JP2024070945A - Location Estimation Device - Google Patents

Abstract

To provide an own vehicle position estimation device that has improved stability by using a plurality of positioning results.SOLUTION: An own vehicle position estimation device includes: an absolute position detection unit that has absolute position detection devices and detects absolute positions and outputs detection information of multiple absolute position detection devices; a vehicle behavior measurement unit that outputs a state of an own vehicle as a vehicle behavior signal; a relative position calculation unit that calculates a relative position of the own vehicle from the vehicle behavior signal; a positioning accuracy determination unit that determines accuracy of multiple absolute positions based on absolute position detection information and relative position calculation information, and outputs the determination result as positioning accuracy determination information; and a composite positioning calculation unit that calculates a composite positioning position by combining a highly accurate absolute position in absolute position information with the relative position as a composite positioning signal from the absolute position information signal, relative position calculation information, and positioning accuracy determination information, in which the absolute position detection information is re-calculated when there is less accurate information in the multiple absolute position information.SELECTED DRAWING: Figure 1

Description

This application relates to a position estimation device.

Various types of positioning devices have been developed, including those that use radio waves from Global Navigation Satellite System (GNSS) satellites as a positioning means (hereafter referred to as satellite positioning devices), those that use the transmission time or electric field strength of radio waves from multiple wireless LAN (Local Area Network) base stations or mobile phone base stations, and those that use various behavior detection sensors such as infrared sensors or sonic sensors to detect the behavior of moving objects.

A system in which the above-mentioned satellite positioning device is used to identify the position of a mobile object and guides the mobile object to a destination based on the identified position information is called a satellite navigation system.
On the other hand, a method in which various behavior detection sensors that detect the behavior of a moving body are installed on the moving body, the movement trajectory of the moving body from a certain reference point is estimated based on the detection values of the behavior detection sensors, and the moving body is guided to a destination is called an autonomous navigation method.

The above-mentioned satellite navigation system and autonomous navigation system have different characteristics, such as the positioning period or accuracy, and whether the positioning result is an absolute position or a relative position, so the above-mentioned satellite navigation system and autonomous navigation system are usually used in combination. This combined use of navigation systems is generally called hybrid navigation.

Patent Document 1 proposes a device that improves the stability of combined navigation by calculating the reliability of the satellite navigation system. In this proposal, reliability is obtained from radio waves received from a satellite, and the error due to the satellite positioning system is calculated. The error due to the satellite positioning system is then compared with the error due to the autonomous positioning system, and if the comparison result shows that the error due to the satellite positioning system is smaller than the error due to the autonomous positioning system, the position acquired by the satellite positioning unit is set as the reference point to be used by the autonomous positioning unit. In this way, the satellite positioning error is compared with the autonomous positioning error to determine whether or not to use the position acquired by the satellite positioning unit as the reference point, thereby reducing the error in position estimation.

Patent document 2 proposes a position detection technology that evaluates the accuracy of multiple absolute position detection devices and outputs the detection output of the absolute position detection device with the highest accuracy as the position detection result.

Patent No. 6870507 Patent No. 4906591

Sakai, "Basic knowledge of GPS/GNSS", GPS/GNSS Symposium 2007, Tutorial session, November 2007

Absolute positioning methods, such as satellite navigation methods, may experience accuracy degradation in urban areas or environments with many obstructions. This is because in urban areas with many obstacles such as high-rise buildings, the number of GNSS satellites that can be directly observed by a receiver is reduced due to obstructions, and the receiver receives not only the influence of direct signals from GNSS satellites, but also reflected or diffracted signals from surrounding buildings (so-called multipath).
In particular, the latter type of signal multipath directly leads to a deterioration in the accuracy of position estimation. Since the error due to this multipath does not follow a normal distribution, it is difficult to estimate the error using a model. Therefore, it is necessary to detect the amount of error due to multipath or to remove multipath noise (interference caused by radio waves reflecting off obstacles).

