JP5950425B1 - MOBILE POSITIONING DEVICE AND MOBILE POSITIONING METHOD - Google Patents

Abstract

A mobile body positioning device and a mobile body positioning device capable of seamlessly and accurately calculating the speed, distance, and position of a mobile body based on output data from an IMU and output data from a GPS receiver and an indoor GPS receiver. Provide a method.
A mobile body positioning device receives inertial navigation positioning data, GPS positioning data, and indoor GPS positioning data, and estimates and corrects a correction value of an inertial navigation calculation processing unit 3 based on the difference therebetween. 4, a distance calculation unit 5 that calculates the distance by integrating the corrected velocity data, and a position synthesis unit 6 that calculates the position of the moving body by synthesizing the corrected position data. The correction value obtained by the correction processing unit 4 is fed back to the inertial navigation calculation processing unit 3 to correct the bias error.
[Selection] Figure 1

Description

  The present invention relates to a mobile body positioning apparatus and a mobile body positioning method for positioning the speed, distance, position, and the like of a mobile body such as an automobile.

  Conventionally, in performance evaluation tests for automobiles, it has been required to measure the speed change after braking and the braking distance with high accuracy. In many cases, output data from a GPS (Global Positioning System) receiver is used for positioning.

  For example, in Patent Document 1, the offset error of the acceleration sensor is used as a state quantity, the offset value is estimated by a Kalman filter using the observation value calculated by the observation value calculation means, and the vehicle posture is estimated using the offset error. Is disclosed.

JP 2013-132968 A

  However, in the above prior art, the offset error is estimated based on the GPS data from the GPS receiver. Therefore, measurement is performed with sufficient accuracy in an environment where the reception state of the GPS carrier from the GPS satellite is poor. I couldn't.

  In particular, when the road where the performance evaluation test of an automobile or the like is performed is in an environment where the road changes from indoor to outdoor and then indoors, the reception state by the GPS receiver becomes unstable, and seamless high-precision measurement is possible. Could not do.

  The present invention has been made in view of such problems, and based on the output data of the inertial sensor, the output data of the GPS receiving unit, and the output data of the indoor GPS receiving unit, the speed, distance, and position of the moving body are determined. It is an object of the present invention to provide a mobile positioning device and a mobile positioning method that calculate at least one of them seamlessly and with high accuracy.

In order to solve the above problems, a mobile positioning device according to an aspect of the present invention includes an inertial sensor that outputs inertial sensor data, a GPS receiver that outputs GPS positioning data, and an indoor GPS that outputs indoor GPS positioning data. A receiving unit, an inertial navigation calculation processing unit that receives the inertial sensor data, outputs inertial navigation positioning data, receives the inertial navigation positioning data, the GPS positioning data, and the indoor GPS positioning data. A correction value of the inertial navigation calculation processing unit based on the difference, and a Kalman filter correction processing unit that corrects the inertial navigation positioning data, the GPS positioning data, and the velocity data and the position data related to the indoor GPS positioning data; A distance calculating unit that calculates the moving distance of the moving object by integrating the corrected velocity data; A position synthesizing unit that receives the position data related to the GPS positioning data after correction and the position data related to the indoor GPS positioning data after correction, and calculates the position of the moving object by weighting and adding them. The correction value obtained by the Kalman filter correction processing unit is fed back to the inertial navigation calculation processing unit to correct the error, and the position data related to the GPS positioning data after the correction relates to latitude, longitude, and altitude. The position data related to the indoor GPS positioning data after the correction is a position in the xyz coordinate system, and the position calculated by the position synthesizing unit is the position of the moving object in the xyz coordinate system whose origin is the position when the power is turned on. Position .

