Velocity measurement device, velocity measurement method, and velocity measurement program

Abstract

To provide a velocity measurement device, a velocity measurement method, and a velocity measurement program which can suppress a deterioration in accuracy of velocity measurement.SOLUTION: A velocity measurement device includes a first acquisition part, a second acquisition part, and a calculation part. The first acquisition part acquires a GNSS vector as a velocity vector of a mobile body by GNSS positioning. The second acquisition part acquires a DR vector as a velocity vector of the mobile body by dead reckoning positioning. The calculation part calculates a correction value for correcting the DR vector on the basis of an angular velocity of the mobile body, the GNSS vector, and the DR vector while the mobile body turns.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a speed measurement device, a speed measurement method, and a speed measurement program. [Background technology]

[0002] Conventionally, there is known a technique for measuring the speed of a moving object using GNSS (Global Navigation Satellite System) positioning and DR (Dead Reckoning) positioning, which performs positioning without relying on GNSS signals by using sensors such as a gyro sensor and an acceleration sensor (see, for example, Patent Document 1). In this type of technique, the speed of a moving object is measured based on two velocity vectors generated from the GNSS positioning and the dead reckoning positioning (hereinafter, referred to as DR positioning), respectively. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6199535 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, when a moving object turns, if there is a difference between the position determined by GNSS positioning and the position determined by DR positioning, a norm difference or azimuth difference will occur between the two velocity vectors, which could result in a decrease in the accuracy of velocity measurement.

[0005] Therefore, the present disclosure proposes a speed measurement device, a speed measurement method, and a speed measurement program that can suppress a decrease in speed measurement accuracy. [Means for solving the problem]

[0006] In order to solve the above problem, a speed measurement device according to the present disclosure includes a first acquisition unit, a second acquisition unit, and a calculation unit. The first acquisition unit acquires a GNSS vector, which is a speed vector of a moving object, by GNSS positioning. The second acquisition unit acquires a DR vector, which is a speed vector of the moving object, by dead reckoning positioning. When the moving object is turning, the calculation unit calculates a correction value for correcting the DR vector based on the angular velocity of the moving object, the GNSS vector, and the DR vector.

[0007] This allows the speed measurement device to suppress a decrease in speed measurement accuracy.

[0008] In addition, the calculation unit according to the present disclosure calculates the correction value when a difference between a first turning radius calculated based on the angular velocity and the GNSS vector and a second turning radius calculated based on the angular velocity and the DR vector is less than a threshold value.

[0009] This allows the speed measurement device to suppress a decrease in speed measurement accuracy.

[0010] Moreover, the calculation unit according to the present disclosure calculates the correction value based on the angles formed between the origins of the GNSS vector and the DR vector and the center of turning.

[0011] This allows the speed measurement device to calculate the correction value with high accuracy.

[0012] In addition, the calculation unit according to the present disclosure calculates the base and base angle of an isosceles triangle formed by the center of rotation and the origin of the GNSS vector and the DR vector, respectively, and calculates the correction value that corrects the positional difference between the GNSS vector and the DR vector in the overall length direction of the moving body based on the base and base angle.

[0013] This allows the speed measurement device to calculate the correction value with high accuracy.

[0014] In addition, the calculation unit according to the present disclosure determines the positional relationship between the GNSS vector and the DR vector in the overall length direction based on the magnitude relationship between the orientations of the GNSS vector and the DR vector and the turning direction based on the angular velocity.

[0015] This allows the speed measurement device to suppress a decrease in speed measurement accuracy.

[0016] In addition, the calculation unit according to the present disclosure calculates a GNSS turning radius based on the GNSS vector, which is the hypotenuse, based on a right triangle whose base is the positional difference between the GNSS vector and the DR vector in the overall length direction of the moving body and whose height is the second turning radius, and calculates the correction value for correcting the positional difference between the GNSS vector and the DR vector in the width direction of the moving body based on the GNSS turning radius and the first turning radius.

[0017] This allows the speed measurement device to calculate the correction value with high accuracy.