There is a technology that verifies the accuracy of the detected absolute position as described above and utilizes the positioning result according to the verified accuracy. In the satellite positioning system, an index for evaluating the positioning accuracy of the absolute position is generally referred to as the reliability of the GNSS.
The reliability of this GNSS can be calculated, for example, by comparing with the positioning position of a relative positioning device, using the S/N of the navigation signal, the pseudorange residual, and the elevation angle of the navigation satellite. However, multipath, which is one of the causes of satellite positioning errors, contains a wide variety of biases depending on the obstruction environment, making it difficult to estimate multipath noise. Therefore, even if the above-mentioned determination method is used, the reliability may be erroneously determined due to multipath. In this way, a positioning solution that is calculated to have a high reliability even when the positioning accuracy is not good is called a misfix solution.

In the method of Patent Document 1, if the calculation is made erroneously assuming a high reliability, there is a risk of a misfix, resulting in composite positioning being performed using a positioning solution with low positioning accuracy.

The method of Patent Document 2 uses only one of the positioning methods, so it is dependent on the stability of one of the positioning methods. Although it is possible to select a highly stable positioning result, there is an issue in that if all devices using the absolute positioning method become unstable, there is no solution.

This application discloses technology for solving the above problems, and aims to realize a positioning device with improved stability by using multiple positioning results. In addition, by evaluating the positioning accuracy of each absolute positioning result for multiple positioning results, it aims to speed up the return of an unstable positioning device to stable positioning, thereby reducing the risk of all positioning devices using absolute positioning methods becoming unstable.

The position estimation device disclosed in the present application is
an absolute position detection unit that detects an absolute position of the vehicle by using the absolute position measurement information and outputs the detected information as absolute position detection information;
a vehicle behavior measurement unit that measures a behavior state of the vehicle including a speed and a traveling direction of the vehicle and outputs the measured state as a vehicle behavior signal;
a relative position calculation unit that calculates a difference between a position of the vehicle obtained from the vehicle behavior signal and a predetermined reference position and outputs the difference as relative position calculation information;
a positioning accuracy determination unit that obtains a positioning accuracy of the absolute position from the absolute position detection information or from the absolute position detection information and the relative position calculation information, determines the positioning accuracy by comparing it with a predetermined standard positioning accuracy, and outputs the determined positioning accuracy as positioning accuracy determination information;
and a composite positioning calculation unit that combines the absolute position detection information, which is selected from the positioning accuracy determination information and detects a positioning accuracy superior to the standard positioning accuracy, with the relative position calculation information to calculate a composite positioning position of the vehicle, and outputs the calculation result as composite positioning calculation information.

The position estimation device disclosed in this application can realize a more stable positioning device by using multiple positioning results. In addition, by evaluating the positioning accuracy of each absolute positioning result for multiple positioning results, it is possible to provide a positioning device that can quickly return to stable positioning for an unstable positioning device and reduce the risk of all positioning devices using the absolute positioning method becoming unstable.

1 is a block diagram showing an overall configuration of a position estimation device according to a first embodiment; FIG. 11 is a block diagram showing an overall configuration of a position estimation device according to a second embodiment. 4 is a diagram for explaining an overview of a position estimation process flow of the position estimation device according to the first embodiment. FIG. 5 is a diagram for explaining an absolute position detection processing flow of the position estimation device according to the first and second embodiments. FIG. 10 is a diagram for explaining a relative position calculation process flow of the position estimation device according to the first and second embodiments. FIG. 10 is a diagram for explaining a positioning accuracy determination process flow of the position estimation device according to the first and second embodiments. FIG. FIG. 11 is a diagram for explaining a recalculation process flow of the position estimation device according to the first and second embodiments. 6 is a diagram for explaining a process flow of calculating a composite positioning position of the position estimation device according to the first and second embodiments; FIG.

Objects, features, aspects, and advantages of the position estimation device of the present application will become more apparent from the detailed description provided below and the figures that supplement this description. Below, an embodiment of the position estimation device of the present application will be described in detail with reference to the figures.