Furthermore, a mobile body positioning method according to another aspect of the present invention includes a step of outputting inertial sensor data, a step of outputting GPS positioning data, a step of outputting indoor GPS positioning data, and the inertial sensor data. Performing inertial navigation calculation processing and outputting inertial navigation positioning data, receiving the inertial navigation positioning data, GPS positioning data, and indoor GPS positioning data, and correcting the inertial navigation calculation processing unit based on the difference Estimating the value, correcting the velocity data and position data included in the inertial navigation positioning data, GPS positioning data, and indoor GPS positioning data, and calculating the distance by integrating the corrected velocity data And position data related to the GPS positioning data after the correction and the indoor after the correction The position data related to the PS positioning data is received, the position of the moving body is calculated by weighting and adding them, and the correction value obtained by the Kalman filter correction processing unit is fed back to the inertial navigation calculation processing unit, and the error is returned. possess and correcting the position data relating to the GPS positioning data after the correction are those relating latitude, longitude, altitude, position data relating to the indoor GPS positioning data after the correction is xyz coordinate system The position of the moving body to be calculated is the position of the moving body in the xyz coordinate system with the position when the power is turned on as the origin.

  According to the present invention, based on the output data of the inertial sensor, the output data of the GPS receiving unit, and the output data of the indoor GPS receiving unit, at least one of the speed, distance, and position of the moving body can be seamlessly and accurately detected. A movable body positioning device and a movable body positioning method that can be calculated can be provided.

The block diagram of the mobile body positioning apparatus which concerns on one Embodiment of this invention. The figure which shows the process sequence of the mobile body positioning apparatus which concerns on one Embodiment of this invention. The figure which shows the example of application of the mobile body positioning apparatus which concerns on one Embodiment of this invention. The figure which shows the relationship between the calculated value by this embodiment, and the actual value by a speed sensor.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  A mobile body positioning apparatus according to an embodiment of the present invention performs inertial navigation calculation processing on output data of an inertial sensor to calculate inertial navigation positioning data, calculates GPS positioning data by a GPS receiver, and performs indoor GPS. Indoor GPS positioning data is calculated from the positioning data. Then, by performing Kalman filtering on the inertial navigation positioning data, the GPS positioning data, and the indoor GPS positioning data, the position error, the speed error, the attitude error, and the bias error of the inertial sensor are obtained. The position data and speed data included in the positioning data are corrected. The bias error is fed back to the inertial navigation calculation processing side. Then, position data and velocity data corrected by the Kalman filter processing are output, the distance is calculated, and further, the GPS positioning data and the indoor GPS positioning data are combined to calculate an appropriate position. Thereby, positioning of a moving body is performed.

FIG. 1 shows a configuration of a mobile body positioning apparatus according to an embodiment of the present invention and will be described.
As shown in FIG. 1, the mobile body positioning device 1 includes an arithmetic control unit 2, an IMU (Inertial Measurement Unit) 8 as an inertial sensor, a GPS receiving unit 9, an indoor GPS receiving unit 11, and a storage unit. 13, an output unit 14, and a display unit 7. The IMU 8 includes at least an acceleration sensor 8a and a gyro sensor 8b. The GPS receiving unit 9 includes a receiving antenna 10, and the indoor GPS receiving unit 11 includes a receiving antenna 12.

  The calculation control unit 2 functions as an inertial navigation calculation processing unit 3, a Kalman filter correction processing unit 4, a distance calculation unit 5, and a position synthesis unit 6 by reading and executing a control program stored in advance in the storage unit 13. . The storage unit 13 conceptually includes a ROM (Read Only Memory) that stores the control program, a RAM (Random Access Memory) that is the program execution area, and the like.

  In the IMU 8, the acceleration sensor 8a is placed on the interior of the moving body, the roof, or the like, measures the acceleration of the xyz triaxial moving body, and outputs acceleration data. As the acceleration sensor 8a, a quartz vibration type sensor or a MEMS (Micro Electro Mechanical Systems) sensor can be used. In the IMU 8, a gyro sensor 8b is placed in a room or a roof of a moving body, detects a rotational angular velocity around three axes of xyz using a quartz vibration sensor or a MEMS sensor, and outputs angular velocity data. For example, a plurality of sensors are provided to obtain the rotational angular velocity about the xyz axis. In that case, an output of angular velocity data of the rotational angular velocity around each axis is obtained. These acceleration data and angular velocity data are collectively referred to as inertial sensor data.

