The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 18, 2020
Filed:
Oct. 15, 2015
Mitsubishi Electric Corporation, Tokyo, JP;
Tadatomi Ishigami, Tokyo, JP;
Takashi Irie, Tokyo, JP;
Masatoshi Fujii, Tokyo, JP;
Kohei Fujimoto, Tokyo, JP;
Norihiro Nishiuma, Tokyo, JP;
Atsushi Mori, Tokyo, JP;
MITSUBISHI ELECTRIC CORPORATION, Tokyo, JP;
Abstract
A positioning apparatus according to the present invention includes: a triaxial acceleration sensor zero point calculating unit which determines whether or not the moving body is performing horizontal plane uniform linear traveling, and calculates a zero point of the triaxial accelerations when a determination is made that the moving body is performing the horizontal plane uniform linear traveling, based on at least triaxial speeds, a longitudinal acceleration, and triaxial accelerations while the moving body is traveling; an apparatus housing attachment angle calculating unit which calculates a pitch direction attachment angle and a roll direction attachment angle based on the zero point of the triaxial accelerations; a triaxial angular velocity coordinate transforming unit which coordinate-transforms the triaxial angular velocities; and a position estimating unit which estimates a current position of the moving body based on at least a yaw rate obtained from the triaxial angular velocities.