[0018] In addition, the calculation unit according to the present disclosure determines the positional relationship between the GNSS vector and the GNSS vector in the width direction based on the magnitude relationship between the GNSS turning radius and the first turning radius and the turning direction based on the angular velocity.

[0019] This allows the speed measurement device to suppress a decrease in speed measurement accuracy.

[0020] Moreover, the speed measurement device according to the present disclosure further includes a determination unit that determines the measured position of the moving object based on the DR vector corrected by the correction value and the GNSS vector.

[0021] This allows the speed measurement device to determine the position with high accuracy.

[0022] A velocity measurement method according to the present disclosure is a computer-executed velocity measurement method including a first acquisition step, a second acquisition step, and a calculation step. The first acquisition step acquires a GNSS vector, which is a velocity vector of a moving object, by GNSS positioning. The second acquisition step acquires a DR vector, which is a velocity vector of the moving object, by dead reckoning positioning. The calculation step calculates a correction value for correcting the DR vector based on the angular velocity of the moving object, the GNSS vector, and the DR vector, when the moving object is turning.

[0023] This makes it possible for the speed measurement method to suppress a decrease in the speed measurement accuracy.

[0024] A velocity measurement program according to the present disclosure causes a computer to execute a first acquisition step, a second acquisition step, and a calculation step. The first acquisition step acquires a GNSS vector, which is a velocity vector of a moving object, by GNSS positioning. The second acquisition step acquires a DR vector, which is a velocity vector of the moving object, by dead reckoning positioning. The calculation step calculates a correction value for correcting the DR vector based on the angular velocity of the moving object, the GNSS vector, and the DR vector when the moving object is turning.

[0025] This allows the speed measurement program to suppress a decrease in the speed measurement accuracy. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a functional block diagram showing a configuration of a speed measurement device according to an embodiment. [Figure 2] 10 is an explanatory diagram for explaining a method for calculating a correction value by a calculation unit. FIG. [Figure 3] 10 is a table for determining the sign of a position difference Δx. [Figure 4] 10 is a table for determining the sign of a positional difference Δy. [Figure 5] 10 is a table for determining the sign of the amount of correction of the azimuth. [Figure 6] 5 is a flowchart showing the procedure of a correction value calculation process executed by the velocity measurement device according to the embodiment. [Figure 7] 6 is a flowchart showing the procedure of a DR vector correction process executed by the speed measurement device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the following embodiments, the same components are designated by the same reference numerals, and redundant description will be omitted.

[0028] FIG. 1 is a functional block diagram showing the configuration of a speed measurement device according to an embodiment.

[0029] As shown in FIG. 1, the speed measurement device 10 includes a first acquisition unit 20, a second acquisition unit 30, a calculation unit 40, and a determination unit 50.

[0030] Here, the speed measurement device 10 includes, for example, a computer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a hard disk drive, input / output ports, and various other circuits.

[0031] The CPU of the computer functions as the first acquisition unit 20, the second acquisition unit 30, the calculation unit 40, and the determination unit 50, for example, by reading and executing a reception program stored in the ROM.

[0032] Furthermore, at least some or all of the first acquisition unit 20, second acquisition unit 30, calculation unit 40 and determination unit 50 can be configured using hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0033] The speed measurement device 10 also includes a storage unit (not shown). The storage unit is configured with a storage device such as a semiconductor element memory or a hard disk drive. Various programs and various information required for processing by the speed measurement device 10 are stored in the storage unit.

[0034] The first acquisition unit 20 is connected to the antenna 200. The antenna 200 is installed on a moving body (for example, a vehicle). The antenna 200 receives GNSS signals from various GNSS positioning satellites such as GPS, GLONASS, Galileo, IRNSS, QZSS, and Beidou, and outputs the signals to the first acquisition unit 20.

