Patent ID: 8965690
Filing Date: 2015-02-24
Classification: G01C,G01S

Abstract:
1. A satellite navigation/dead-reckoning navigation integrated positioning device, comprising: an integrated positioning calculation module for finding navigation data of a moving body based on a positioning signal of a navigation satellite and a detection value of an external sensor and finding a correction value for the detection value of the external sensor to feedback to the detection value of the external sensor, the external sensor including at least an acceleration sensor for detecting an acceleration and an angular velocity sensor for detecting an angular velocity, the acceleration sensor being an acceleration sensor for detecting at least two-axis accelerations in an X-axis direction that is a front-back direction of the moving body and a Y-axis direction that is a right-left direction of the moving body, and the angular velocity sensor being an at least one-axis angular velocity sensor for detecting the angular velocity in an azimuth direction around a Z-axis orthogonal to the X-axis direction and the Y-axis direction; and a sensor detection value appropriate correction determination module for finding a product of a velocity in the X-axis direction obtained by integrating the detection value of the acceleration sensor for detecting the acceleration in the X-axis direction and the detection value of the angular velocity sensor and finding a difference between the detection value of the acceleration sensor for detecting the acceleration in the Y-axis direction and the product to determine whether or not the detection values of the acceleration sensor and the angular velocity sensor are appropriate by determining whether or not the difference exceeds a predetermined threshold value to correct the detection values of the acceleration sensor and the angular velocity sensor, and wherein the sensor detection value appropriate correction determination module is configured to judge whether the correction of a value detected by the external sensor is appropriate or not based on said corrected detection values.