JPH10153443A - Navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation device which prevents the increase of the accumulated error of the totalized pitch angle, and to correctly calculate the moving distance of a vehicle. SOLUTION: This device has a pitch angle judging means 13 for judging an output of a pitch angle speed detector to be a drift component, when a microtime totalized pitch angle as an accumulated value for a specific microtime, of the output values of the pitch angle speed detector 2, is less than a specific value, and a moving distance calculating means 4 for making the output value of the pitch angle speed detector 2 zero in the calculation of the totalized pitch angle when the output of the pitch angle speed detector 2 is judged to be the drift component by the pitch angle judging means 13, when the acceleration output from an acceleration sensor 1 is corrected on the basis of the totalized pitch angle as the accumulated value of the output values of the pitch angle speed detector 2 in the vehicle travelling time. Thereby, the navigation device which can prevent the increase of the accumulated error of the totalized pitch angle, and which can correctly calculate the moving distance of the vehicle, can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a navigation device for detecting a position of a vehicle.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a conventional navigation device. In FIG. 3, A is a central control unit that performs arithmetic and control processing, 1 is an acceleration sensor that detects acceleration in the traveling direction of the vehicle, and 2 is pitch angular velocity detection that detects an angular velocity (pitch angular velocity) in the pitching direction of the vehicle. A gyro sensor as a detector, 3 is a gyro sensor as a yaw angular velocity detector for detecting an angular velocity (yaw angular velocity) in the yaw operation direction of the vehicle, and 4 is an acceleration sensor 1
Moving distance calculating means for calculating the moving distance of the vehicle from the acceleration outputted from the gyro sensor 3; moving azimuth calculating means for calculating the moving azimuth angle (moving yaw angle) of the vehicle from the yaw angular velocity outputted from the gyro sensor 3; Relative position calculation in which the current vehicle position and vehicle direction are obtained by adding the vehicle's travel distance and direction in a predetermined short period of time output from the travel distance calculating means 4 and the moving direction calculating means 5 to the previous vehicle position and vehicle direction. Means 7, a speed correction means for calculating a pitch angle from the pitch angular velocity output from the gyro sensor 2 and correcting the acceleration from the acceleration sensor 1 so as to remove the acceleration of the pitch component; and 8, a digital map data. , A display unit 9 for displaying the position of the vehicle, a map, and the like. Based on the position data of the vehicle, it reads map data of a predetermined area where the position of the vehicle corresponds the map storage unit 8, a display control means for outputting the position and the map of the vehicle on the display unit 9.

FIG. 4 is a conceptual diagram of a navigation device mounted on a vehicle. 4, the acceleration sensor 1, the gyro sensors 2, 3 are the same as those in FIG. Reference numeral 11 denotes a vehicle, and 12 denotes an apparatus main body including a central control unit A, a map storage unit 8, and a display unit 9.

[0004] The operation of the navigation device configured as described above will be described. As shown in FIGS. 3 and 4, the vehicle 1 is output from the output data (acceleration data, pitch angular velocity data, yaw angular velocity data) of the acceleration sensor 1 and the gyro sensors 2 and 3 by the relative position calculating means 6.
1 is calculated. The details of this calculation will be described below.

[0005] First, the moving distance calculating means 4 performs an integral operation twice on the time axis for data (acceleration data) output from the acceleration sensor 1 at a predetermined cycle (predetermined minute time) Δt. That is, by performing the calculations of (Equation 1) and (Equation 2), the speed vn and the moving distance Δdn of the vehicle 11 are obtained.
However, the time period at which data is obtained from the acceleration sensor 1 is Δt, the acceleration of the vehicle 11 at time n is an, the speed of the vehicle 11 at time n is vn, the moving distance of the vehicle 11 at time period Δt is Δdn, The initial speed is V0.

[0006]

(Equation 1)

[0007]

(Equation 2)

Here, when the vehicle 11 is tilted in the pitch direction, the output data of the acceleration sensor 1 includes the pitch component of the gravitational acceleration. Occurs. Therefore, the following correction for removing the gravitational acceleration component is performed by the speed correction unit 7.

The speed correction means 7 performs an integral operation on the output data (pitch angular velocity data) from the gyro sensor 2 on the time axis. That is, the pitch angle (integrated pitch angle) αn of the vehicle 11 is obtained by performing the calculation of (Equation 3). Here, the time period at which data is obtained from the gyro sensor 2 is Δt, the pitch angular velocity of the vehicle 11 at the time n is ωn, the pitch angle of the vehicle 11 at the time period Δt at the time n is αn, and the initial pitch angle is α0.