  The GPS receiving unit 9 receives a signal from a GPS satellite (that is, a GPS carrier wave) via the receiving antenna 10 and outputs GPS positioning data representing the position (latitude, longitude, altitude), speed, and direction of the moving object. To do. This GPS positioning data also includes status data indicating the reception state, reception time, and the like.

  The indoor GPS receiver 11 is a so-called indoor GPS receiver that processes the carrier wave output from the indoor GPS transmitter (wireless transmitter) based on the same calculation principle as the GPS receiver. For example, in indoor test stations, the accuracy of reception from GPS satellites is low, so a plurality of indoor GPS transmitters are installed in advance at predetermined intervals, and the relative position of three or more transmitters is used to determine the position of the moving object. The position information is acquired. The indoor GPS receiver 11 outputs position data in the xyz coordinate system as indoor GPS positioning data. This indoor GPS positioning data also includes status data indicating a reception state, a reception time, and the like.

  In the calculation control unit 2, the inertial navigation calculation processing unit 3 receives acceleration data from the acceleration sensor 8a of the IMU 8 and angular velocity data from the gyro sensor 8b, performs inertial navigation calculation processing on these inertial sensor data, and performs inertial navigation. Outputs positioning data. The inertial navigation calculation processing unit 3 also calculates horizontal longitudinal acceleration, stores it in the storage unit 13, reads it out of the storage unit 13 as appropriate by the calculation control unit 2, and outputs it from the output unit 14.

  The Kalman filter correction processing unit 4 uses the inertial navigation positioning data output from the inertial navigation calculation processing unit 3, the GPS positioning data output from the GPS receiver 9, and the indoor GPS positioning data output from the indoor GPS receiving unit 11. Then, a difference between them is obtained, and a correction value, which is a state quantity, is estimated so as to be the most probabilistic value by each reliability. This correction value may include a correction value related to a posture error, a bias error of the acceleration sensor 8a or the gyro sensor 8b, and the like in addition to a correction value related to a position error and a speed error.

  In this way, the Kalman filter correction processing unit 4 feeds back a correction value related to the bias error to the inertial navigation calculation processing unit 3. Therefore, thereafter, the inertial navigation calculation processing unit 3 appropriately adjusts the bias error based on the correction value. On the other hand, the Kalman filter correction processing unit 4 stores the corrected speed data in the storage unit 13 and outputs it to the distance calculation unit 5. Further, the Kalman filter correction processing unit 4 outputs the corrected position data to the position synthesis unit 6.

  That is, in this way, the Kalman filter correction processing unit 4 receives the GPS positioning data from the GPS receiving unit 9, the indoor GPS positioning data from the indoor GPS receiving unit 11, and the inertial navigation positioning data from the inertial navigation calculation processing unit 3. From the position difference, speed difference, etc., the magnitude of the error in the inertial navigation calculation processing unit 3 is estimated and fed back to the inertial navigation calculation processing unit 3 that is the correction destination. In response to the feedback of the correction value, the output of the inertial navigation calculation processing unit 3 is corrected, and thereafter errors such as bias are corrected.

  In the process by the Kalman filter correction processing unit 4, the time information included in the inertial navigation positioning data from the inertial navigation calculation processing unit 3, the GPS positioning data from the GPS receiving unit 9, and the indoor GPS from the indoor GPS receiving unit 11 are used. Synchronization may be performed based on the correspondence with the reception time information included in the status data in the positioning data.

  In the process of such correction, the Kalman filter correction processing unit 4 refers to the GPS positioning data from the GPS receiving unit 9 and the status data included in the indoor GPS positioning data from the indoor GPS receiving unit 11 in the reception state. Good positioning data is preferentially used for correction of position error, speed error, etc. For example, indoor GPS positioning data is used preferentially in situations where the reception status of GPS positioning data is poor, such as indoors, and the GPS positioning data reception status may be insufficient in an environment surrounded by a building. Correction processing is also performed using indoor GPS positioning data. According to this, seamless measurement can be handled and correction accuracy can be improved.

