JPS61117413A - Arithmetic unit for vehicle location - Google Patents

Abstract

PURPOSE:To calculate a present location of a vehicle with high accuracy by providing a relative location calculating means by a travel distance sensor and a direction sensor, an absolute location calculating means by information from a fixed station and a correction constant calculating means. CONSTITUTION:Signals from the travel distance sensor 10 and the direction sensor 12 are used to calculate the vehicle relative location with reference to the reference location by the relative location calculating means 14. Then, the vehicle absolute location is calculated from fixed station absolute location information obtained by an electric wave 16 from the fixed station, vehicle direction information and vehicle relative location by the absolute location calculating means 18. Then, the relation of the absolute locations A, B calculated by the absolute location calculating means 18 with the vector AB corresponding to the vector AB' making the location corresponding to the absolute location B calculated by the relative location calculating means 14 making the absolute location A the reference location B' is calculated by the correction constant calculating means 20 to calculate the correction constant. Then, the present location of the vehicle is calculated by the relative location calculating means 14, by using the correction constant with making the absolute location C calculated by the absolute location calculating means 18 the reference location.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a vehicle position calculation device that calculates a vehicle position with high accuracy by combining inertial navigation and radio navigation.

[Prior Art] In inertial navigation, the vehicle position is calculated by cumulative calculation using signals from a travel distance sensor and a direction sensor (yaw rate sensor or geomagnetic sensor).

[Problems to be Solved by the Invention] However, since cumulative calculations are performed, errors in the signals from the travel distance sensor and the direction sensor accumulate, and as the travel distance increases, the error in the vehicle position becomes significant.

In particular, when a geomagnetic sensor is used as a direction sensor, the direction of the geomagnetic field deviates from the magnetic north due to the vehicle body itself, buildings outside the vehicle, iron bridges, tunnels, etc., so the error in the signal itself from the geomagnetic sensor is large, and the cumulative error is significant. Become.

Furthermore, when using a yaw rate sensor, only the relative direction is known, so the driver must input position information from two locations, and this position information also contains errors, resulting in the above cumulative error. will be added.

Even when a geomagnetic sensor is used, the initial position information needs to be input by the driver, which causes the cumulative error to further increase as described above.

[Means for Solving the Problems] In order to solve the above two problems, the vehicle position calculation device according to the present invention uses a mileage sensor 10 as shown in FIG.
and relative position calculation means 14 that calculates the relative position of the vehicle with respect to the reference position using the signals from the direction sensor 12, fixed station absolute position information and vehicle direction information obtained by radio waves 16 from the fixed station, and the vehicle relative position. An absolute position calculation means 18 that calculates the vehicle absolute position from the absolute position calculation means 18, and absolute positions A and B calculated by the absolute position calculation means 18 and an absolute position B calculated by the relative position calculation means 14 using the absolute position A as a reference position. and a correction constant calculation means 20 for calculating a correction constant by determining the relationship of the vector 11 with respect to the vector 11 with the position B' being the relative position calculation means 14.
The vehicle current position P is calculated using the absolute position C calculated by the absolute position calculation means 18 as a reference position and a correction constant.

[Basic Theory of the Invention] First, a case where a yaw rate sensor is used as the azimuth sensor will be described.

FIG. 2 shows a trajectory 22 of the vehicle, and it is assumed that the vehicle sequentially passes through positions Pl + P2 + P3 from an initial position Po. Furthermore, radio waves are received from fixed stations A, B, and C at positions P, , P2, and P3, respectively, and radio waves arrive at angles of arrival of 9'1, . ? 2.

P3 shall be measured. predetermined geographical x
-y The orthogonal coordinate system is an absolute coordinate system, and the position (x, y) is expressed as a complex number z = q
The orthogonal coordinates are relative coordinates, and the position (p, q) is expressed as a complex number s=p+iq. Furthermore, the positions p, l P2 , P
Fixed station offshore expressed in the same relative coordinate system as above with each position in 3 as the origin.

The A, B, C (7) positions are rte, respectively.
r2 e”: also represents r3j′.

The coordinate conversion formula from the S plane to the two planes is Z=zQ+36@@* (1) Here, Zo is the complex coordinate of Po in the absolute coordinate system,
ZoF x,)+ty,), and φ is the rotation angle of the p-axis with respect to the X-axis.

