Movement detecting device

A movement detecting device comprising:

• GPS arithmetic means for producing first movement data based on GPS signals, said first movement data including variation components of an absolute position, an absolute speed and an absolute azimuth of a moving object;
• an inertia sensor for detecting an acceleration generated in a traveling direction of the moving object and an angular velocity generated about an axis having a fixed inclination relative to the traveling direction;
• means for producing second movement data from the acceleration and the angular velocity measured by said inertia sensor, said second movement data including variation components of a relative position, a relative speed and a relative azimuth of the moving object;
• and
• arithmetic control means for correcting said first and second movement data based on the mutual data and producing actual movement data including an actual position, an actual speed and an actual azimuth of the moving object through calculation, wherein said arithmetic control means comprises an azimuth arithmetic processing section which comprises:
• (1) means for deriving a combined relative azimuth (.psi.) through a filter combination of a variation per unit time of said absolute azimuth (.psi.G) and said relative azimuth (.psi.I);
• and
• (2) means for selectively outputting one of a first actual azimuth obtained by summing said combined relative azimuth (.psi.) derived based on the sequentially updated absolute azimuth (.psi.G) and relative azimuth (.psi.I) and said absolute azimuth (.psi.G), and a second actual azimuth obtained by summing said relative azimuth (.psi.I) and said first actual azimuth.

A movement detecting device comprising:

• GPS arithmetic means for producing first movement data based on GPS signals, said first movement data including variation components of an absolute position, an absolute speed and an absolute azimuth of a moving object;
• an inertia sensor for detecting an acceleration generated in a traveling direction of the moving object and an angular velocity generated about an axis having a fixed inclination relative to the traveling direction;
• means for producing second movement data from the acceleration and the angular velocity measured by said inertia sensor, said second movement data including variation components of a relative position, a relative speed and a relative azimuth of the moving object;
• and
• arithmetic control means for correcting said first and second movement data based on the mutual data and producing actual movement data including an actual position, an actual speed and an actual azimuth of the moving object through calculation, wherein said arithmetic control means comprises a position arithmetic processing section which comprises:
• (1) means for deriving a moved distance (D) by integrating said actual speed (Vm), and deriving a latitude variation value and a longitude variation value based on said moved distance (D) and said actual azimuth (.psi.m);
• and
• (2) means for producing the actual position (LOGn, LATn) by correcting the sequentially updated absolute position (LOG, LAT) during its non-updated term using said latitude variation value and said longitude variation value.