METHOD FOR SELF-POSITION ESTIMATION AND SELF-POSITION ESTIMATION DEVICE Russian patent published in 2020 - IPC G01C21/28 

FIELD: measurement technology; data processing.

SUBSTANCE: disclosed group of inventions relates to mobile object own position assessment means. Proposed method for self-position estimation includes: detection of relative position of target located near moving body (1) relative to moving body (S1); evaluation of movement interval of moving body (S2); correcting the relative position based on the moving body displacement interval and accumulating the corrected relative position as the target position data (S4); detecting change in behavior of moving body (S3); selecting, from accumulated data on the target position, data on the target position for the relative position detected during the period in which the behavior change value is less than the threshold value (S5); and comparing selected target position data with map information indicating the position of the target on the map to estimate the current position of the moving body (S6). Said method implements device equipped with corresponding units.

EFFECT: this group of inventions makes it possible to provide required accuracy of evaluation of position of moving body even in case when error arises in position relative to target detected by sensor installed in moving body.

9 cl, 10 dwg