Applying equation (1) to the positions of fixed stations A, B, and C, ε(r++e・) CsuzA=zo+ (st +r1 e)e−(2)
ZB=:Z. +(S 2 + r26L(q'z+θ-
)) e'-(3) ZC= zo + (53+
r3e"9'z"J)) e'f-(4) here=
st +32 +53 are respectively positions P I +
It is the complex coordinate of P 2 + P 3 on the S plane, and θ
1, θ2. θ3 are respectively at positions P1+P2. This is the angle of the vehicle traveling direction with reference to the p-axis at P3.

The position (p, q) of the vehicle in the relative coordinate system is determined by the following equation (5). Here, θ is an angle in the vehicle traveling direction with respect to the p-axis, and is calculated by the following equation using the yaw rate ω detected by the yaw rate sensor.

θ=fωdt (7) Moreover, dl is a very small distance traveled by the vehicle, and can be detected by a travel distance sensor. Note that when a vehicle speed sensor is used as the mileage sensor, di is determined by setting dJL=Vdt. Here, V is the vehicle speed, and dt is the time required for the vehicle to travel the distance di.Next, from equations (2), (3), and (4), coordinate transformation equation (1)
Prove that ZO+φ can be found.

In equations (2), (3), and (4), fixed stations A, B, and C
Complex coordinates in the absolute coordinate system 2. ,l.

zB, zc are known and 1 position pt I P2 , P
Vehicle traveling direction angle θ with reference to the p-axis at 3.

θ2. θ3 can be detected from the yaw rate sensor, and the position P1
, P2, and P3, the radio wave arrival angle ψ, +9'2 r 9'3 with respect to the vehicle traveling direction can be detected by a directional antenna provided on the vehicle. Therefore, the formula (2
), (3), and (4) are ZQ+φ+rx, r2
, r3 (however, Zo is 2 of xo+Yo).
), and equation (1).

Since (2) and (3) are complex numbers, the independent formula is 3x2=
It is type 6. Therefore, it has been proven that ZO+φ in coordinate transformation formula (1) can be obtained from formulas (2), (3), and (4).

The above relationship holds true even if there is only one fixed station, as shown in No. 3r14. In this case, the following conclusion can be drawn from the above.

Conclusion l〉 When using a yaw rate sensor as a direction sensor,
The relative vehicle position determined only by inertial navigation can be converted into an absolute position by detecting the angle of arrival of radio waves based on the direction of travel of the vehicle at three different points. Become.

However, when the vehicle is stopped, the absolute position of the vehicle can be determined by detecting the arrival angles of radio waves from three different stations (in this case, equation (2)).

In (3) and (4), Sl = S2 = S3
*θ□=02=03=0).

Next, a case will be described in which a magnetic sensor is used as the orientation sensor.

When a magnetic sensor is used, the absolute direction of the vehicle traveling direction can be determined, so the p-axis can be set in the X-axis direction (for example, eastward) in FIGS. 2 and 3. Therefore, φ=O can be set, and 2(, can be found using only equations (2) and (3). Because the unknown is Zo(=Xo+1V
o) The four independent expressions of l rs + r2 are 2x
This is because 2=4.

Conclusion 2> When a magnetic sensor is used as a direction sensor, the relative vehicle position determined only by inertial navigation is
By detecting the radio wave arrival angle with respect to the vehicle traveling direction, it is possible to convert the relative position of the vehicle into an absolute position.

However, when the vehicle is stopped, the absolute position of the vehicle can be determined by detecting the arrival directions of radio waves from two different stations (in this case, equation (1)).

In (2), S l =32 +01=02)
.

In the above discussion, it was assumed that the vehicle side detects the radio wave arrival angle of the fixed station. I will explain the case of receiving by radio wave from.

In this case, the following equation holds true corresponding to equations (2), (3), and (4) (see FIG. 4).

z −1 = Zo + s 1 e
"4 rl e'-1 (8) zB = zo
+S2 e”:r2-(9)2゜=ZQ+538'-r3 P-4-(t o) The number of unknowns and the number of independent equations are the same as the above discussion, and Conclusion 1 and Conclusion 2
holds true. However, in Conclusions 1 and 2, the radio wave arrival angle is the vehicle direction angle.

