Title:
移動体観測システム、移動体観測方法及びプログラム
Document Type and Number:
Japanese Patent JP6886800
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a mobile body observation system capable of accurately specifying a direction of a mobile body even when the mobile body is in any position.SOLUTION: In a mobile body observation system, a position acquisition part acquires an absolute position of at least three position measurement devices provided at a mobile body. A relative position specification part specifies estimated value relative position information indicating a relative positional relation of the position measurement devices from the absolute position acquired by the position acquisition part. An attitude estimation part estimates an attitude of the mobile body on the basis of the estimated value relative position information specified by the relative position specification part and true value relative position information indicating the relative positional relation of at least the three position measurement devices actually provided at the mobile body. A deviation specification part specifies a deviation between the estimated value relative position information and the true value relative position information. An attitude estimation part estimates the attitude of the mobile body on the basis of the deviation previously specified by the deviation specification part.SELECTED DRAWING: Figure 1
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Inventors:
Yuki Tachikawa
Mulberry No Tetsuhei
Hitoshi Ono
Hirokazu Shibata
Mulberry No Tetsuhei
Hitoshi Ono
Hirokazu Shibata
Application Number:
JP2016214494A
Publication Date:
June 16, 2021
Filing Date:
November 01, 2016
Export Citation:
Assignee:
MITSUBISHI HEAVY INDUSTRIES,LTD.
International Classes:
G01S5/02; G01C21/16; G01S5/04
Domestic Patent References:
| JP2007101484A | ||||
| JP2008216062A | ||||
| JP2008298443A | ||||
| JP2002054946A | ||||
| JP2004226374A | ||||
| JP2007080102A | ||||
| JP2009145296A |
Foreign References:
| US6061631 |
Attorney, Agent or Firm:
Yasushi Matsunuma
Eisuke Ito
Hiroyuki Hashimoto
Satoshi Koto
Koichiro Kamata
Taichi Hasegawa
Ryuichiro Mori
Masatake Shiga
Tadashi Takahashi
Tetsuo Yamazaki
Eisuke Ito
Hiroyuki Hashimoto
Satoshi Koto
Koichiro Kamata
Taichi Hasegawa
Ryuichiro Mori
Masatake Shiga
Tadashi Takahashi
Tetsuo Yamazaki