Navigation system

A navigation system comprising:

• an angular velocity sensor for detecting a change in an advancement direction of a vehicle;
• a vehicle azimuth calculation unit for calculating a vehicle azimuth on the basis of angular velocity sensor information obtained from said angular velocity sensor;
• a global positioning system (GPS) receiver for detecting a current position of a vehicle using the GPS;
• a vehicle speed sensor for detecting rotation of a vehicle wheel;
• a distance measurement unit for measuring a traveled distance on the basis of vehicle speed pulse information obtained from said vehicle speed sensor;
• a map information storage unit for storing map information;
• a current position calculation unit for calculating a current position on the basis of GPS information obtained from said GPS receiver, vehicle azimuth information obtained from said vehicle azimuth calculation unit, and distance information obtained from said distance measurement unit, and determining a current position of a vehicle on a map by comparing said calculated current position with said map information read from said map information storage unit;
• an on-board camera for shooting a periphery of said vehicle;
• an image recognition unit for recognizing an image obtained from said on-board camera;
• and
• a road deviation determination unit for determining whether or not said vehicle has deviated from a traveling road by detecting a change in the movement of traffic other than said vehicle on a periphery of said vehicle that is recognized by said image recognition unit,
• wherein said current position calculation unit further corrects said determined current position of said vehicle on the basis of a specific object recognized by said image recognition unit, and
• wherein said current position calculation unit further corrects said determined current position of said vehicle on the basis of said determination by said road deviation determination unit as to whether or not said vehicle has deviated from said traveling road.