[0010]

(Equation 3)

[0011] The pitch angle α obtained by the equation (3)
The output data of the acceleration sensor 1 is corrected according to (Equation 4) using n. However, the vehicle 1 at the corrected time n
1 and the vehicle 1 output from the acceleration sensor 1
The acceleration of 1 is an and the acceleration of gravity is g.

[0012]

(Equation 4)

An in (Equation 4) is replaced by (A) in (Equation 1) and a in (Equation 2).
Substituting into n, the speed Vn of the vehicle 11 at time n and the moving distance ΔDn of the vehicle 11 in the time period Δt are obtained. This is shown as (Equation 5) and (Equation 6).

[0014]

(Equation 5)

[0015]

(Equation 6)

Next, the moving azimuth calculating means 5 performs an integral operation on the data (yaw angular velocity data) output from the gyro sensor 3 at a predetermined time period (predetermined minute time) Δt on a time axis. That is, the azimuth (integrated yaw angle) θn of the vehicle 11 is obtained by performing the calculation of (Equation 7). Here, the time period at which data is obtained from the gyro sensor 3 is Δt, the azimuth angular velocity (yaw angular speed) of the vehicle 11 at time n is ωn, and the vehicle 11 at time n is time period Δt.
Is the moving azimuth angle θn, and the initial azimuth angle is θ0.

[0017]

(Equation 7)

FIG. 5 is a conceptual diagram of position calculation for explaining position calculation in the navigation device. The relative position calculating means 6 calculates the moving distance ΔDn of the vehicle 11 as described above.
When the moving azimuth θn is obtained, using the concept shown in FIG. 5 (the concept of multiplying the moving distance by the moving azimuth to obtain the moving distance in the X and Y directions at a predetermined time Δt), The position of the vehicle 11 is obtained by cumulative calculation from the initial position of the vehicle 11 from (Equation 9). However, the position coordinates of the vehicle 11 at time n are (xn, yn), and the initial position is (x0, y0). In the calculation of the moving distance, the influence of the pitch angle with respect to the horizontal plane is not taken into account. However, since this can be easily calculated, the description is omitted.

[0019]

(Equation 8)

[0020]

(Equation 9)

The relative position calculation means 6 outputs position data of the vehicle 11 to the display control means 10. Upon receiving the position data of the vehicle 11, the display control unit 10 reads out digital map data of a predetermined area from the map storage unit 8 and outputs the digital map data to the display unit 9.

As described above, in the conventional navigation device, in order to accurately calculate the speed by the acceleration sensor 1, the output data (pitch angular velocity data) from the gyro sensor 2 for detecting the pitch angle of the vehicle 11 is used.
The output data (acceleration data) from the acceleration sensor 1 is corrected.

[0023]

However, in the above conventional navigation device, if there is a drift component in the output from the gyro sensor 2 for detecting the pitch angular velocity for correcting the acceleration from the acceleration sensor 1,
When the gyro sensor 2 is to detect the pitch angular velocity of the vehicle, the speed correction means 7 accumulates the output data of the gyro sensor 2, so that the output drift of the gyro sensor 2 is integrated. Accumulation error increases, and the speed accuracy (and therefore the travel distance calculation accuracy)
Had a problem that it became very bad.

This navigation device is required to be able to accurately calculate the moving distance of the vehicle while preventing an increase in the accumulated error of the integrated pitch angle.

An object of the present invention is to provide a navigation device capable of preventing the increase in the accumulated error of the integrated pitch angle and accurately calculating the moving distance of the vehicle.

[0026]

SUMMARY OF THE INVENTION To solve this problem, a navigation device according to the present invention provides a navigation apparatus in which a minute time integrated pitch angle which is an integrated value of an output value of a pitch angular velocity detector in a predetermined minute time is equal to or smaller than a predetermined value. The output of the pitch angular velocity detector is a pitch angle determining means that determines that the output is a drift component, and the acceleration output from the acceleration sensor based on the integrated pitch angle that is the integrated value of the output value of the pitch angular velocity detector during the vehicle travel time. When the correction is made, when the pitch angle velocity detector determines that the output of the pitch angular velocity detector is a drift component, the movement of the pitch angular velocity detector becomes zero when calculating the integrated pitch angle. It was configured to have.