[0035] The first acquisition unit 20 is a processing unit that performs positioning based on the GNSS signal received by the antenna 200 (hereinafter referred to as GNSS positioning). The first acquisition unit 20 determines the antenna position of the mobile object (GNSS position Pgnss shown in FIG. 2) by GNSS positioning, and acquires a GNSS vector, which is a velocity vector at the antenna position of the mobile object. Specifically, the first acquisition unit 20 measures the velocity and angular velocity of the mobile object using the amount of change in the carrier phase integrated value obtained from the acquisition and tracking process of the GNSS signal, the change in the code pseudorange of the GNSS signal, and the change in the positioning position. The velocity and angular velocity are measured (calculated) using a known method.

[0036] Then, the first acquisition unit 20 acquires (generates) a GNSS vector, which is a velocity vector with the measured velocity as the norm and the direction of the angular velocity as the orientation, and outputs the GNSS vector to the calculation unit 40 and the determination unit 50.

[0037] The second acquisition unit 30 is a processing unit that performs dead reckoning positioning (hereinafter referred to as DR positioning) based on sensors provided in the moving object. The sensors include, for example, a velocity sensor, an acceleration sensor, a gyro sensor, etc. The second acquisition unit 30 acquires a DR vector, which is a velocity vector at a reference position (DR position Pdr shown in FIG. 2) of the moving object by DR positioning. Specifically, the second acquisition unit 30 measures the velocity of the moving object based on sensor information detected by the velocity sensor or the acceleration sensor, and measures the angular velocity of the moving object based on sensor information detected by the gyro sensor.

[0038] Then, the second acquisition unit 30 acquires (generates) a DR vector, which is a velocity vector with the measured velocity as the norm and the direction of the angular velocity as the orientation, and outputs the DR vector to the calculation unit 40 and the determination unit 50.

[0039] When the moving object is turning, the calculation unit 40 calculates a correction value for correcting the DR vector based on the angular velocity of the moving object, the GNSS vector, and the DR vector. Here, a method for calculating the correction value by the calculation unit 40 will be described with reference to FIG.

[0040] Fig. 2 is an explanatory diagram for explaining a method for calculating a correction value by the calculation unit 40. Fig. 2 shows a turning vehicle 100 in a plan view from above. Also, as shown in Fig. 2, in the present disclosure, the antenna position measured by GNSS positioning (GNSS position Pgnss) and the reference position of DR positioning (DR position Pdr) are different positions on the vehicle 100. Also, hereinafter, the GNSS position Pgnss may be referred to as the starting point of the GNSS vector, and the DR position Pdr may be referred to as the starting point of the DR vector.

[0041] In the present disclosure, the calculation unit 40 calculates the GNSS vector V ant and the DR vector V odo The position difference between the GNSS position Pgnss and the DR position Pdr is estimated from the difference, and the DR vector V odoto a velocity vector equivalent to the GNSS position Pgnss, thereby reducing positioning errors during turning. That is, the calculation unit 40 calculates the position difference Δx in the overall length direction and the position difference Δy in the width direction between the GNSS position Pgnss and the DR position Pdr as correction values.

[0042] Specifically, the calculation unit 40 first determines whether the moving object is turning based on the angular velocity of the moving object detected by the gyro sensor. If the moving object is turning, the calculation unit 40 calculates the turning radius r of the DR position Pdr. odo Specifically, the calculation unit 40 calculates the DR vector V odo The velocity v odo and the angular velocity ω of the moving body detected by the gyro sensor, the turning radius r is calculated by the following equation (1): odo Calculate the turning radius r odo corresponds to the second turning radius.

[0043]

number

[0044] Next, the calculation unit 40 calculates the turning radius r of the GNSS position Pgnss. ant Specifically, the calculation unit 40 calculates the GNSS vector V ant The velocity v ant and the angular velocity ω of the moving body detected by the gyro sensor, the turning radius r is calculated by the following equation (2). ant Calculate the turning radius r ant corresponds to the first turning radius.

[0045]

number

[0046] Next, the calculation unit 40 calculates the two calculated turning radii r odo ,r ant The calculation unit 40 determines whether the difference between the two turning radii r is less than a threshold value (ideally, the difference is zero). odo ,rant If the difference between the turning radii is less than the threshold, the correction value is calculated, but if the difference is equal to or greater than the threshold, the correction value is not calculated. This is because a difference between the turning radii equal to or greater than the threshold means that there is a large error in either the GNSS positioning or the DR positioning, and if a correction value is calculated when there is a large error, the accuracy of the correction value will decrease. Therefore, by calculating a correction value only when the difference between the turning radii is less than the threshold, the accuracy of the calculated correction value can be increased.