Embodiment 1.
<Configuration Overview>
Hereinafter, an outline of the configuration of the position estimation device according to the first embodiment will be described with reference to the drawings.
1 is a block diagram for explaining a position estimation device according to the present embodiment 1. This position estimation device 400 includes, as main components, a vehicle behavior measurement unit 100, a relative position calculation unit 50, an absolute position detection unit 200, and a positioning device 300, which will be described in detail below.
The positioning device 300 includes, as its components, a positioning accuracy determination unit 301 and a composite positioning calculation unit 302. Outside the positioning device 300, a relative position calculation unit 50 that receives a vehicle behavior signal output from the vehicle behavior measurement unit 100 and outputs relative position calculation information, and an absolute position detection unit 200 that outputs absolute position detection information are arranged, and outputs from these two components are input in parallel to the positioning accuracy determination unit 301 and the composite positioning calculation unit 302 of the positioning device 300. The positioning accuracy determination information output from the positioning accuracy determination unit 301 is output to the composite positioning calculation unit 302, and at the same time is fed back by a first feedback circuit 310 and input to the absolute position detection unit 200.

Here, the relative position calculation information includes information on the vehicle's relative position and sensor measurement information (described in detail below), the absolute position detection information includes information on the absolute position (absolute position on Earth) and raw data of the navigation signal, and the positioning accuracy determination information includes accuracy determination information, absolute position accuracy information, and absolute position correction values.

1, absolute position detection unit 200 is a device that receives an electromagnetic wave signal transmitted from a known position and directly detects a position using the received signal. Here, examples of absolute position detection devices 201a ₁ to 201a _n (n is an integer of 3 or more, for example; the same applies below) include a GPS receiving device that uses satellite positioning, a wireless LAN position detection device that uses a wireless LAN base station, and a mobile phone position detection device that uses a mobile phone base station.

In FIG. 1, the relative position calculation unit 50 is a device that receives a vehicle behavior signal including information on the vehicle's behavior state, such as the vehicle's speed and traveling direction, from the vehicle behavior measurement unit 100, and detects changes in relative position through time integration. Specifically, the relative position calculation unit 50 can be configured, for example, as an inertial navigation system. Typically, an inertial navigation system detects a vehicle behavior signal including information on the vehicle's speed and traveling direction from an internal acceleration sensor or gyro sensor, vehicle speed sensor, steering angle sensor, etc., and can output relative position information through integration processing based on a starting point, which is a predetermined position. In the present embodiment 1, the relative position calculation unit 50 will be described below as an example in which the above-mentioned inertial navigation system is applied.

The relative position calculation unit 50 acquires the vehicle behavior signal output from the vehicle behavior measurement unit 100 at the sensor measurement information acquisition period measured by each sensor (described later) built into the vehicle behavior measurement unit 100. This sensor detection information acquisition period is shorter than the period at which the GNSS sensor outputs a navigation signal, and is, for example, several tens of milliseconds.

Embodiment 2.
<Configuration Overview>
The outline of the configuration of the position estimation device according to the second embodiment will be described below with reference to the drawings, focusing on the differences from the position estimation device according to the first embodiment. Note that the same or corresponding members and parts in each drawing will be described with the same reference numerals as those in the position estimation device according to the first embodiment.

<Apparatus Configuration>
2 is a diagram showing an overview of a position estimation device 401 according to the second embodiment. In FIG. 2, the position estimation device 401 according to the second embodiment includes a vehicle behavior measurement unit 100 equipped with a gyro sensor 101, an acceleration sensor 102, and a vehicle speed sensor 103 used for autonomous positioning of the positioning device 300, which is one of the main components of the position estimation device 401, and a relative position calculation unit 50 that outputs relative position calculation information of the vehicle based on a vehicle behavior signal that is the output of the vehicle behavior measurement unit 100, both of which are provided outside (on the input side) of the positioning device 300. In addition, the output from the composite positioning calculation unit 302 of the positioning device 300 is fed back to the absolute position detection unit 200 by the second feedback circuit 320. The details of the above will be described below in order.