As a result, a navigation device capable of preventing the increase of the accumulated error of the integrated pitch angle and accurately calculating the moving distance of the vehicle can be obtained.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is directed to a pitch angular velocity detector when a minute time integrated pitch angle which is an integrated value of the output value of the pitch angular velocity detector during a predetermined minute time is equal to or smaller than a predetermined value. The output of the pitch angle determination means to determine that the drift component, and, when correcting the acceleration output from the acceleration sensor based on the integrated pitch angle which is the integrated value of the output value of the pitch angular velocity detector during the vehicle travel time, When the output of the pitch angular velocity detector is determined to be a drift component by the pitch angle determining means, the calculation of the integrated pitch angle includes a moving distance calculating means for setting the output value of the pitch angular velocity detector to zero. The pitch angular velocity when the minute time integrated pitch angle is equal to or less than a predetermined value is not used for calculating the integrated pitch angle, and is therefore used for calculating the moving distance. It has the effect that it is not.

According to a second aspect of the present invention, the output value of the pitch angular velocity detector becomes zero when the minute time integrated pitch angle which is the integrated value of the output value of the pitch angular velocity detector during a predetermined minute time is equal to or smaller than a predetermined value. Pitch angle determining means for applying such a bias to the pitch angular velocity detector, and movement for correcting the acceleration output from the acceleration sensor based on the integrated pitch angle which is the integrated value of the output value of the pitch angular velocity detector during the vehicle travel time. And a distance calculating means, which has an effect that a drift component is removed from an output value of the pitch angular velocity detector.

The output of the yaw angular velocity detector is a drift component when the minute time integrated yaw angle which is the integrated value of the output value of the yaw angular velocity detector during a predetermined minute time is equal to or smaller than a predetermined value. When calculating the integrated yaw angle by integrating the output values of the yaw angular velocity detector, when the yaw angle determination means determines that the output of the yaw angular velocity detector is a drift component, In calculating the integrated yaw angle, there is provided a moving azimuth calculating means for setting the output value of the yaw angular velocity detector to zero, and the yaw angular velocity when the minute time integrated yaw angle is equal to or smaller than a predetermined value is calculated as the integrated yaw angle. Is not used in the calculation of

According to a fourth aspect of the present invention, the output value of the yaw angular velocity detector becomes zero when the minute time integrated yaw angle, which is the integrated value of the output value of the yaw angular velocity detector during a predetermined minute time, is equal to or smaller than a predetermined value. A yaw angle determining means for applying such a bias to the yaw angular velocity detector, and a moving azimuth calculating means for calculating an integrated yaw angle which is an integrated value of the output value of the yaw angular velocity detector during the vehicle traveling time. This has the effect that the drift component is removed from the output value of the yaw angular velocity detector.

According to a fifth aspect of the present invention, there is provided the pitch angle determining means and the moving distance calculating means according to the first aspect, and the yaw angle determining means and the moving direction calculating means according to the third aspect. The pitch angular velocity of the minute time accumulated pitch angle when the minute time accumulated pitch angle is equal to or less than a predetermined value is not used for calculating the accumulated pitch angle, and therefore is not used for calculating the moving distance. The yaw angular velocity when the integrated yaw angle is equal to or less than the predetermined value has an effect that it is not used for calculating the integrated yaw angle.

An embodiment of the present invention will be described below with reference to FIGS. (Embodiment 1) FIG. 1 is a block diagram showing a navigation device according to Embodiment 1 of the present invention. 1, an acceleration sensor 1, gyro sensors 2, 3, a moving distance calculating unit 4, a moving direction calculating unit 5, a relative position calculating unit 6, a speed correcting unit 7, a map storage unit 8, a display unit 9, and a display controlling unit 10. Are the same as those in FIG. 3, and thus are denoted by the same reference numerals and description thereof will be omitted. B is a central control unit that performs arithmetic and control processing, and 13 is an output of the gyro sensor 2 using a minute time accumulated pitch angle obtained by accumulating output data (pitch angular velocity data) of the gyro sensor 2 for a minute time. Pitch angle determination means for determining whether to use the value for speed correction.

The operation of the navigation device configured as described above will be described. First, the moving distance calculating means 4 outputs output data (acceleration data) of the acceleration sensor 1.
, The moving distance of the vehicle 11 is calculated by integrating the vehicle speed, and the moving azimuth calculating means 5 receives the output data (azimuth angular velocity data) of the gyro sensor 3 and inputs the azimuth angular velocity. To calculate the azimuth of the vehicle 11. The relative position calculation means 6
The position data of the vehicle 11 is calculated from the vehicle moving distance and the vehicle azimuth output from the moving distance calculating means 4 and the moving azimuth calculating means 5 and output to the display control means 10. At this time, the speed correction means 7 corrects the output data of the acceleration sensor 1 using the pitch angle of the vehicle 11 calculated from the output value of the gyro sensor 2.