[0047] The calculation unit 40 calculates the two turning radii r odo ,r ant If the difference between V and V is less than the threshold, ant and DR vector V odo Specifically, when the GNSS position Pgnss is located further in the overall length direction of the vehicle 100 than the DR position Pdr, the calculation unit 40 calculates the azimuth difference χ between the GNSS vector V ant and DR vector V odo Geometrically, the difference in direction χ is the difference between the two turning radii r at the turning center C. odo ,r ant Therefore, the calculation unit 40 performs the correction value calculation process described below based on the fact that the azimuth difference χ and the angle φ are equal. That is, the calculation unit 40 calculates the correction value based on the angle φ between the origin of the GNSS vector and the origin of the DR vector and the turning center C.

[0048] Next, the calculation unit 40 calculates the position difference Δx between the GNSS position Pgnss and the DR position Pdr in the overall length direction. Specifically, the calculation unit 40 first calculates the distance between a line Δd connecting the GNSS position Pgnss and the DR position Pdr and the turning radius r odo The angle between the two is ψ, and the turning radius is r odo ,r ant The line Δd forms an isosceles triangle, and the angle between them is calculated as ψ=π-φ / 2 [rad].

[0049] As a result, due to the properties of an isosceles triangle, the line Δd serving as the base can be calculated by the following formula (3): In other words, the calculation unit 40 calculates the base (line Δd) and base angle (angle ψ) of an isosceles triangle formed by the turning center C and the origins of the GNSS vector and DR vector (GNSS position Pgnss and DR position Pdr).

[0050]

number

[0051] In addition, the arc adjacent to the line Δd (radius of gyration r odo , central angle φ) may be regarded as being the same, and the line Δd may be calculated using the following formula (4).

[0052]

number

[0053] Then, the calculation unit 40 calculates the position difference Δx, which is a correction value, using the following formula (5) based on a right triangle formed by the position difference Δx in the overall length direction of the vehicle 100, the position difference Δy in the width direction, and three sides of the line Δd. In other words, the calculation unit 40 calculates the position difference Δx, which is a correction value, based on the base (line Δd) and base angle (angle ψ) of an isosceles triangle formed by the starting points of the GNSS vector and the DR vector and the turning center C.

[0054]

number

[0055] The sign of the position difference Δx (positive if the GNSS position Pgnss is ahead of the DR position Pdr, negative if it is behind) is calculated by referring to the table shown in Figure 3 and calculating the GNSS vector V ant and the DR vector V odoThe sign of the position difference Δx is determined based on the azimuth of the GNSS vector and the turning direction based on the angular velocity. Fig. 3 is a table for determining the sign of the position difference Δx. In other words, the calculation unit 40 determines the positional relationship in the overall length direction of the GNSS vector (GNSS position Pgnss) and the GNSS vector (DR position Pdr) based on the magnitude relationship between the azimuth of the GNSS vector and the DR vector and the turning direction based on the angular velocity. Note that in Fig. 3, the GNSS vector V ant and the DR vector V odo When determining the magnitude relationship of the orientation of Vant and DR vector V odo The double absolute value of the difference (||V ant Azimuth - V odo If the heading ||) is 180 degrees or more, 360 degrees is added to the smaller heading before determining which is larger. This prevents erroneous determinations when the heading crosses 360 degrees (0 degrees) (rollover) while turning.

[0056] Next, the calculation unit 40 calculates the position difference Δx and the turning radius r odo Based on this, the turning radius r' ant Specifically, the calculation unit 40 recalculates the position difference Δx as the base and the turning radius r by taking advantage of the fact that the central angle φ is sufficiently small (less than the threshold value). odo The height and turning radius r' ant Considering a right triangle with the hypotenuse, the radius of gyration r' ant is calculated by the following formula (6). ant corresponds to the GNSS turning radius.

