System, device and method for detecting mobile object position, and computer program



【課題】自立航法情報に基づいて移動体の位置を検出する場合において、移動体の位置を正確に検出することを可能にした移動体位置検出システム、移動体位置検出装置、移動体位置検出方法及びコンピュータプログラムを提供する。 【解決手段】車両の現在位置の候補である現在位置候補について、自立航法情報に基づいて所定間隔経過後の位置へと現在位置候補を更新し、更新を行う前の位置(更新前位置)に対する更新後の位置(更新後位置)の方位を車両移動方位θ2として取得し、自立航法情報に基づいて取得された現在の車両方位θ1と車両移動方位θ2との差分である差分方位角を算出し、差分方位角が閾値以上である場合に差分方位角を補正し、補正された差分方位角に基づいて、車両の検出位置の更新を行うように構成する。 【選択図】図6
PROBLEM TO BE SOLVED: To provide a system, a device and a method for detecting a mobile object position, and a computer program, which enable accurately detecting a mobile object position based on self-contained navigation information.SOLUTION: A mobile object position detecting system is configured to; update a current location candidate, which is a candidate for a current location of a vehicle, to an expected location after elapsing a preset period of time based on self-contained navigation information; obtain a relative azimuth of the updated location (post-update location) with respect to the location before updating (pre-update location) as a vehicle travel azimuth θ2; compute a differential azimuth angle which is a difference between a current vehicle azimuth θ1 obtained based on the self-contained navigation information and the vehicle travel azimuth θ2; apply a correction to the differential azimuth angle if the differential azimuth angle is equal to or greater than a threshold value; and update the current location of the vehicle based on the corrected differential azimuth angle.




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