The output of the gyro sensor 2 usually includes a drift component. Conventionally, however, the drift component is also integrated by the speed component correction means 7 and the acceleration sensor is calculated based on the vehicle pitch angle including the accumulated error component. The output data of No. 1 was corrected. For this reason, the moving distance of the vehicle 11 calculated by the moving distance calculating means 4 includes an error different from the actual moving distance of the vehicle 11, and the error is increased by accumulation. Had. In order to eliminate such an error, a pitch angle determining means 13 is provided.

Next, a correction operation for removing the drift component in the pitch angle determination means 13 will be described. In the time period (predetermined minute time) Δt, the integral value of the pitch angular velocity obtained from the gyro sensor 2 (minute time integrated pitch angle) is In, and the threshold value is Ix. The threshold value Ix is a value obtained by an experiment or the like so that the correction operation becomes the optimum operation.
When In> Ix, the pitch angle determination means 13 determines whether the vehicle 1
It is assumed that a pitch angular velocity has occurred in No. 1 and the fact is notified to the speed correcting means 7. The speed correcting means 7 calculates the minute time integrated pitch angle from the pitch angular velocity output from the pitch angle determining means 13 and further adds the minute time integrated pitch angle to the integrated pitch angle for the travel time calculated so far. A new integrated pitch angle (that is, the calculated pitch angle of the vehicle 11) is set, and based on the new integrated pitch angle, the acceleration of the vehicle 11 used for calculating the moving distance is corrected using (Equation 4). Further, the pitch angle determination means 13 determines that In ≦ Ix
In the case of (1), the output of the gyro sensor 2 is regarded as not a pitch angular velocity of the vehicle 11 but a drift component, and the fact is notified to the speed correcting means 7. The speed correcting means 7 assumes that the pitch angular velocity output from the pitch angle determining means 13 is zero, uses the accumulated pitch angle for the traveling time calculated up to that time as it is, and moves based on the accumulated pitch angle. The acceleration of the vehicle 11 used for calculating the distance is corrected using (Equation 4).

FIG. 2 is a flowchart showing the operation of the pitch angle judging means 13. First, the pitch angular velocity for a very short time output from the gyro sensor 2 is integrated to obtain a minute time integrated pitch angle In (S1). Next, the minute time integration pitch angle In is compared with a threshold value Ix (S2), and In ≧ Ix
It is determined whether or not (S3). When In ≧ Ix, the output data of the gyro sensor 2 is used for speed correction (S
4) If In <Ix, the output data of the gyro sensor 2 is not used for speed correction (S5). This is repeated during the running time (S2 to S5).

As described above, when the output of the gyro sensor 2 is determined to be a drift component, the speed correction means 7 does not calculate a new integrated pitch angle based on the pitch angular speed, but the running calculated so far. Since the acceleration is corrected based on the integrated pitch angle for the time, the drift component is not integrated as the pitch angle even when the gyro sensor 2 is drifting.
Accumulation of an error in the integrated pitch angle based on the drift component can be prevented, and an increase in the error in the calculation of the moving distance can be prevented. When the output of the gyro sensor 2 is regarded as a drift component, a bias that makes the output of the gyro sensor 2 zero is set to the pitch angle determination means 13.
, The accuracy of the output data of the gyro sensor 2 can be improved, and the speed correction means 7 outputs the output of the gyro sensor 2 without receiving a notification from the pitch angle determination means 13. Data can be used.

The same can be said for the gyro sensor 3 as for the gyro sensor 2. In this case, a yaw angle determining means (not shown) is disposed between the gyro sensor 3 and the moving direction calculating means 5 as equivalent to the pitch angle determining means 13 in FIG. The yaw angle determining means compares whether or not the minute time integrated yaw angle is equal to or greater than a threshold value, and determines that the yaw angular velocity is output from the gyro sensor 3 when the minute time integrated yaw angle is equal to or greater than the threshold value. If the time integrated yaw angle is smaller than the threshold value, it is determined that the drift component is output from the gyro sensor 3. When the output of the gyro sensor 3 is determined to be a drift component, the moving azimuth calculating means 5 does not calculate a new integrated yaw angle based on the yaw angular velocity, but calculates the integrated yaw for the travel time calculated so far. Use horns. When it is determined that the yaw angular velocity is output from the gyro sensor 3, the operation is the same as the conventional one, and a new integrated yaw angle is obtained.