[0057]

number

[0058] Next, the calculation unit 40 calculates the turning radius r calculated by the above formula (2). ant and the turning radius r' calculated using the above equation (6). ant Based on the difference between the turning radius r and the GNSS position Pgnss, a position difference Δy is calculated, which is a correction value in the width direction between the GNSS position Pgnss and the DR position Pdr. ant and turning radius r' antThe difference between the two is due to an approximation error in the calculation process, so the value that eliminates this error is the position difference Δy, and the turning radius r ant and turning radius r' ant The ratio of coef =r ant / r' ant Then, the position difference Δy, which is the correction value, is calculated by the following equation (7).

[0059]

number

[0060] The sign of the position difference Δy (positive if the GNSS position Pgnss is to the right of the DR position Pdr in the direction of travel, negative if it is to the left) is calculated by referring to the table shown in Figure 4 and the turning radius r ant and turning radius r' ant 4 is a table for determining the sign of the position difference Δy. That is, the calculation unit 40 calculates the GNSS turning radius r' ant and the first turning radius r ant and the turning direction based on the angular velocity, the positional relationship between the GNSS vector and the GNSS vector in the width direction is identified.

[0061] The calculation unit 40 outputs the calculated correction values, ie, the position difference Δx and the position difference Δy, to the determination unit 50.

[0062] The determination unit 50 corrects the DR vector based on the correction value calculated by the calculation unit 40, and performs various determination processes using the corrected DR vector. First, a method for correcting the DR vector will be described.

[0063] Correcting the DR vector here means converting the DR vector into a velocity vector equivalent to the antenna position by offsetting the reference position of the DR vector from the DR position Pdr to the antenna position (GNSS position Pgnss). In other words, the determination unit 50 corrects the DR vector to align the starting point of the DR vector (DR position Pdr) with the starting point of the GNSS vector (GNSS position Pgnss).

[0064] The determination unit 50 first determines whether the vehicle 100 is turning based on the angular velocity detected by the gyro sensor. If the vehicle 100 is turning, the determination unit 50 determines the turning radius r odo Calculate.

[0065] Next, the determination unit 50 determines the turning radius r odo , the turning radius r' is calculated using the position difference Δx and the position difference Δy, which are the correction values. ant Specifically, the determination unit 50 calculates the position difference Δx by taking advantage of the fact that the central angle φ is sufficiently small (less than a threshold value), odo +Δy) is the height and turning radius r' ant Let the hypotenuse be a right triangle, and the radius of gyration is r' ant is calculated using the following formula (8).

[0066]

number

[0067] Next, the determination unit 50 determines the turning radius r odo and turning radius r' ant The velocity (norm) of the DR vector is corrected from the ratio of the GNSS vector to the DR vector. When the angular velocity is the same, the velocity ratio of the GNSS vector to the DR vector is the turning radius r odo and turning radius r' ant Since it is equal to the ratio of ant(odo) is calculated by the following formula (9).

[0068]

number

[0069] Next, from the geometrical relationship, the direction difference χ between the GNSS vector and the DR vector is calculated as the turning radius r odo and turning radius r' ant The angle ψ between the position difference Δx and the turning radius r odoand turning radius r' ant From the right triangle, the amount of correction φ of the azimuth is calculated by the following formula (10).

[0070]

number

[0071] The sign of the correction amount φ is determined based on the position difference Δx and the turning direction by referring to the table shown in Fig. 5. Fig. 5 is a table for determining the sign of the correction amount of the azimuth.

[0072] If the sign of the determined correction amount φ is positive, the determination unit 50 corrects the direction of the DR vector by adding the correction amount φ to the direction of the DR vector, and if the sign is negative, the determination unit 50 corrects the direction of the DR vector by subtracting the correction amount φ from the direction of the DR vector.

[0073] The determination unit 50 then uses the DR vector whose norm and orientation have been corrected to determine the final positioning position of the vehicle 100. Specifically, the determination unit 50 generates one representative vector based on the GNSS vector and the corrected DR vector, and determines the origin of this representative vector as the final positioning position. Note that the representative vector can be generated from the GNSS vector and the corrected DR vector by using a known method such as using an average value.

