Seiko Epson Corporation

Kumar Anand

Shunichi Mizuochi

Kenji Onda

Shigeru Imafuku

Shuji Uchida

Takuya Sugimoto

Yoshiyuki Muraguchi

Rama Sanjay

A position calculation method and apparatus are described. The position calculation apparatus may include an inertial measurement unit and be configured to be coupled with at least one sensor unit for detecting a physical event for use in position calculation. The presence of and type sensor unit may identified, and the position processing to be undertaken may depend on this identification.

Position calculation method and position calculation apparatus

A position calculating method performed by a position calculating device having a sensor unit carried by or mounted on a mobile body and moving with the mobile body, includes: calculating the position of the mobile body; setting a detection value agreement range of the sensor unit for each of the possibility of moving, possibility of uncertainty, and possibility of stopping of the mobile body, and setting the detection value agreement range of the possibility of moving as the widest range to establish a membership function; determining whether the mobile body is in the stopping condition by predetermined fuzzy inference calculation using the membership function; changing an error parameter used for predetermined Kalman filter process to correct the calculated position by the Kalman filter process according to whether the stopping condition of the mobile body is determined or not; and correcting the calculated position by the Kalman filter process.

Position calculating method and position calculating device

A position calculating method includes: calculating a position of a mobile body based on a positioning signal from a positioning satellite; determining the moving condition of the mobile body based on a detection result of a sensor unit including at least one of an acceleration sensor, an angular speed sensor, and an azimuth sensor; changing an error parameter used for a predetermined Kalman filter process according to the determined moving condition; and correcting the calculated position by the Kalman filter process.

A position calculating method includes: executing position calculation processing using a plurality of Kalman filter processing, which is processing corresponding to each of a plurality of power spectral density groups classified by performing in advance frequency analysis on the movement acceleration of a movable body as an object of position calculation and which includes an error parameter set to a different value according to the power spectral density group and a parameter indicating that the movable body is in a uniform motion state, on the basis of a satellite signal from a positioning satellite; and determining the position of the movable body using a position calculated by each Kalman filter processing.

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Nagano, Japan

Kumar Anand