Apparatus for determining position of moving body

G - Physics – 01 – C

Patent

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Details

G01C 21/00 (2006.01) G01C 21/12 (2006.01) G05D 1/02 (2006.01)

Patent

CA 2177852

The first object is to correct deviation of a guided moving body by dead reckoning before and after a lap in order to precisely guide it. A second object is to facilitate determination of initial position and initial bearing of a guided moving body by dead reckoning. When the moving body 1 travels on a lane L3, the positions of two reference points R11 and R12 located immediately forward of the start point on the lane L3 are calculated as positions on coordinate axes x-y. When the moving body 1 has completed a lap around lane L3, returned to the starting point Ps, and continues to travel, the positions of the two reference points R11 and R12 are recalculated as R'11 and R'12 on the coordinate axes x-y. Deviations of the position and traveling direction of the moving body 1 when it has completed a lap around the lane L3 are corrected on the basis of the positions of the two reference points so calculated and the estimated position and estimated direction Pe (xe, ye, .theta.e) when the moving body has completed a lap around lane L3 and returned to the starting point Ps.

Selon la présente invention, on corrige la déviation d'un corps mobile guidé en déterminant sa position à l'estime avant et après chaque tour d'une voie afin de le guider de façon précise. Lorsque le corps mobile (1) se déplace sur une voie (L3), les positions de deux points de référence (R11) et (R12) immédiatement à l'avant du point de départ (P3) de la voie (L3) sont calculées sous forme de positions sur des coordonnées x-y. Lorsque le corps mobile complète un tour de la voie (L3) et continue à se déplacer, les positions des deux points de référence (R11) et (R12) décrits ci-dessus sont à nouveau calculées sous forme des positions (R'11) et (R'12) sur les coordonnées x-y. Des déviations de la position et du sens du déplacement du corps mobile (1) qui surviennent au cours du déplacement de ce dernier sur la voie (L3) sont corrigées en fonction des positions des deux points de référence ainsi calculées et de la position estimée et de la direction estimée Pe (xe, ye, .theta.e) lorsque le corps mobile (1) revient à son point de départ (Ps) après chaque tour.

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