  The distance calculation unit 5 calculates the distance by integrating the corrected velocity data output from the Kalman filter correction processing unit 4. The position synthesis unit 6 receives the corrected positioning data (latitude, longitude, altitude) output from the Kalman filter correction processing unit 4 and the positioning data (position) from the indoor GPS reception unit 11 and combines them. By doing so, the position of the moving body is calculated with high accuracy.

  The speed data, the distance data, and the position data are stored in the storage unit 13 and are appropriately read out from the storage unit 13 by the arithmetic control unit 2 and output from the output unit 14. Alternatively, it may be displayed on the display unit 7 as a positioning result. According to the display on the display unit 7, for example, the position from when the moving body is braked to the actual stop, the braking distance, and the speed change and acceleration change from when the brake is applied to when the brake is stopped are reviewed. Therefore, it is suitable for the mobile body evaluation experiment.

  Hereinafter, with reference to the flowchart of FIG. 2, a processing procedure performed by the mobile body positioning apparatus according to the embodiment of the present invention will be described. This also corresponds to the mobile body positioning method according to the present embodiment.

  When the process is started, inertial sensor data is acquired by the IMU 8 serving as an inertial sensor (S1), the inertial navigation calculation processing unit 3 performs inertial navigation calculation processing on the inertial sensor data, and outputs inertial navigation positioning data. (S2).

  Subsequently, the GPS receiving unit 9 determines whether or not GPS positioning data is detected via the receiving antenna 10 (S3). When GPS positioning data is detected (YES in S3), the GPS positioning data is synchronized. Processing is performed (S4). If not detected (NO in S3), step S4 is skipped and the process proceeds to step S5. Then, the indoor GPS receiving unit 11 determines whether or not the indoor GPS positioning data is detected via the receiving antenna 12 (S5). When the indoor GPS positioning data is detected (YES in S5), the indoor GPS positioning data is detected. Data synchronization processing is performed (S6). If not detected (NO in S5), the process skips step S6 and proceeds to step S7.

  This synchronization processing (S4, S6) is necessary in order to associate inertial navigation positioning data with GPS positioning data and indoor GPS positioning data. It may be performed based on time information included in each positioning data.

  Subsequently, the Kalman filter correction processing unit 4 receives the inertial navigation positioning data from the inertial navigation calculation processing unit 3, the GPS positioning data from the GPS receiving unit 9, and the indoor GPS positioning data from the indoor GPS receiving unit 11. From the speed difference or the like, the magnitude of the error in the inertial navigation calculation processing unit 3 is estimated, and correction processing is performed (S7).

  Then, the Kalman filter correction processing unit 4 feeds back the correction value to the inertial navigation calculation processing unit 3 that is the correction destination (S8). In response to the feedback of the correction value, the output of the inertial navigation calculation processing unit 3 is corrected, and thereafter errors such as bias are corrected. In step S8, the corrected speed data is stored in the storage unit 13 and sent to the units 5 and 6.

  At the time of the correction in step S7, the Kalman filter correction processing unit 4 refers to the GPS positioning data from the GPS receiving unit 9 and the status data included in the indoor GPS positioning data from the indoor GPS receiving unit 11, and the reception state Good positioning data is used for correcting the position error and the speed error, thereby improving the accuracy of the correction.

  Next, the distance calculation unit 5 calculates the distance by integrating the corrected velocity data output from the Kalman filter correction processing unit 4 (S9).

  The position synthesizing unit 6 receives the corrected positioning data (latitude, longitude, altitude) output from the Kalman filter correction processing unit 4 and the positioning data (position) from the indoor GPS receiving unit 11 and outputs them. Are combined to calculate the position (xyz position) of the moving body with high accuracy (S10). With the above, a series of processes related to positioning of the moving body is completed.

  Here, the position of the moving object calculated in step S10 is not the latitude, longitude, and altitude, but the position of the moving object in the xyz coordinate system. That is, the origin (0, 0, 0) of the xyz coordinate system in this case is the coordinate of the place where the mobile positioning device is turned on and activated, and the relative position from the origin is calculated as the xyz position. Therefore, even if the moving body moves across an area where positioning by the GPS receiver 9 and the indoor GPS receiver 11 cannot be performed, it is possible to continue calculating the position using only the output of the IMU 8.