Next, the vehicle side detects the radio wave arrival angle φ of the fixed station, and
A case will be explained in which information about the vehicle direction angle method is received by radio waves from a fixed station. In this case, as shown in FIG. 4, φ=8Li-? i−〇' (i=1+2...)...
(11) The value of φ can be easily found.

Therefore, even if a yaw rate sensor is used as the azimuth sensor, 2. ) can be obtained.

Conclusion 3: Even when a yaw rate sensor is used as a direction sensor, the relative vehicle position determined only by inertial navigation cannot be determined by detecting the radio wave arrival angle and vehicle direction angle at two different points. It becomes possible to convert the relative position of to an absolute position.

However, when the vehicle is stopped, the above-mentioned "two points" are replaced with "two stations" (in this case, in equation (11), θi=
o, 5L=32 in equations (8) and (9)).

The present inventors conducted the above theoretical analysis, and based on this, they came up with the present invention.

[Effect] Next, the operation of the present invention will be explained with reference to the drawings.

In FIG. 5, the trajectory gA24 is the calculated absolute position A
The figure shows the position determined by the relative position calculation means 14 using normal inertial navigation without considering the correction constant, using the reference position as the reference position. Further, the absolute position B is the absolute position calculation means 1
This is the position corresponding to the position B' calculated by 8. As explained in the above theory, the absolute position B is obtained by finding a coordinate transformation formula and converting the relative position into an absolute position.For example, for three points, positions B, A, and other positions before A (not shown) , Equations (2), (3).

Calculate ZQ+φ using (4), substitute 53 (complex coordinates corresponding to point B) into equation (1), and calculate the absolute position B(z
value). The same applies to the absolute position A.

However, position B is a more accurate position than B', and although they are actually the same point, they generally do not match. Therefore, when the trajectory of the vehicle is displayed on a CRT, it changes discontinuously from position B' to position B. The reason for this is that the cumulative error increases with distance from position A since trajectory B' is determined by inertial navigation.

Therefore, for example, the following correction constants Kx and Ky are calculated by the correction constant calculation means.

Kx=ABx/AB'x Ky=ABy/AB'y Here, ABx represents the X component of vector AB in the x-y orthogonal coordinate system as shown in Figure 1, and ABY represents x-
AB' indicates the y component of the vector AB in the y-orthogonal coordinate system.
The same applies to x and AB'y.

Next, the trajectory from position B is determined as follows. Let B be the reference position, and let P' be the current vehicle position calculated by the relative position calculating means 14 without considering the correction constant. P
The more accurate position P corresponding to ' is BPx=KxBP'
x, BPy=KyBp'y.

The position P obtained in this way is transferred to the position Pt that would be obtained if radio wave information was received at the position P.
It will be closer than that. In other words, the trajectory of the vehicle becomes more continuous and the accuracy is improved. This is because the correction constant takes into account the tendency of errors.

Various correction constants other than those mentioned above can be considered.For example, if the accuracy of the mileage sensor is sufficiently better than the accuracy of the orientation sensor, 5-1-→.

As shown in the figure, vector AB for vector AB
Using the angle β formed by the angle β as a correction constant, the position P' is corrected to the position P of the base BP. Here are iA and B.

p and p' are the same as those described above (shown in FIG. 4).

Furthermore, if the accuracy of the orientation sensor is sufficiently better than the accuracy of the mileage sensor, L=AB'/AB can be used as the correction constant. Here AB is the distance between positions A and B, and AB' is position A.

The 0 position P', which is the distance between B', is the vector
may be corrected to the position P of the vector BP rotated by an angle β.

[Example] An example of a vehicle position calculation device according to the present invention will be described with reference to the drawings.

The seventh factor shows the configuration of the embodiment, in which signals from the mileage sensor 10 and the yaw rate sensor 12A are supplied to the microcomputer 24. This mileage sensor lO is configured to output one pulse every time the wheel rotates by a certain angle, and the mileage can be detected by counting the number of pulses. The yaw rate sensor 12A is a gas rate gyro that outputs a voltage proportional to the yaw rate of the vehicle.The microcomputer 24 transmits a timing signal containing the vehicle ID code to radio waves from the antenna 28 via the transceiver 26. 1
6A to a fixed station (not shown). The fixed station receives this radio wave 16A and transmits a signal containing the ID code and the absolute position of the fixed station to the vehicle using radio waves 16B. The radio waves 16B are received by an antenna 28, and these signals are supplied to the microcomputer 24 via a transceiver 26. The antenna 28 has directivity and rotates, and the radio wave arrival angle ψ with respect to the vehicle traveling direction can be detected from the change in reception intensity as the antenna 28 rotates.

