Mitsubishi Electric Corporation

Keika Kan

Hiroaki Kato

Tadatomi Ishigami

Masatoshi Fujii

Sadami Ouchi

Atsushi Mori

Shigeki Kumagai

Takeshi Nita

A car navigation system includes a distance sensor; an angular velocity sensorfor detecting angular velocity having a sensor detection axis in a vertical direction of a casing; an acceleration sensorfor detecting acceleration having a sensor detection axis in a back and forth direction of the casing on a horizontal plane; a body velocity and acceleration measuring unitfor measuring velocity and acceleration in the body direction of vehicle movement from the signal from the distance sensor; an angular velocity measuring unitfor measuring angular velocity from the signal from the angular velocity sensor; a body roll angle estimating unitfor estimating a body roll angle from the body direction of vehicle movement velocity and angular velocity; an acceleration sensor output estimating unitfor outputting, when the casing is set in the body with a rotation in a yaw direction, estimation values of the output signal of the acceleration sensor at every prescribed angle; and a yaw direction mounted angle detecting unitfor determining as a yaw direction mounted angle in the body an angle at a time when an estimated value is obtained which agrees most closely with a value remaining after subtracting from the signal from the acceleration sensor its offset component.

Car navigation system

A navigation equipment includes a user position observing unitfor calculating the position of the navigation equipment by using the pseudo range and position of each GPS satellite, and a pseudo range error, a user velocity and heading observing unitfor calculating the velocity of the navigation equipment from a measured range rate, the position of each GPS satellite, and the position of the navigation equipment, and a user heading searching unitfor, when a multipath error is smaller than a specified value, searching for, as the heading of the navigation equipment, a heading whose range rate, which is calculated from a relative movement between the navigation equipment when the navigation equipment changes its heading within a predetermined angle range and a GPS satellite, matches the measured range rate.

Navigation equipment

Growing community of inventors

Tokyo, Japan

Keika Kan