  Next, with reference to the conceptual diagram of FIG. 3, the basic concept of whether to give priority to the GPS positioning data or the indoor GPS positioning data in the correction process in the Kalman filter correction processing unit 4 will be described in detail.

  FIG. 3 shows reception states in three main environments. First, the area A shows an outdoor environment, and in the area A, the GPS receiving unit 9 receives a GPS carrier wave from a GPS satellite in a good state. Therefore, the Kalman filter correction processing unit 4 is based on the GPS positioning data. Performs Kalman filter correction processing.

  On the other hand, a region B1 indicates a bridge or an indoor environment disposed in the process of the road. In the region B1, the reception state of the GPS carrier from the GPS satellite by the GPS receiver 9 is poor. Therefore, the Kalman filter correction processing unit 4 performs Kalman filter correction processing based on indoor GPS positioning data obtained by communication between the indoor GPS receiving unit 11 and the indoor GPS transmitters 100a to 100f installed in advance. In that case, the indoor GPS receiver 11 communicates in real time with, for example, three indoor GPS transmitters that are closest to each other in the course of movement of the moving body, and obtains indoor GPS positioning data.

  Area B2 shows a road surrounded by buildings provided on the test course. In the area B2, the GPS receiver 9 can receive a GPS carrier wave from a GPS satellite, but the reception state is good. is not. Therefore, the indoor GPS positioning data by the indoor GPS receiving unit 11 is also taken into account. That is, the Kalman filter correction processing unit 4 converts the GPS positioning data obtained by the GPS receiving unit 8 and the indoor GPS positioning data obtained by communication with the indoor GPS transmitters 101a to 101f previously installed by the indoor GPS receiving unit 11. Based on this, Kalman filter correction processing is performed. Also in this case, the indoor GPS receiving unit 11 communicates in real time with, for example, three indoor GPS transmitters that are closest to each other in the course of movement of the moving body, and obtains indoor GPS positioning data.

  Regions C1 and C2 correspond to regions that switch from indoor to outdoor, or regions that switch from outdoor to roads surrounded by buildings. In this switching region, GPS positioning data from the GPS receiver 8 is also stored. Since the indoor GPS positioning data by the indoor GPS receiving unit 11 can also be obtained, the accuracy of the Kalman filter correction process may be improved using both. In this case, the GPS positioning data and the indoor GPS positioning data may be used for calculation processing by performing predetermined weighting.

  As described above, in any of the indoor, outdoor, and even indoor-to-outdoor switching areas, GPS positioning data and indoor GPS positioning data are properly used to perform Kalman filter correction processing suitable for inertial navigation positioning data, Since the correction amount can be estimated and appropriate correction can be performed, positioning of the moving body can be performed with high accuracy and seamlessly.

  Finally, FIG. 4 shows the relationship between the calculated value measured by the mobile body positioning apparatus according to the present embodiment and the actually measured value measured by the optical speed sensor. In the figure, the horizontal axis indicates time, and the vertical axis indicates speed. The speed of the moving body is rapidly increased, the brake is applied at a predetermined timing (time), the speed is reduced, and the moving body stops. It shows the speed change until. As is clear from FIG. 4, the calculated value measured according to the present embodiment is substantially the same as the actually measured value measured by the optical speed sensor, and it can be seen that the accuracy is good.

  According to the embodiment of the present invention described above, the following effects can be obtained.

