Patent ID: 9600609
Date: 2017-03-21
CPC Classifications: G05D,G06F

Claim:
1. A moving state calculating method for causing a processor to execute computer-readable instructions stored in a memory so as to calculate moving states of a moving object which moves along a curve, the moving states include: estimating the first moving state by using at least one of the satellite signal from the satellite and the inertia output signal from the inertia sensor at the first current time; setting a third constraint condition of the constraint conditions based on the first, second, and third moving states for obtaining a fourth moving state of the moving object; and calculating the fourth moving state by correcting the first moving state with the third constraint condition, wherein the setting includes: the first moving state is corrected based on the parameter so that the first moving state is corrected in accordance with the moving path of the moving object that moves from the first moving state by the reference angular change.