Self-position measuring device, self-position measuring method, and non-transitory storage medium

A self-position measuring method executed by a self-position measuring device, the self-position measuring device including:

• an inertial navigation unit configured to measure an inertial navigation position as a self-position of a movable body;
• and a database of at least one of geographic information and celestial information, the self-position measuring method comprising:
• estimating an existing region of the movable body on a basis of the inertial navigation position measured as the self-position by the inertial navigation unit and dividing the existing region to generate multiple reference points;
• obtaining at least one, of the ground information and the celestial information, which corresponds to the database, at the inertial navigation position;
• generating estimated information that is expected to be obtained when at least the one of the ground information and the celestial information is obtained, at each of the multiple reference points on a basis of the database;
• checking at least the one of the ground information and the celestial information, against the estimated information at each of the multiple reference points and extracting a position of a specific reference point corresponding to specific estimated information with a highest matching degree;
• and
• selecting, on a basis of the specific reference point, a navigation method with less navigational error as a navigation method for measuring the self-position, from among multiple navigation methods including a navigation method using the inertial navigation unit and a navigation method determining the position of the specific reference point.

A non-transitory storage medium storing a self-position measuring program that causes a self-position measuring device to execute a method, the self-position measuring device including:

• an inertial navigation unit configured to measure an inertial navigation position as a self-position of a movable body;
• and a database of at least one of geographic information and celestial information, the method comprising:
• estimating an existing region of the movable body on a basis of the inertial navigation position measured as the self-position by the inertial navigation unit and dividing the existing region to generate multiple reference points;
• obtaining at least one, of the ground information and the celestial information, which corresponds to the database, at the inertial navigation position;
• generating estimated information that is expected to be obtained when at least the one of the ground information and the celestial information is obtained, at each of the multiple reference points on a basis of the database;
• checking at least the one of the ground information and the celestial information, against the estimated information at each of the multiple reference points and extracting a position of a specific reference point corresponding to specific estimated information with a highest matching degree;
• and
• selecting, on a basis of the specific reference point, a navigation method with less navigational error as a navigation method for measuring the self-position, from among multiple navigation methods including a navigation method using the inertial navigation unit and a navigation method determining the position of the specific reference point.

A self-position measuring device comprising:

• an inertial navigation unit that measures an inertial navigation position as a self-position of a movable body;
• a database of at least one of geographic information and celestial information;
• and
• circuitry configured to
• estimate an existing region of the movable body on a basis of the inertial navigation position measured as the self-position by the inertial navigation unit and divide the existing region to generate multiple reference points,
• obtain at least one, of the ground information and the celestial information, which corresponds to the database, at the inertial navigation position,
• generate estimated information that is expected to be obtained when at least the one of the ground information and the celestial information is obtained, at each of the multiple reference points on a basis of the database,
• check at least the one of the ground information and the celestial information, against the estimated information at each of the multiple reference points and extract a position of a specific reference point corresponding to specific estimated information with a highest matching degree, and
• select, on a basis of the specific reference point, a navigation method with less navigational error as a navigation method for measuring the self-position, from among multiple navigation methods including a navigation method using the inertial navigation unit and a navigation method determining the position of the specific reference point.