Positioning device and method and movable body with such a device

Abstract

Disclosed herein are a positioning device, a positioning method, and a moving body containing this device. The positioning device comprises a global navigation satellite system (GNSS) with a first GNSS module and a second GNSS module, an inertial measurement unit (IMU) with an accelerometer and an angular velocity sensor, a rotary encoder configured to detect the amount of rotation of two or more wheels of a moving body, and a positioning module.The positioning module is configured to determine first position information in a first area where a GNSS signal is received, and second position information in a second area where no GNSS signal is received, using a first GNSS measurement and a second GNSS measurement determined on the basis of GNSS signals from the GNSS module, inertial measurements from the IMU, and rotary encoder measurements from the rotary encoder.