The above-mentioned gyro sensor 101 detects the rotational angular velocity around the yaw axis, pitch axis, and roll axis of the vehicle, and outputs a signal indicating the detected rotational angular velocity to the positioning device. The gyro sensor detects the rotational angular velocity around the yaw axis, i.e., the yaw rate, and therefore functions as a yaw rate sensor. It outputs a signal indicating the detected rotational angular velocity to the inertial navigation system.

The acceleration sensor 102 also detects acceleration occurring in the front-rear direction of the vehicle. Note that in addition to the front-rear acceleration, the acceleration sensor 102 may also detect acceleration in the width direction and up-down direction of the vehicle. The acceleration sensor 102 outputs a signal indicating the detected acceleration to the inertial navigation system.

The vehicle speed sensor 103 detects the rotation speed of the vehicle's wheels. The vehicle speed sensor 103 outputs a signal indicating the rotation speed of the wheels to the relative position calculation unit 50.

Moreover, an absolute position detection unit 200 is provided as a device for detecting an absolute position outside (on the input side) of the positioning device 300. The absolute position detection unit 200 is provided with a plurality of absolute position detection devices, for example, absolute position detection device _201a1 , absolute position detection device _201a2 , ..., absolute position detection device 201a _n . Note that there is no particular designation for the number of absolute position detection devices, and any number may be used.

Furthermore, when both the relative position calculation information delivered from the relative position calculation unit 50 and the absolute position detection information delivered from the absolute position detection unit 200 are obtained, the difference from the absolute position of the vehicle is calculated based on the information output from the composite positioning calculation unit 302, and when this difference is smaller than a certain value, the output from the composite positioning calculation unit 302 is estimated to be the absolute position of the vehicle. On the other hand, when this difference is larger than a certain value, a positioning accuracy determination unit 301 is provided that re-determines the positioning accuracy of the multiple absolute position detection devices included in the absolute position detection unit 200 based on the recalculated absolute position detection information (re-output information including the recalculated absolute position of the vehicle). In this case, the composite positioning calculation unit 302 further has a function (re-output function) of re-calculating the composite positioning position based on the information output from the relative position calculation unit 50, the absolute position detection unit 200, and the positioning accuracy determination unit 301 in addition to the functions described in the first embodiment. At this time, the output from the composite positioning calculation unit 302 is fed back to the absolute position detection unit 200 by the second feedback circuit 320.

<Processing Executed by the Positioning Devices of the First and Second Embodiments>
Next, the contents of the processes performed by the position estimation devices according to the first and second embodiments will be described in detail below with reference to the flowcharts shown in FIGS.

First, the operation of the positioning device 300 of the position estimation device will be described with reference to FIG. 3. In the positioning device 300, the position calculation process shown in steps S100 to S101 in FIG. 3 is repeated as necessary to achieve a predetermined purpose.

Prior to the above position calculation process, in step S100, the absolute position detection device _201a1 , absolute position detection device _201a2 , ..., absolute position detection device 201a _n of the absolute position detection unit 200 executes the absolute position detection process of the vehicle using the detected satellite positioning information, and obtains the above-mentioned absolute position detection information as a positioning information signal. In addition, in step S103, the relative position calculation unit 50 calculates and obtains relative position calculation information as a positioning information signal based on the vehicle behavior signal obtained from the vehicle behavior measurement unit 100. This step S103 is a process that is input to the flow of the position calculation process that is processed thereafter when step S101, which will be described below, becomes "Yes". After the above step S100 is executed, the process proceeds to step S101.

