JP2001194169A - Vehicle attitude angle detection device - Google Patents

Abstract

(57) [Summary] [Problem] To accurately correct the position of a measured vehicle on a road of map data corresponding to an actual traveling road even when there is a road running parallel in the height direction. SOLUTION: A GPS unit 21 and a self-contained positioning unit 22 that measure the position of a vehicle and obtain positioning data of the vehicle, a map storage unit 23 that stores map data having three-dimensional road information,
A display unit 25 that displays the position of the vehicle and the map data, and, when correcting the position of the located vehicle on the road of the map data, displays the attitude angle of the vehicle indicated by the positioning data and the road gradient indicated by the three-dimensional road information. And a map matching unit 26 for comparing and judging the consistency to determine a road to be corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device and a map matching method for correcting the position of a measured vehicle so that the position of the vehicle is located on a road when displaying the position of the measured vehicle on map data. .

[0002]

2. Description of the Related Art A conventional navigation device will be described below with reference to the drawings.

FIG. 5 is a block diagram showing a configuration of a conventional navigation device. In FIG. 5, 1 indicates a plurality of GPs.
A GPS unit that simultaneously receives radio waves from the S (Global Positioning System) satellite and obtains vehicle positioning data. 2 calculates the displacement distance and displacement angle of the vehicle from the output data of self-contained sensors such as wheel speed sensors and gyro sensors. A self-contained positioning unit that calculates the position of the vehicle based on the map data; 3 is a map storage unit that stores map data having two-dimensional road information;
A control unit 4 reads map data of a predetermined area corresponding to the position of the vehicle from the map storage unit 3 based on the position of the vehicle obtained from the GPS unit 1 or the self-contained positioning unit 2. A display unit 6 to be displayed is a map matching unit that corrects the position of the measured vehicle so as to be located on the road in the map data.

[0004] A map matching section 6 selects a road for which the position of the vehicle is to be corrected within a predetermined range of the map data, and determines a shortest distance between the position of the vehicle and the selected road. A distance consistency judging unit 8 for determining the consistency and determining the consistency by comparing the traveling direction of the vehicle with the link orientation of the selected road; From the road storage unit 10 for temporarily storing the roads satisfying the conditions in the determination unit 8 and the direction matching determination unit 9, the road to be corrected is selected from the roads stored in the road storage unit 10. Road decision part 1 to be decided
1 and a position correction unit 12 that corrects the determined vehicle position on the road determined by the road determination unit 11.

The operation of the navigation device configured as described above will be described below.

As shown in FIG. 5, a control unit 4 obtains positioning data of a vehicle from a GPS unit 1 and an independent positioning unit 2. The positioning data includes the position of the vehicle and the traveling direction of the vehicle. The control unit 4 controls the map storage unit 3 based on the position of the vehicle.
, The map data of a predetermined area corresponding to the position of the vehicle is read and output to the display unit 5. When the position of the vehicle is not on the road in the map data, the position of the vehicle is corrected on the road in the map data by the map matching unit 6 and output to the display unit 5. Hereinafter, the process of correcting the position of the vehicle in the map matching unit 6 will be described.

FIG. 6 is an operation flowchart of the conventional map matching section. As shown in FIG. 6, when the map matching unit 6 obtains vehicle positioning data and two-dimensional road information from the control unit 4 (step 101), the road selecting unit 7 reads out the road indicated by the two-dimensional road information (step 10).
2). For the read road, it is determined whether or not the consistency check described later has been completed (step 103). If the consistency check has not been completed, the process proceeds to No, and the consistency of the road is checked. Perform a check.

In step 104, the shortest distance from the position of the vehicle to the road is obtained by the distance consistency judgment unit 8,
If the distance is within 90 m, it is determined that the condition for the distance consistency is satisfied, and the process proceeds to step 105.

In step 105, the direction matching judging section 9 compares the traveling direction of the vehicle indicated by the positioning data with the link direction of the road indicated by the two-dimensional road information. Judgment that the condition is satisfied.

[0010] If it is determined Yes in steps 104 and 105, this road is regarded as a road that may have a car, and is stored in the road storage unit 10 (step 106). Step 104
If it is determined No in step 105, the process returns to step 103 to check the next road.

