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:
Nov. 22, 1994
Filed:
Jun. 19, 1992
Hiroaki Tsuji, Yokohama, JP;
Matsushita Electric Industrial Co., Ltd., Osaka, JP;
Abstract
An vehicle position and azimuth computing apparatus is constructed to correct both positional errors and azimuth errors caused by the accumulation of a sensor error and a map error and to provide both high positional precision and high azimuth precision. To this end, the vehicle position and azimuth computing apparatus operates to detect both an angular velocity and a moving distance of a vehicle, to compute an on-vehicle position and on-vehicle azimuth, and to detect a straight running condition of the vehicle. Then, after the GPS measurement positions during the straight running of the vehicle have been obtained, regression lines are obtained by regressing the longitudes and latitudes of the measurement positions during the straight running of the vehicle to the moving distance from the straight running starting position of the vehicle. Both a vehicle position and a vehicle azimuth are computed based on the regression lines during the straight running of the vehicle, and then an on-vehicle position and an on-vehicle azimuth, which have been computed based on the detected values of the angular velocity and the moving distance of the vehicle, are modified by using the vehicle position and azimuth obtained based on the GPS measurement data.