[0074] Next, the procedure of processing executed by the speed measurement device 10 according to the embodiment will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is a flowchart showing the procedure of correction value calculation processing executed by the speed measurement device 10 according to the embodiment. Fig. 7 is a flowchart showing the procedure of DR vector correction processing executed by the speed measurement device 10 according to the embodiment.

[0075] As shown in FIG. 6, first, the speed measurement device 10 determines whether the vehicle 100 is turning based on the angular velocity detected by the gyro sensor (step S101).

[0076] When the vehicle 100 is turning (step S101: Yes), the speed measurement device 10 calculates the turning radius r of the DR speed generation position (DR position Pdr). odo (Step S102). If the vehicle 100 is not turning (Step S101: No), the speed measurement device 10 ends the process.

[0077] Next, the speed measurement device 10 calculates the turning radius r of the GNSS antenna position (GNSS position Pgnss). ant is calculated (step S103).

[0078] Next, the speed measurement device 10 calculates the turning radius r odo and turning radius r ant It is determined whether the difference between the values ​​is less than a threshold value (step S104).

[0079] The speed measuring device 10 measures the turning radius r odo and turning radius r ant If the difference between the GNSS vector and the DR vector is less than the threshold (step S104: Yes), the speed measurement device 10 calculates the direction difference χ between the GNSS vector and the DR vector (step S105). odo and turning radius r ant If the difference is equal to or greater than the threshold value (step S104: No), the process ends.

[0080] Next, the velocity measurement device 10 calculates the offset (position difference Δx) between the GNSS position and the DR position in the overall length direction (step S106).

[0081] Next, the speed measurement device 10 calculates the position difference Δx and the turning radius r odo Based on this, the turning radius r' of the GNSS position ant is calculated (step S107).

[0082] Next, the speed measurement device 10 calculates the turning radius r ant and turning radius r' ant From the difference between the GNSS position and the DR position, the position difference Δy in the width direction between the GNSS position and the DR position is calculated (step S108), and the process ends.

[0083] As shown in FIG. 7, first, the velocity measuring device 10 determines whether or not the position differences Δx and Δy, which are correction values, have been calculated by the calculation process shown in FIG. 6 (step S201).

[0084] If the correction value has been calculated (step S201: Yes), the speed measurement device 10 determines whether the vehicle 100 is turning (step S202). If the correction value has not been calculated (step S201: No), the speed measurement device 10 ends the correction process and performs the calculation process shown in FIG.

[0085] When the vehicle 100 is turning (step S202: Yes), the speed measurement device 10 calculates the turning radius r odo (Step S203). If the vehicle 100 is not turning (Step S202: No), the speed measurement device 10 ends the process.

[0086] Next, the speed measurement device 10 calculates the turning radius r odo Based on the position differences Δx and Δy, the turning radius r of the GNSS position is calculated. ant is calculated (step S204).

[0087] Next, the speed measurement device 10 calculates the turning radius r odo and turning radius r ant The velocity (norm) of the GNSS position is calculated from the ratio of the velocity to the GNSS position (step S205).

[0088] Next, the speed measurement device 10 calculates the turning radius r odo and the position difference Δx, the direction of the GNSS position is calculated (step S206), and the process ends.

[0089] As described above, according to one embodiment of the present disclosure, the speed measurement device 10 includes a first acquisition unit 20, a second acquisition unit 30, and a calculation unit 40. The first acquisition unit 20 acquires a GNSS vector, which is a velocity vector of a moving object (vehicle 100), by GNSS positioning. The second acquisition unit 30 acquires a DR vector, which is a velocity vector of the moving object, by dead reckoning positioning. When the moving object is turning, the calculation unit 40 calculates a correction value for correcting the DR vector based on the angular velocity, GNSS vector, and DR vector of the moving object. This allows the speed measurement device 10 to suppress a decrease in speed measurement accuracy.