As described above, when the output of the gyro sensor 3 is determined to be a drift component, a new integrated yaw angle is not calculated based on the yaw angular velocity, but the integrated yaw angle for the travel time calculated so far is calculated. Since the angle is used, even when a drift occurs in the gyro sensor 3, the drift component is not integrated as the yaw angle, and therefore, it is possible to prevent the error accumulation of the integrated yaw angle based on the drift component. Can be. When the output of the gyro sensor 3 is regarded as a drift component, a bias that makes the output of the gyro sensor 3 zero is applied to the gyro sensor 3 from the yaw angle determining means, so that the accuracy of the output data of the gyro sensor 3 is improved. Can be increased,
Further, the moving azimuth calculating means 5 can use the output data of the gyro sensor 3 without receiving a notification from the yaw angle determining means.

In this embodiment, each of the means 4 to 7, 10 and 13 of the central control unit B has been described as a hardware configuration. However, the present invention is not limited to this.
0, 13 by software, ie, CP
U executes the program so that each means 4 to 7, 1
0 and 13 may be realized.

As described above, according to the present embodiment, when the outputs of the gyro sensors 2 and 3 are determined to be drift components, a new integrated pitch angle and a new integrated yaw angle are calculated based on the pitch angular velocity and the yaw angular velocity. Since the integrated pitch angle and the integrated yaw angle for the travel time calculated up to that point are used, the drift components are integrated even when the gyro sensors 2 and 3 have drift. Therefore, it is possible to prevent the error accumulation of the integrated pitch angle and the integrated yaw angle based on the drift component. When the outputs of the gyro sensors 2 and 3 are regarded as drift components, a bias that makes the outputs of the gyro sensors 2 and 3 zero is applied to the gyro sensors 2 and 3 so that the outputs of the gyro sensors 2 and 3 are output. The accuracy of the data can be improved, and there is no need to notify the speed correcting means 7 and the moving direction calculating means 5, and the output data of the gyro sensors 2 and 3 can be used as they are.

[0043]

As described above, according to the navigation apparatus of the present invention, the pitch angular velocity when the minute time integrated pitch angle is equal to or smaller than the predetermined value is not used for calculating the integrated pitch angle, and therefore is not used for calculating the moving distance. With this configuration, it is possible to prevent the error of the integrated pitch angle from increasing due to the use of the drift component for calculating the integrated pitch angle, and it is possible to calculate the moving distance of the vehicle accurately. The effect is obtained.

When the integrated pitch angle of the minute time, which is the integrated value of the output value of the pitch angular velocity detector during a predetermined minute time, is equal to or smaller than a predetermined value, a bias such that the output value of the pitch angular velocity detector becomes zero is detected. The drift component can be removed from the output value of the pitch angular velocity detector, and the error of the integrated pitch angle can be obtained even if the output value of the pitch angular velocity detector is used as it is for the calculation of the integrated pitch angle. An advantageous effect is obtained that the increase can be prevented.

Further, the output of the yaw angular velocity detector is determined to be a drift component when the minute time integrated yaw angle which is the integrated value of the output value of the yaw angular velocity detector during a predetermined minute time is equal to or smaller than a predetermined value. The yaw angular velocity when the minute time integrated yaw angle is equal to or less than the predetermined value can be prevented from being used in the calculation of the integrated yaw angle, and the error of the integrated yaw angle can be prevented from increasing. It is possible to prevent an increase in the error in calculating the moving distance in the direction, for example, the X direction in the X, Y plane coordinates.

Further, when the minute time integrated yaw angle, which is the integrated value of the output value of the yaw angular velocity detector during a predetermined minute time, is equal to or smaller than a predetermined value, a bias such that the output value of the yaw angular velocity detector becomes zero is detected. The drift component can be removed from the output value of the yaw angular velocity detector, and even if the output value of the yaw angular velocity detector is used as it is to calculate the integrated yaw angle, the error of the integrated yaw angle An advantageous effect is obtained that the increase can be prevented.