Furthermore, the microcomputer 24 has a keyboard 30 equipped with a numeric keypad and a command key.
(Xo, Yo) and information on the initial azimuth φ are input.

The microcomputer 24 calculates the current position of the vehicle in an absolute coordinate system (a geographical coordinate system, for example, the A map and the vehicle's current position on the map are displayed on the CRT 32.

Although the microcomputer 24 is shown divided into functional blocks in FIG. 7, it is equipped with an input/output interface (not shown).For example, the signal from the yaw rate sensor 12A is converted into a digital signal by the A/D converter of the input interface. be done.

Note that even if the number of fixed stations is multiple as shown in Figure 2,
It may be singular as shown in FIG.

Next, the functions of the microcomputer 24 are shown in FIGS.
This will be explained according to the flowchart shown in Figure i.

FIG. 8 shows an interrupt process when there is a key input from the keyboard 30. Initial position it P.

(Xo, yo) is input (step 100), the initial position Po (xo, yo) is stored in the RAM, and 2 is added to the value of M (step 102). The value of 0M, which is initialized to O in the routine, is the constant (Xo + '
1 o ) *Indicates how many φ's have been determined or how many can be determined. Next, when the initial azimuth angle φ of the vehicle traveling direction is input (step 104),
The initial azimuth φ is stored in the RAM and 1 is added to the value of M (step 106). Then, when M=3, a flag F indicating that coordinate transformation formula (1) has been determined is set (step 110), and returns to the main routine.

Next, FIG. 9 shows the processing by the relative position calculating means 14, in which the CPU is interrupted at the rising edge of the pulse from the mileage sensor 10 and the processing is started. The microcomputer 24 is equipped with a timer T (not shown), and reads and stores the time of the timer T. The time between pulses Δtt is calculated by subtracting the previous time (time of rise of the pulse from the previous mileage sensor 10) from the current time (time of the rise of the pulse from the current mileage sensor 10) (step 200) .

Next, the yaw rate ω is read from the yaw rate sensor 12A (step 202), and the vehicle traveling direction angle θ with respect to the P axis is updated. That is, the value obtained by adding ωΔt to θ is set as the new value of θ (step z04. Block 204B
). The initial value of O is O, and the P axis is the initial traveling direction of the vehicle (see Figure 2).Next, the traveling distance in the p-q orthogonal coordinate system (relative coordinate system) with the initial position of the vehicle as the origin. The components Δp and Δq of the vehicle movement amount Δl (block 205) corresponding to one pulse from the sensor IO are expressed as Δp=Δ1cos
Calculate as θ, Δq = Δl・sin θ (Step 2
06. block 206B).

Next, the vehicle relative position (p, q) is updated. That is, the value obtained by adding Δp to the value of p is set as the new value of p, and the value obtained by adding Δq to the value of q is set as the new value of q (Step 2
08. Block 208B).

Next, if flag F is reset (step 21
0) Return to the main routine. If flag F is set (step 210), then x
- If the coordinate transformation formula to the y orthogonal coordinate system (absolute coordinate system) has been determined, the component ΔX of Δl in the x-y orthogonal coordinate system
, Δy as ΔX=Δl*cos(θ+φ), Δy=Δ1−
sin(θ+φ) (step 212, block 212B), then the vehicle absolute position (x, y)
Update. Here, Kx and Ky are correction constants to be described later, and the initial value is l.