1. IMU (8) as an inertial sensor that outputs inertial sensor data, a GPS receiving unit (9) that outputs GPS positioning data, an indoor GPS receiving unit (11) that outputs indoor GPS positioning data, and inertial sensor data The inertial navigation calculation processing unit (3) that receives the inertial navigation calculation process and outputs the inertial navigation positioning data, receives the inertial navigation positioning data, the GPS positioning data, and the indoor GPS positioning data, and receives the inertial navigation based on the difference therebetween. The correction value of the arithmetic processing unit is estimated, and the Kalman filter correction processing unit (4) for correcting the velocity data and the position data related to the inertial navigation positioning data, the GPS positioning data, and the indoor GPS positioning data, and the corrected velocity data are integrated. A distance calculation unit (6) that calculates a distance by processing, the position data related to the GPS positioning data after correction, and A position synthesizing unit (7) that receives the corrected position data related to the indoor GPS positioning data and synthesizes them to calculate the position of the moving body, and the correction obtained by the Kalman filter correction processing unit (4) A moving body positioning apparatus that feeds back a value to the inertial navigation calculation processing unit (3) and corrects an error such as a bias error is provided.

  Therefore, the speed, distance, and position of the moving object can be calculated with high accuracy based on the output data from the IMU and the output data from the GPS receiver and the indoor GPS receiver. In particular, since indoor GPS positioning data is also used, it is possible to position a mobile object even indoors where measurement was impossible in the past.

  Here, the Kalman filter correction processing unit (4) refers to the status data included in the GPS positioning data from the GPS receiving unit (9) and the indoor GPS positioning data from the indoor GPS receiving unit (11). Good positioning data may be used for the correction.

  Therefore, in this case, the indoor GPS positioning data by the indoor GPS receiver (11) can be used in the Kalman filter correction process in an environment such as indoors where the reception state by the GPS receiver (9) is poor. As a result, the error detection accuracy is increased, and as a result, the correction accuracy is increased. In addition, seamless positioning is possible even in an environment where it continues from the outside to the inside and then to the outside again.

2. Outputting inertial sensor data (S1); outputting GPS positioning data (S3); outputting indoor GPS positioning data (S5); receiving inertial sensor data and performing inertial navigation calculation processing; Step (S2) for outputting inertial navigation positioning data, receiving inertial navigation positioning data, GPS positioning data, and indoor GPS positioning data, estimating a correction value of the inertial navigation calculation processing unit based on the difference, and executing the inertial navigation positioning The step of correcting the speed data and the position data included in the data, the GPS positioning data and the indoor GPS positioning data (S7), the step of calculating the distance by integrating the corrected speed data (S9), and the corrected Position data related to the GPS positioning data and position data related to the corrected indoor GPS positioning data. Therefore, a step of calculating the position of the moving body by combining them (S10), a step of feeding back the correction value obtained by the Kalman filter correction processing unit to the inertial navigation calculation processing unit and correcting the error (S8), A mobile positioning method is provided.

  Therefore, the speed, distance, and position of the moving object can be calculated with high accuracy based on the output data from the IMU and the output data from the GPS receiver and the indoor GPS receiver. In particular, since indoor GPS positioning data is also used, it is possible to position a mobile object even indoors where measurement was impossible in the past.

  Here, in the step of correcting, it is possible to refer to the status data included in the GPS positioning data and the indoor GPS positioning data, respectively, and use the positioning data having a good reception state for the correction.

  Therefore, in this case, indoor GPS positioning data can be preferentially used in the correction process in an indoor environment where the GPS positioning data reception state is poor, and as a result, the error detection accuracy increases, and as a result Correction accuracy increases. In addition, seamless positioning is possible even in an environment where it continues from the outside to the inside and then to the outside again.

  Although one embodiment of the present invention has been described above, the present invention is not limited to this, and various improvements and modifications can be made without departing from the spirit of the present invention.

  For example, in addition to the moving body positioning device and the moving body positioning method, the calculation control unit of the moving body positioning device functions as the inertial navigation calculation processing unit 3, the Kalman filter correction processing unit 4, the distance calculation unit 5, and the position synthesis unit 6. Of course, the present invention can be implemented as a computer program and a storage medium storing the computer program so as to be readable by a computer.

