Self-location estimation device, navigation device including the self-location estimation device, self-location estimation method, and self-location estimation program

Abstract

To estimate with high accuracy the position of a vehicle when traveling through a specific road such as a tunnel where radio waves from a positioning satellite cannot be received correctly, even if vehicle speed data cannot be obtained by a vehicle speed sensor. [Solution] A smartphone (10) according to the present invention functions as a car navigation device when a car navigation application (30) installed therein is activated. When a vehicle equipped with this smartphone (10) passes through a tunnel (100a), a change in the vehicle's heading is derived based on angular velocity data obtained by an angular velocity detection unit (20), and the current position of the vehicle is estimated based on a comparison of DR data (YD) representing the progression of the change in the vehicle's heading with reference data (YS).

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