In step S101, the positioning accuracy determination unit 301 calculates and outputs the accuracy of the absolute position from the absolute position detection information received from the absolute position detection unit 200. The accuracy of the absolute positions of the output absolute position detection devices 201a ₁ to 201a _n is compared with a predetermined standard positioning accuracy, and if it is determined that the standard positioning accuracy is satisfied (is superior to the standard positioning accuracy), the process proceeds to step S102. The above absolute position detection information is used in the composite positioning calculation in step S102. That is, in step S102, the composite positioning calculation unit 302 performs composite positioning processing based on the outputs of the absolute position detection unit 200 and the relative position calculation unit 50, and calculates and outputs composite positioning information. Here, the composite positioning processing is a process of estimating the position of the vehicle from the absolute position, reception strength, and speed vector obtained by the absolute position detection information, or the relative position, yaw angle, roll angle, pitch angle, acceleration, steering angle, and the like obtained from the relative position calculation information.
On the other hand, if it is determined that the absolute position detection accuracy is inferior to the standard positioning accuracy, the process returns to step S100. In step S100, the absolute position detection device performs a reprocessing of the absolute position detection in order to recalculate the absolute position measurement accuracy.
The above processing will be described in detail later.

The process executed by the position estimation device will be described in more detail below with reference to the drawings.
The position estimation device executes in parallel the process shown in Fig. 4 and the process shown in Fig. 5. For example, while the process shown in Fig. 4 is being executed, the process shown in Fig. 5 is executed by interrupt processing. First, the process shown in Fig. 4 will be described.

The position estimation device periodically executes the process shown in Fig. 4. The period for executing Fig. 4 is the absolute position acquisition period of each absolute position detection device of the absolute position detection unit 200. In the process shown in Fig. 4, steps S200 to S202 are executed in each absolute position detection device.
In step S200, absolute position detection information is acquired using satellite information or the like in the absolute position detection unit 200. In step S201, the absolute position detection information acquired in step S200 is stored in each absolute position detection device. In step S202, an absolute position is detected for each absolute position detection device based on the absolute position detection information stored in step S201.

Next, FIG. 5 will be described. The flowchart shown in FIG. 5 describes the operation of the vehicle behavior measurement unit 100 and the relative position calculation unit 50. This operation is repeatedly executed based on the sensor measurement information acquisition period of each sensor of the vehicle behavior measurement unit 100. It should be noted that, unless otherwise specified, each parameter, i.e., the sensor value acquired by the vehicle behavior measurement unit (for example, the yaw angle, roll angle, pitch angle, acceleration, steering angle, etc. acquired by the gyro sensor) means the value at the most recent time.

The relative position calculation unit 50 of the position estimation device periodically executes steps S300 to S302, which are the processes shown in FIG. 5. This execution period is the relative position acquisition period of the relative position calculation unit 50, and is determined according to the sensor measurement information acquisition period of each sensor provided in the vehicle behavior measurement unit.

First, in step S300, the relative position calculation unit 50 acquires a vehicle behavior signal from the vehicle behavior measurement unit 100. In step S301, the vehicle behavior signal acquired in step S300 is stored in the relative position calculation unit 50. In step S302, the relative position calculation unit 50 calculates the relative position of the vehicle based on the vehicle behavior signal stored in step S301.

Next, the process performed by the positioning device 300 will be described with reference to FIG.
In step S400, the positioning accuracy determination unit 301 receives the absolute position detection information of the absolute position detection unit 200 and the relative position calculation information output from the relative position calculation unit as positioning information signals. In step S401, the positioning accuracy of the absolute position detected by the absolute position detection unit is determined based on any one of the following: (1) the difference between the movement vector of the absolute position of the vehicle equipped with the positioning device 300 detected by the absolute position detection device and the speed vector representing the speed and traveling direction of the vehicle calculated by the relative position calculation unit; (2) the difference between the absolute position detected by the absolute position detection device and the relative position calculated by the relative position calculation unit; (3) the DOP (Dilution of Precision) based on the geometric arrangement of the GNSS satellites used by the absolute position detection device for positioning (see, for example, Non-Patent Document 1); and (4) the (mutual) difference between the absolute positions detected by a plurality of absolute position detection devices.