  In this case, the computer receives the inertial sensor data, performs inertial navigation calculation processing, and outputs inertial navigation positioning data, and receives the inertial navigation positioning data, GPS positioning data, and indoor GPS positioning data. A Kalman filter correction processing unit (4) that estimates a correction value of the inertial navigation calculation processing unit based on the difference and corrects the velocity data and position data related to the inertial navigation positioning data, GPS positioning data, and indoor GPS positioning data; A distance calculation unit (6) that calculates a distance by integrating the corrected velocity data, and receives position data related to the corrected GPS positioning data and position data related to the corrected indoor GPS positioning data. It functions as a position synthesizer (7) that calculates the position of the moving object by synthesizing them. Data correction processing unit (4) a computer program for correcting the correction value is fed back to the inertial navigation arithmetic processing unit (3) errors such as bias errors calculated, and the storage medium storing the same are provided.

DESCRIPTION OF SYMBOLS 1 Mobile body positioning apparatus 2 Calculation control part 3 Inertial navigation calculation process part 4 Kalman filter correction process part 5 Distance calculation part 6 Position composition part 7 Display part 8 IMU
8a acceleration sensor 8b gyro sensor 9 GPS receiver 10 receiving antenna 11 indoor GPS receiving unit 12 receiving antenna 13 storage unit 14 output unit

Claims (4)

An inertial sensor that outputs inertial sensor data;
A GPS receiver for outputting GPS positioning data;
An indoor GPS receiver that outputs indoor GPS positioning data;
An inertial navigation calculation processing unit that receives the inertial sensor data, performs inertial navigation calculation processing, and outputs inertial navigation positioning data;
The inertial navigation positioning data, the GPS positioning data, and the indoor GPS positioning data are received, a correction value of the inertial navigation calculation processing unit is estimated based on the difference, and the inertial navigation positioning data, GPS positioning data, and indoor GPS are estimated. A Kalman filter correction processing unit for correcting speed data and position data related to positioning data;
A distance calculator that calculates the distance by integrating the corrected velocity data;
A position synthesizer that receives the position data related to the corrected GPS positioning data and the position data related to the corrected indoor GPS positioning data and calculates the position of the moving object by weighting and adding them; Prepared,
The correction value obtained by the Kalman filter correction processing unit is fed back to the inertial navigation calculation processing unit to correct the error ,
The position data related to the GPS positioning data after the correction is related to latitude, longitude, and altitude, the position data related to the indoor GPS positioning data after the correction is a position in an xyz coordinate system, and the position synthesizing unit The position calculated in (5) is a moving body positioning device that is the position of the moving body in the xyz coordinate system with the position at the time of power-on as the origin . The Kalman filter correction processor refers to status data included in the GPS positioning data from the GPS receiving unit and the indoor GPS positioning data from the indoor GPS receiving unit, respectively, and corrects positioning data in a good reception state. The mobile body positioning device according to claim 1, used at the time. Outputting inertial sensor data;
Outputting GPS positioning data;
Outputting indoor GPS positioning data;
Receiving inertial sensor data, performing inertial navigation calculation processing, and outputting inertial navigation positioning data;
The inertial navigation positioning data, the GPS positioning data, and the indoor GPS positioning data are received, the correction value of the inertial navigation calculation processing unit is estimated based on the difference, and the inertial navigation positioning data, GPS positioning data, and indoor GPS positioning are estimated. Correcting velocity data and position data included in the data;
Calculating the distance by integrating the corrected velocity data;
Receiving the position data related to the GPS positioning data after the correction and the position data related to the indoor GPS positioning data after the correction, and calculating the position of the moving body by weighting and adding them;
The correction value obtained by the Kalman filter correction processing unit have a, and correcting the error fed back to the inertial navigation arithmetic processing unit,
The position data related to the GPS positioning data after the correction relates to latitude, longitude, and altitude, and the position data related to the indoor GPS positioning data after the correction is a position in the xyz coordinate system, and the calculated movement The position of the body is a moving body positioning method that is the position of the moving body in the xyz coordinate system with the position when the power is turned on as the origin . The mobile positioning method according to claim 3, wherein in the correcting step, positioning data having a good reception state is used for the correction with reference to status data included in the GPS positioning data and indoor GPS positioning data.