Patent ID: 8649977
Filing Date: 2014-02-11
Classification: G01C,G01S

Abstract:
1. A GPS composite navigation apparatus having at least a GPS receiver and an inertial sensor, comprising: a navigation processor for outputting at least any of an estimated position, an estimated velocity, and an estimated azimuth of a moving body; an error estimator by Kalman filter for estimating an error of at least any of the estimated position, the estimated velocity, and the estimated azimuth of the outputs from the navigation processor based on an output from the navigation processor and an output from the GPS receiver; and a stationary detector for determining a state in which the moving body is in a stationary state, wherein, when determined to be in the stationary state by the stationary detector, a measurement model for a moving state used for measurement-update of the Kalman filter is changed to a measurement model for the stationary state, and an error covariance matrix is corrected based on an error amount between error covariance matrices of before and after the moving body is determined to be in the stationary state.