[0090] Furthermore, among the processes described in the above embodiments, all or part of the processes described as being performed automatically can be performed manually, or all or part of the processes described as being performed manually can be performed automatically using a known method. In addition, the information including the processing procedures, specific names, various data, and parameters shown in the above documents and drawings can be changed as desired unless otherwise specified. For example, the various information shown in each drawing is not limited to the information shown in the drawings.

[0091] Furthermore, the components of each device shown in the figure are conceptual functional components and do not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

[0092] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. For example, the technical scope of the present invention also includes configurations obtained by appropriately combining the above-described embodiments in an area where the processing content is not contradictory. Furthermore, the order of each step shown in the flowcharts and sequence diagrams of the above-described embodiments can be changed as appropriate. [Explanation of symbols]

[0093] 10 Speed ​​measuring device 20 First acquisition part 30 Second acquisition part 40 Calculation Unit 50 Decision Section 100 vehicles 200 Antennas C Turning center Pdr DR position Pgnss GNSS position

Claims

1. a first acquisition unit that acquires a GNSS vector, which is a velocity vector of a moving object, by GNSS positioning; a second acquisition unit that acquires a DR vector, which is a velocity vector of the moving object, by dead reckoning positioning; a calculation unit that calculates a correction value for correcting the DR vector based on an angular velocity of the moving body, the GNSS vector, and the DR vector when the moving body is turning; A speed measuring device comprising:

2. The calculation unit Calculating the correction value when a difference between a first turning radius calculated based on the angular velocity and the GNSS vector and a second turning radius calculated based on the angular velocity and the DR vector is less than a threshold value. The speed measuring device according to claim 1 .

3. The calculation unit The correction value is calculated based on the angles formed between the origins of the GNSS vector and the DR vector and the center of rotation. The speed measuring device according to claim 2 .

4. The calculation unit Calculating the base and base angle of an isosceles triangle formed by the origins of the GNSS vector and the DR vector and the turning center, and calculating the correction value for correcting the positional difference between the GNSS vector and the DR vector in the overall length direction of the moving body based on the base and base angle. The speed measuring device according to claim 3 .

5. The calculation unit Identifying a positional relationship between the GNSS vector and the DR vector in the overall length direction based on a magnitude relationship between the orientations of the GNSS vector and the DR vector and a turning direction based on the angular velocity. The speed measuring device according to claim 4.

6. The calculation unit Based on a right triangle having a base that is the positional difference between the GNSS vector and the DR vector in the overall length direction of the moving body and a height that is a DR turning radius based on the DR vector, a GNSS turning radius based on the GNSS vector, which is the hypotenuse, is calculated, and based on the GNSS turning radius and the first turning radius, the correction value that corrects the positional difference between the GNSS vector and the DR vector in the width direction of the moving body is calculated. The speed measuring device according to claim 4.

7. The calculation unit Identifying a positional relationship between the GNSS vector and the GNSS vector in the width direction based on a magnitude relationship between the GNSS turning radius and the first turning radius and a turning direction based on the angular velocity. The speed measuring device according to claim 6.

8. The present invention further includes a determination unit that determines a positioning position of the moving object based on the DR vector corrected by the correction value and the GNSS vector. The speed measuring device according to claim 1 .

9. 1. A computer-implemented method for measuring velocity, comprising: a first acquisition step of acquiring a GNSS vector, which is a velocity vector of a moving object, by GNSS positioning; a second acquisition step of acquiring a DR vector, which is a velocity vector of the moving object, by dead reckoning positioning; a calculation step of calculating a correction value for correcting the DR vector based on an angular velocity of the moving body, the GNSS vector, and the DR vector when the moving body is turning; A speed measurement method including:

10. a first acquisition step of acquiring a GNSS vector, which is a velocity vector of a moving object, by GNSS positioning; a second acquisition step of acquiring a DR vector, which is a velocity vector of the moving object, by dead reckoning positioning; a calculation step of calculating a correction value for correcting the DR vector based on an angular velocity of the moving body, the GNSS vector, and the DR vector when the moving body is turning; A speed measurement program that runs on a computer.

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