuracy of the estimated position of the peripheral moving body, and both the sensing information of the subject moving body and the radio wave positioning of the subject moving body by wireless communication with the peripheral moving body are selected as the position correction method,
based on the estimated position of the subject moving body,
a position of the peripheral moving body is estimated as a first peripheral position from the relative distance and the relative angle calculated from the estimated positions of the subject moving body and the peripheral moving body,
a position of the peripheral moving body is estimated as a second peripheral position from the relative distance and the relative angle calculated from the sensing information of the subject moving body,
a position of the peripheral moving body is estimated as a third peripheral position from the relative distance and the relative angle calculated from the radio wave positioning of the subject moving body by radio wave communication with the peripheral moving body, and
the position of the peripheral moving body is corrected based on the first peripheral position, the second peripheral position, and the third peripheral position.