Further, when the minute time integrated pitch angle, which is the integrated value of the output value of the pitch angular velocity detector during a predetermined minute time, is equal to or smaller than a predetermined value, the pitch angle determining means determines that the output of the pitch angular velocity detector is a drift component. And correcting the acceleration output from the acceleration sensor based on the integrated pitch angle, which is the integrated value of the output value of the pitch angular velocity detector during the vehicle travel time, when the output of the pitch angular velocity detector is a drift component When the judgment is made by the judging means, in calculating the integrated pitch angle, a moving distance calculating means for setting the output value of the pitch angular velocity detector to zero, and a minute value which is an integrated value of the output value of the yaw direction angular velocity detector in a predetermined minute time When the time integrated yaw angle is equal to or smaller than a predetermined value, the output of the yaw direction angular velocity detector is determined to be a drift component. In calculating the integrated yaw angle by integrating the output values of the yaw angular velocity detector and the step, when the yaw angle determination means determines that the output of the yaw angular velocity detector is a drift component, the integrated yaw angle is calculated. In the above, the moving azimuth calculating means for setting the output value of the yaw angular velocity detector to zero is provided to prevent an increase in the error of the integrated pitch angle due to the drift component being used for calculating the integrated pitch angle. It is possible to accurately calculate the moving distance of the vehicle, and to prevent the yaw angular velocity when the minute time integrated yaw angle is equal to or less than a predetermined value from being used for calculating the integrated yaw angle. Therefore, it is possible to prevent an increase in the error in the calculation of the moving distance in a certain direction, for example, the X direction in the X, Y plane coordinates. Advantageous effect of wear can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a navigation device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing an operation of a pitch angle determining means constituting a central control unit of the navigation device in FIG. 1;

FIG. 3 is a block diagram showing a conventional navigation device.

FIG. 4 is a conceptual view of a navigation device mounted on a vehicle.

FIG. 5 is a conceptual diagram of position calculation for explaining position calculation in the navigation device.

[Explanation of symbols]

B Central control unit 1 Acceleration sensor 2 Gyro sensor (pitch angular velocity detector) 3 Gyro sensor (yaw angular velocity detector, azimuth angular velocity detector) 4 Moving distance calculating means 5 Moving azimuth calculating means 6 Relative position calculating means 7 Speed correcting means 8 Map storage unit 9 display unit 10 display control means 13 pitch angle determination means

Claims (5)

[Claims] 1. A pitch angle judging circuit for judging that an output of the pitch angular velocity detector is a drift component when a minute time integrated pitch angle which is an integrated value of the output value of the pitch angular velocity detector during a predetermined minute time is equal to or smaller than a predetermined value. Means for correcting the acceleration output from the acceleration sensor based on the integrated pitch angle which is the integrated value of the output value of the pitch angular velocity detector during the vehicle travel time, wherein the output of the pitch angular velocity detector is a drift component And a moving distance calculating means for setting the output value of the pitch angular velocity detector to zero in the calculation of the integrated pitch angle when it is determined by the pitch angle determining means. 2. A bias which makes the output value of the pitch angular velocity detector zero when the minute time integrated pitch angle, which is the integrated value of the output value of the pitch angular velocity detector during a predetermined minute time, is equal to or smaller than a predetermined value. Pitch angle determining means to be applied to the angular velocity detector; and moving distance calculating means for correcting acceleration output from the acceleration sensor based on an integrated pitch angle which is an integrated value of an output value of the pitch angular velocity detector during a vehicle traveling time. Navigation device having the same. 3. A yaw angle determination in which the output of the yaw angular velocity detector determines that the output of the yaw angular velocity detector is a drift component when a minute time integrated yaw angle which is an integrated value of the output value of the yaw angular velocity detector during a predetermined minute time is equal to or smaller than a predetermined value. In calculating the integrated yaw angle by integrating the output value of the means and the yaw angular velocity detector,
When the output of the yaw angular velocity detector is determined to be a drift component by the yaw angle determination means, the calculation of the integrated yaw angle includes a movement azimuth calculation means for setting the output value of the yaw angular velocity detector to zero. Navigation device. 4. A bias such that the output value of the yaw angular velocity detector becomes zero when the minute time integrated yaw angle, which is the integrated value of the output value of the yaw angular velocity detector during a predetermined minute time, is equal to or smaller than a predetermined value. A navigation device comprising: a yaw angle determining means for applying to an angular velocity detector; and a moving direction calculating means for calculating an integrated yaw angle which is an integrated value of an output value of the yaw angular velocity detector during a vehicle traveling time. 5. A navigation device comprising: a pitch angle determining means and a moving distance calculating means according to claim 1; and a yaw angle determining means and a moving direction calculating means according to claim 3.