On the other hand, if the process proceeds to Yes in step 103, the road determination unit 11 determines the only road that satisfies a predetermined condition from the roads stored in the road storage unit 10 (step 107). The predetermined condition is, for example, a condition of a road having the shortest distance among roads stored in the road storage unit 10.

If the road to be corrected is determined in step 107, the position correction unit 12 corrects the position of the vehicle indicated by the positioning data on the road (step 108).
Output to the display unit 5 (step 109).

[0013]

In such a navigation device, in order to correct the position of the vehicle using the two-dimensional road information, for example, when an approximately parallel road exists below an elevated road, or when the vehicle is Roads running side by side in the height direction, such as roads branching in the direction, could not be distinguished.

[0014] The present invention corrects the position of a measured vehicle accurately on a road of map data corresponding to an actual traveling road even when there is a road that runs in the height direction. It is an object of the present invention to provide a navigation device and a map matching method that can be used.

[0015]

SUMMARY OF THE INVENTION In order to solve this problem, the present invention provides a positioning means for positioning a vehicle, a map storage means for storing map data having three-dimensional road information, Display means for displaying map data;
The attitude angle of the vehicle obtained from the positioning means is compared with the road gradient indicated by the three-dimensional road information, and the angle consistency judgment means for judging the consistency is determined. The vehicle includes a road determination unit that determines a target road, and a position correction unit that corrects the position of the vehicle obtained from the positioning unit on the road determined by the road determination unit.

Thus, even if there is a road that runs in the height direction, the position of the measured vehicle is accurately corrected on the road of the map data that is considered to be actually running. And a navigation device and a map matching method that can be used.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention relates to positioning means for measuring the position of a vehicle, map storage means for storing map data having three-dimensional road information, display means for displaying the position and map data of the vehicle, An angle matching determining means for comparing the attitude angle of the vehicle obtained from the positioning means with a road gradient indicated by the three-dimensional road information and determining the matching, and an object to be corrected according to the determination result of the angle matching determining means. Road determining means for determining the road to be determined, and a position correcting means for correcting the position of the vehicle obtained from the positioning means on the road determined by the road determining means, the position of the located vehicle When the map data is corrected on the road, there is an effect that it is possible to distinguish roads running in the height direction.

[0018] The present invention is obtained from positioning means for positioning the position of a vehicle, map storage means for storing map data having three-dimensional road information, display means for displaying the position and map data of the vehicle, and positioning means. Based on the shortest distance between the position of the vehicle to be measured and the road indicated by the three-dimensional road information, and a road included in the traveling direction of the vehicle and the three-dimensional road information obtained from the positioning means. And the direction of the vehicle obtained from the positioning means is compared with the road gradient indicated by the three-dimensional road information to determine the consistency. An angle consistency determination unit, a road determination unit that determines a road to be corrected according to the determination results of the distance consistency determination unit, the direction consistency determination unit, and the angle consistency determination unit,
When the position of the measured vehicle is corrected on the road in the map data, the configuration is provided with the position correcting means for correcting the position of the vehicle obtained from the positioning means on the road determined by the road determining means. By judging the angle consistency in addition to the distance consistency and the direction consistency, there is an effect that it is possible to distinguish roads running in parallel in the height direction.

According to the present invention, the positioning means includes GPS means for receiving signals from a plurality of GPS satellites to perform positioning, and the attitude angle of the vehicle is obtained from elevation angle information of the GPS means. By comparing the obtained elevation angle with the road gradient indicated by the three-dimensional road information, it is possible to distinguish roads that run in parallel in the height direction.

According to the present invention, the positioning means includes a self-contained sensor for detecting a pitch angle of the vehicle, and the attitude angle of the vehicle is a pitch angle obtained from the self-contained sensor. By comparing the pitch angle obtained from the sensor with the road gradient indicated by the three-dimensional road information, it is possible to distinguish roads that run in parallel in the height direction.