Next, FIG. 10 shows the processing by the absolute position calculation means 18 and the correction constant calculation means 20, in which a timer interrupt is sent to the CPU at fixed intervals (for example, 1 second) to start the processing. It has become. When this interrupt occurs, R
The timing information including the vehicle ID code stored in the OM is read out, modulated by the transceiver 26, and radio waves 16A are emitted from the antenna 28 (step 300). and information including the absolute position of the fixed station is transmitted to the vehicle using radio waves 16B. If the vehicle ID code cannot be received even after a certain period of time has elapsed since the vehicle emitted the radio waves (steps 302 and 3
04), return to the main routine. If the vehicle ID code is received within this certain period of time (step 302), the subsequently obtained signal is demodulated and decoded, and the fixed station position Q (xQ, rL, yQ!n, ) is read and stored. do. Further, the radio wave arrival angle Px is calculated and stored from the change in reception intensity due to the rotation of the antenna 28. Further, let the value of p obtained in step 208 be PAL, and the value of q be q? Let L be the value of θ obtained in step 204 as 01
and the value of X obtained in step 214 is x'71.
and save the value of y as Y '3 (Step 3
06. Block 306B), then increment the values of M and n (step 308), and if M<3, return to the main routine. If M≧3, the value of n is decremented and the coordinate transformation constant φ, Pa (Xo,
Yo) is calculated (step 312. Block 312B).

If the initial position and initial orientation are not input, the value of φ+Po (Xo+Va) is calculated using the formula (2).
), (3), (4) Calculated (updated) using the following formula corresponding to
ZQ to do? L-z = X o + i 3' o
(P, -2-+ f q/, L-1+r
e"011%-2, fM-1n) ei/φ
, (2)' L-l Z starvation-1=X o +' yo (P,?L-1
” iq e1 + r e'θm-1f
fn5-1)) eCφ −(3)′ri%−
/ z pot = x0 + iy0 (P% + iq,, +-r iq9
~'kari) ejiφ... (4) ' Therefore, the set CP of vehicle positions from which information on the radio wave arrival angle is obtained
t lP2 , Pi) + CF21P31F4), (
Pa, Pa, Ps)..., the position determined by inertial navigation is corrected, and the occurrence of cumulative errors is suppressed. Note that the origin of the p-q orthogonal coordinate system is from Po to p
It may be updated to l 1 P2 + P3... (see Figure 12). In this case, the relative position of the current vehicle position is always near the origin of the relative coordinate system, so
It can be easily understood that the occurrence of cumulative errors can be suppressed.

Now, if only the initial azimuth φ is the key input, then when n=2, equation (3)'.

(4) From 'X. Calculate the value of +Vo. When n≧3, formulas (2)' and (3)' assume that φ is undetermined.

The value of φ+ Pa (Xo + Vo) may be calculated (φ is updated) using (4)'.

If only the initial position Pa (Xo, yo) is manually operated, the value of φ is calculated from equation (4)' when n=1. When n=2, this value of φ and equation (3)'
, (4)', Pa(Xo+yo) is undetermined and P
The value of a (Xo, Yo) may be calculated (updated), and when n≧3, Po (XOI yo) and φ are assumed to be undetermined, and Equation (2)' is used.

By (3)' and (4)', Pa (Xa + Vo
) and φ are calculated (updated).

Initial position P. (Xo, Fo) and the initial direction angle φ are input manually, when n=1, φ is undetermined. The value of φ is calculated (updated) using the undetermined binding formula (4)′, and n=:2 When Pa (Xo + '!a) is undetermined, P is determined by equations (3)'' and (4)'.

The values of (xo, yo) are calculated (updated), and when n≧3, P (xo, Ya) and initial azimuth φ are assumed to be undetermined, and P is calculated using equations (2)', (3)' and (4)'. .

(xo, yo), the value of φ may be calculated (updated).

Next, the value of X x −t obtained by coordinate transformation in the previous step 314 is set as
Save the value as Y'n-1. Then, relative coordinates (p compensation -1, q nine -ri and (
P7L1117L) respectively in absolute coordinates (xn-1.

7-yL-/) and (xn, y-rL) (step 314. Block 314B), (x,
7t-7゜y7L-7) is the previous value saved above (X
'7L 7. .

y’? L-/) is updated and the error becomes smaller.

Next, correction constant KX= (X7L -x 'a-t)
/(X crush--X '7L-/) and K y = ('
y, yty'7t-7)/(y'9-y'9-)), and sets the flag F used in step 210.
The value of n is incremented (step 316, block 316B) and the process returns to the main routine.

In addition, the denominator and numerator of the equations on the right side of Kx and Ky above are inversely transformed ((x, y) - (p,
q))l, and the values Kp and Kq, Δp in step 208 (block 208B) may be multiplied by KP, ΔP in step 208 (block 208B) may be multiplied by Kp, and Δq may be multiplied by Kq.