In the process shown in FIG. 7, steps S500 to S503 show a process flow including recalculation executed by the absolute position detection device when it is determined that the positioning accuracy of the absolute position detection unit 200 is inferior to the standard positioning accuracy. Steps S504 to S505 show a process flow for terminating the recalculation process when it is determined that the positioning accuracy of the absolute position detection unit 200 is superior to the standard positioning accuracy.

First, in step S500, the positioning accuracy determination unit 301 delivers a recalculation processing command to the absolute position detection unit 200. In steps S501 to S502, the absolute position detection unit 200 that has received the recalculation processing command causes the corresponding absolute position detection device to perform absolute position detection processing again (performs redetection processing).
Here, the recalculation process is, for example, a process of finding the absolute position by an optimization process, and in this embodiment, is performed based on positioning accuracy determination information fed back from the positioning accuracy determination unit 301 to the absolute position detection unit 200 by the first feedback circuit 310. The positioning accuracy determination information includes, for example, positioning accuracy determination information in which a plurality of positioning accuracies are inferior to the standard positioning accuracy, differences between a plurality of relative positions and absolute positions, differences between a plurality of absolute positions, differences between a plurality of composite positioning result positions, and the like, and a determination is made by finding the variance or standard deviation for each.

The position estimation device according to the first embodiment is configured and operates as described above, and is therefore capable of using absolute position detection information with higher positioning accuracy than conventional position detection devices. This makes it possible to provide a position measurement device that speeds up the return to stable positioning for an unstable position measurement device and further reduces the risk of all position measurement devices using absolute position measurement methods (the information obtained from such position measurement devices is simplified to be simply called absolute position measurement information) becoming unstable.

Also, _{recalculation} may be performed based on any one of the following, which are obtained in step S401: (1) the difference between the movement vector of the absolute position of the vehicle equipped with the positioning device 300 calculated by the absolute position detection device 201a _n (n is an integer; the same applies below) and the velocity vector representing the vehicle's velocity and direction calculated by the absolute position detection device 201a n, (2) the difference between the absolute position detected by the absolute position detection device _{201a n} and the relative position calculated by the relative position calculation unit 50, (3) the DOP (Dilution of Precision) based on the geometric arrangement of the GNSS satellites used for positioning by the absolute position detection device, or (4) the (mutual) difference between the absolute positions detected by a plurality of absolute position detection devices. If any of the above differences exists, the recalculation can be performed so as to approach the better result.
In step S502, the positioning accuracy determination unit 301 receives the absolute position detection information from the absolute position detection device that has undergone the recalculation process, and performs the process shown in step S401. Then, when the difference between the composite positioning position and the recalculated absolute position becomes small to a certain value, the flow shown in FIG. 7 ends.

Specifically, the latter part of the process flow is shown in steps S504 and S505 in FIG. 7. That is, if the absolute position measurement accuracy satisfies the standard position measurement accuracy, the difference between the absolute position obtained from the absolute position measurement that satisfies the specified accuracy and the composite position measurement position is calculated, and if the difference is equal to or less than a certain value, the recalculation process shown in FIG. 7 is terminated.

The processes of steps S600 and S601 shown in FIG. 8 are executed by the composite positioning calculation unit 302. In step S600, the absolute position detection information delivered from the absolute position detection unit 200 and the relative position calculation information delivered from the relative position calculation unit 50 are received. In the composite positioning calculation process of step S601, the composite positioning position is calculated by the position estimation process described above based on the absolute position included in the absolute position detection information and the relative position included in the relative position calculation information.

The position estimation device according to the second embodiment is configured and operates as described above, and therefore can use absolute position detection information with higher positioning accuracy than the position estimation device according to the first embodiment. This makes it possible to provide a position estimation device that can quickly return to stable positioning for an unstable positioning device and further reduce the risk of all position estimation devices using the absolute positioning method becoming unstable.

Although the present application describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to application to a particular embodiment, but may be applied to the embodiments alone or in various combinations.
Therefore, countless modifications not exemplified are assumed within the scope of the technology disclosed in the present specification, including, for example, modifying, adding, or omitting at least one component, and further, extracting at least one component and combining it with a component of another embodiment.

