Patent ID: 8244470

Claim:
A navigation apparatus that detects a position of a movable body, comprising: a map data storage portion that stores map data; an autonomous sensor that detects behavior information of the movable body; a position-determination portion for determining whether radio waves for radio navigation are blocked; an inertial position determination portion that detects an inertial position-determination position of the movable body by accumulating the information detected by the autonomous sensor when the radio waves for radio navigation are blocked, the inertial position-determination position being a determined position of the movable body that is based on a result of position determination performed using radio navigation; a characteristic position detection portion that detects a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; a correction amount detection portion that extracts positional information of a road position corresponding to the characteristic position, by referring to the map data storage portion; and a position correction portion that corrects the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position, wherein the characteristic behavior is a behavior in which a travel direction of the movable body is changed by a predetermined amount in a short time.