Next, FIG. 11 shows the video RAM (V-RAM 34) 17) rewriting process that displays the map and vehicle position on the CRT 32, and a timer interrupt is sent to the CPU at regular intervals to start the process. It looks like this. Note that this process may be started after step 214, and the current vehicle position P (x
, y), the map to be displayed on the CRT 32 is selected (step 400. Block 400B). Note that the map may also be selected manually using keys from the keyboard 30. When changing the map, ROM or disk where the map is stored (block 403)
The map data to be changed is transferred to the VφRAM 34 and the VRAM 34 is rewritten (steps 402 and 40).
4), then the CRT 32 at the vehicle position P (x, y)
Calculate the display position of step 406. block 40
6B), return to the main routine. In addition, V −
The data written in the RAM 34 is scanned onto the CRT 32 by a CRT controller (not shown) and displayed.

[Effects of the Invention] In the vehicle position calculation device according to the present invention, the absolute position calculation means updates the vehicle absolute position every time fixed station absolute position information and vehicle direction information are obtained by radio waves from the fixed station, and furthermore, the vehicle absolute position is updated by the absolute position calculation means. The current position of the vehicle calculated by the relative position calculation means is corrected using the correction constant obtained by the correction constant calculation means, taking into account the trend of error, using the absolute position determined as the new reference position. Even if the distance is long, the absolute current vehicle position can be calculated with high accuracy.

In addition, even if there is a large error in the manually input values of the initial position and initial azimuth, this error will be reduced by the above-mentioned update.6 Furthermore, since vehicle direction information is obtained from radio waves from fixed stations, This has the advantage that there is no need to manually input the azimuth angle.

[Brief explanation of the drawing]

FIG. 1 is a claim correspondence diagram of the vehicle position calculating device according to the present invention, FIGS. 2 to 4 are diagrams for explaining the basic theory of the present invention, and FIGS. 5 and 6 are diagrams for explaining the basic theory of the present invention. Diagrams for explaining the operation, FIG. 7 is a block diagram showing the configuration of an embodiment of the present invention, FIGS. 8 to H are flowcharts explaining the functional blocks of FIG. 7, and FIG. 12 is a relative coordinate system. FIG. 7 is a diagram showing another example of sequential updating. 10--φ travel distance sensor, 12--unidirectional sensor, 14--φ relative position calculating means, 18--φ absolute position calculating means, 20--correction constant calculating means.

Claims (5)

[Claims] (1) Relative position calculation means that calculates the relative position of a vehicle with respect to a reference position using signals from a mileage sensor and a direction sensor, fixed station absolute position information and vehicle direction information obtained from radio waves from a fixed station, and the vehicle. Absolute position calculation means for calculating the vehicle absolute position from the relative position, and absolute position A and B calculated by the absolute position calculation means and absolute position B calculated by the relative position calculation means with absolute position A as a reference position. The correction constant calculation means calculates the correction constant by calculating the relationship between the vector ▲ There are mathematical formulas, chemical formulas, tables, etc. ▼ ▼ There are mathematical formulas, chemical formulas, tables, etc. A vehicle position calculation device characterized in that the position calculation means calculates the current vehicle position P using a correction constant using the absolute position C calculated by the absolute position calculation means as a reference position. (2) The correction constant calculation means calculates the correction constants Kx=ABx/AB'x and Ky=ABy/AB'y, and the relative position calculation means calculates the current position P' without correction.
In this case, CPx=KxCP′x, CPy:KxCP
The vehicle position calculation device according to claim 1, which calculates the current position as 'y. (3) The correction constant calculation means is a vector▲mathematical formula, chemical formula,
There are tables, etc. The angle β between ▼ and AB is calculated as a correction constant, and the relative position calculation means is a vector ▲ mathematical formula, chemical formula,
There is a table, etc. Vector C obtained by rotating ▼ by angle β
The vehicle position calculation device according to claim 1, which calculates the current position by determining P. (4) The vehicle position calculation device according to claim 1, wherein the correction constant calculation means calculates the correction constant L=AB/AB', and the relative position calculation means calculates the current position as CP=LCP'. . (5) The correction constant calculation means calculates the above β and L as correction constants, and the relative position calculation means converts the vector LCP' into an angle β
The vehicle position calculation device according to claim 1, which calculates the current position by obtaining a vector ▲ which is a mathematical formula, chemical formula, table, etc. ▼ rotated by the same amount.