Position measuring device of moving body, moving body is inferred on the location of the fixed axis and inference arithmetic device driving direction, the relative position of the moving body also has predetermined route reference point detection for moving along the body continuously provided by the position detection device based on mobile output the relative position detection device and the reference point of the continuous operation of the correction inferred by the above inference arithmetic device to the position and direction of travel, and according to the fixed position and direction of the moving body driving along the predetermined route, which is characterized in that the position of the moving body measuring device in: the predetermined route contains close to loop first starting locations before the first and second reference point route and do not have the article The 1 and second loop second reference point route; the device has a reference point position calculating device, coordinate operation device, operation device, first first offset correction device, operation device second and second offset correction device, wherein, the basic point of computing device function is: in the mobile body through first routes. First reference point according to the above inference by inference device operation device output and the moving body for the relative device detection device output of the first reference point of the relative position of operation of the first reference point position, at the same time, in the moving body through a predetermined route on the second reference points according to the above inference the operation device output by the inferred position and for the relative position detection device output of the second reference point The relative position of the moving body operation of the second point position; coordinate transformation operation device is established by the coordinate axis according to the reference point position computing device operation on the first and second reference point setting new coordinate axis different from the existing reservation axis, will be carried out by the above established coordinate axis inference arithmetic device output, the position and direction for the new transform axis set the position and direction of the operation, and the position and direction of the transformation operation is set as the inference device to push off the initial operation; first shift operation device function is: in the coordinate transformation the operation device, the first and second reference position as the axis of new set on the location of the storage, at the same time, the shift Before moving around the first route after coming back to the starting point from the reference point position computing device then operation of the first and second reference position, according to the coordinate transformation in these arithmetic units stored first and second reference position, and the position before the moving body around the first route after coming back to the starting place again by first and second basis points operation, offset reference point computation of the moving body around the first routes of the first amendment; the function is: according to the offset of the first shift operation device operation, when the moving body around the first route and return to the starting point, amendment the moving body position and direction of travel; second shift operation device function is: when the moving body in second rows Drive line driving, the reference point position computing device will be close to 2 basis points after the initial route in the second place the position as the first driving route set in the coordinate transformation device in operation....
【技术实现步骤摘要】
本专利技术涉及用航位绘算航法进行制导行驶的移动体的位置测量装置。以往,作为沿着既定的预定移动路线使移动体导航行驶的方法,一般有叫做航位绘算航法的导航方法,这是根据移动距离传感器和方位传感器的输出推断运算移动体的位置和行驶方向、在该推断运算结果的基础上掌舵控制移动体的行驶,使移动体应通过予先示教了的预定行驶路线上的通过予定地点。在这种情况下,作为上述通过预定地点的数据(航线数据)的测量方法有以下所列举的绝对位置测量方式(a)和相对位置测量方式(b)。(a)在绝对位置测量方式中,通过测量移动体应行驶的预定行驶路线上的各位置,来求绝对位置(例如以纬度、经度为基准),把其作为导航行驶控制时的航线数据给出。(b)在相对位置测量方式中,在示教时,使用与再现(重演)时相同的位置测量装置沿着预定行驶路线使移动体移动,取得航线数据。再者,上述(b)的相对位置测量方式与本申请人的申请有关,这已在众所周知的以前申请(特愿平3-148921号)中明确指出。在比较上述各方式(a)、(b)时,(b)的相对位置测量方式与(a)的绝对位置测量方式相比,有以下优点。1)航线数据输入容易。2)由于在航线数据测量(示教时)和导航时(重演时)可以使用同一位置测量装置,因而共同的误差因素(偏差)被抵消,能获得更精确的高导航精度。3)即使是曲折行驶和急转弯等复杂的航线,在不改变通常的航线情况下很容易取得航线数据。4)由于实际上一边使移动体移动一边测量,所以能够取得适合于移动体的运动性能的行驶路线的数据。5)假定,即使位置测量装置是二维测量用的,由于在航线数据测量时(示教时)和导航时(重演时)有 ...
【技术保护点】
【技术特征摘要】
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