To provide a system and a method which are excellent in reliability and can exactly detect a position of a mobile object while suppressing influences of errors to the minimum, even if the errors exist in measured angles.
Angles between respective direction lines which connect three optical beacons to the mobile object 2, are measured, and two or more combinations each of which includes two angles among measured angles as measurement angles, are selected. Then, positions of the mobile object 2 are computed in selected combinations respectively by using the measurement angles and known positions of each optical beacon. Furthermore, percentage changes in above computed positions corresponding to changes in measurement angles are estimated in the selected combinations respectively. When carrying out above computation, the position of the mobile object is computed by using the combination of measurement angles which is selected from above-mentioned selected combinations such that the estimated percentage change is minimum.
SANO MASAHITO
| JP2001091622A | 2001-04-06 | |||
| JP2002357650A | 2002-12-13 | |||
| JP2003315433A | 2003-11-06 | |||
| JPS5124879B1 | 1976-07-27 | |||
| JPS56137171A | 1981-10-26 | |||
| JP2001033244A | 2001-02-09 |
Satoshi Kono
Makoto Nakamura
Kurata Masatoshi
Takashi Mine
Yoshihiro Fukuhara
Sadao Muramatsu
Ryo Hashimoto