REFERENCE SIGNS LIST 100 vehicle behavior measurement unit, 101 gyro sensor, 102 acceleration sensor, 103 vehicle speed sensor, 50 relative position calculation unit, 200 absolute position detection unit, 201a ₁ to 201a _n absolute position detection devices, 300 positioning device, 301 positioning accuracy determination unit, 302 composite positioning calculation unit, 310 first feedback circuit, 320 second feedback circuit, 400 position estimation device

Claims (7)

an absolute position detection unit that detects an absolute position of the vehicle by using the absolute position measurement information and outputs the detected information as absolute position detection information;
a vehicle behavior measurement unit that measures a behavior state of the vehicle including a speed and a traveling direction of the vehicle and outputs the measured state as a vehicle behavior signal;
a relative position calculation unit that calculates a difference between a position of the vehicle obtained from the vehicle behavior signal and a predetermined reference position and outputs the difference as relative position calculation information;
a positioning accuracy determination unit that obtains a positioning accuracy of the absolute position from the absolute position detection information or from the absolute position detection information and the relative position calculation information, determines the positioning accuracy by comparing it with a predetermined standard positioning accuracy, and outputs the determined positioning accuracy as positioning accuracy determination information;
a composite positioning calculation unit that combines the absolute position detection information selected from the positioning accuracy determination information and detecting a positioning accuracy superior to the standard positioning accuracy with the relative position calculation information to calculate a composite positioning position of the vehicle, and outputs the calculation result as composite positioning calculation information. The position estimation device according to claim 1, characterized in that the absolute position detection unit has multiple absolute position detection devices, and the vehicle behavior measurement unit is equipped with a gyro sensor, an acceleration sensor, and a vehicle speed sensor. the absolute position detection information includes satellite positioning information detected by a plurality of absolute position detection devices,
The position estimation device according to claim 1 , wherein the relative position calculation information includes the vehicle behavior signal. a first feedback circuit that inputs an output of the positioning accuracy determination unit to the absolute position detection unit;
4. The position estimation device according to claim 2, wherein, when there is absolute position detection information in which the positioning accuracy determined by the positioning accuracy determination information is inferior to the standard positioning accuracy, an output of the positioning accuracy determination unit is fed back to the absolute position detection unit, and the absolute position detection device that outputted the corresponding absolute position detection information is made to re-detect the absolute position and re-output it as new absolute position detection information, and the composite positioning calculation unit re-calculates the composite positioning position using the absolute position of the vehicle obtained from the re-output absolute position detection information. The position estimation device according to claim 2 or 3, characterized in that the positioning accuracy determination information includes information regarding the difference between the absolute positions of the vehicle detected by each of the multiple absolute position detection devices. a second feedback circuit that inputs an output of the composite positioning calculation unit to the absolute position detection unit;
5. The position estimation device according to claim 4, wherein, when a difference between an absolute position of the vehicle obtained from absolute position detection information and the calculated composite positioning position is greater than a certain value, an output of the composite positioning calculation unit is fed back to the absolute position detection unit, the absolute position detection information is re-output, and the composite positioning position is re-calculated, and, when a difference between the absolute position of the vehicle obtained from the re-output absolute position detection information and the re-calculated composite positioning position is equal to or smaller than a certain value, the composite positioning position is estimated to be the position of the vehicle. a second feedback circuit that inputs an output of the composite positioning calculation unit to the absolute position detection unit;
6. The position estimation device according to claim 5, wherein, when a difference between an absolute position of the vehicle obtained from absolute position detection information and the calculated composite positioning position is greater than a certain value, an output of the composite positioning calculation unit is fed back to the absolute position detection unit, the absolute position detection information is re-output, and the composite positioning position is re-calculated, and, when a difference between the absolute position of the vehicle obtained from the re-output absolute position detection information and the re-calculated composite positioning position is equal to or smaller than a certain value, the composite positioning position is estimated to be the position of the vehicle.

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