[0021] The present invention is obtained from positioning means for positioning the position of a vehicle, map storage means for storing map data having three-dimensional road information, display means for displaying the position and map data of the vehicle, and positioning means. The altitude of the vehicle to be compared with the road altitude indicated by the three-dimensional road information, and an altitude consistency judging means for judging the consistency, and a road to be corrected is determined according to the judgment result of the altitude consistency judging means. By providing the road determining means and the position correcting means for correcting the position of the vehicle obtained from the positioning means on the road determined by the road determining means, the position of the measured vehicle can be determined on the road in the map data. Has the effect that it is possible to distinguish roads that run in parallel in the height direction.

[0022] The present invention is obtained from positioning means for positioning the position of a vehicle, map storage means for storing map data having three-dimensional road information, display means for displaying the position and map data of the vehicle, and positioning means. Based on the shortest distance between the position of the vehicle to be measured and the road indicated by the three-dimensional road information, and a road included in the traveling direction of the vehicle and the three-dimensional road information obtained from the positioning means. Directional consistency judging means for comparing the link direction of the vehicle and judging the consistency thereof, and an altitude for comparing the altitude of the vehicle obtained from the positioning means and the road altitude indicated by the three-dimensional road information and judging the consistency. According to the judgment result of the consistency judgment means, the distance consistency judgment means, the direction consistency judgment means and the high consistency judgment means,
Positioning is performed by including a road determination unit that determines a road to be corrected and a position correction unit that corrects the position of the vehicle obtained from the positioning unit on the road determined by the road determination unit. When correcting the position of the vehicle on the road in the map data, in addition to the distance consistency and the direction consistency, by judging also the altitude consistency, it is possible to distinguish roads that run in parallel in the height direction. It has the action of:

According to the present invention, the positioning means includes GPS means for receiving radio waves from a plurality of GPS satellites to perform positioning, and the vehicle height is obtained from the height information of the GPS means. By comparing the altitude of a given vehicle with the road altitude indicated by the three-dimensional road information, it is possible to distinguish roads that run together in the height direction.

According to the present invention, a step of obtaining positioning data of a vehicle, a step of obtaining three-dimensional road information, and a step of comparing the attitude angle of the vehicle indicated by the positioning data with the road gradient indicated by the three-dimensional road information to obtain angular consistency. Determining the position of the vehicle indicated by the positioning data based on the angular consistency; and determining the position of the vehicle indicated by the positioning data on the corrected road. When the position of the measured vehicle is corrected on the road of the map data, it is possible to distinguish roads that run in the height direction.

According to the present invention, a step of obtaining positioning data of a vehicle, a step of obtaining three-dimensional road information, and a distance matching based on the shortest distance between the position of the vehicle indicated by the positioning data and the road indicated by the three-dimensional road information. Determining the direction consistency of the vehicle by comparing the traveling direction of the vehicle indicated by the positioning data with the link direction of the road indicated by the three-dimensional road information; and determining the three-dimensional attitude angle of the vehicle indicated by the positioning data. A step of determining angular consistency by comparing with a road gradient indicated by the road information; and determining a road to be corrected for a vehicle position indicated by the positioning data based on the distance consistency, the direction consistency, and the angle consistency. And the step of correcting the position of the vehicle indicated by the positioning data on the road targeted for correction, so that the position of the positioned vehicle is displayed on the road of the map data. When positive, has the effect of being able to distinguish also road travel together in the height direction.

According to the present invention, a step of obtaining positioning data of a vehicle, a step of obtaining three-dimensional road information, and comparing the altitude of the vehicle indicated by the positioning data with the road altitude indicated by the three-dimensional road information to obtain altitude consistency. A step of determining, a step of determining a target road for correction of the position of the vehicle indicated by the positioning data based on the altitude consistency, and a correction of the position of the vehicle indicated by the positioning data on the target road for correction. With the configuration including the step, when correcting the position of the measured vehicle on the road in the map data, it is possible to distinguish between roads running in the height direction.

According to the present invention, a step of obtaining positioning data of a vehicle, a step of obtaining three-dimensional road information, and a distance matching based on a shortest distance between a position of the vehicle indicated by the positioning data and a road indicated by the three-dimensional road information. Determining the direction of the vehicle by comparing the traveling direction of the vehicle indicated by the positioning data with the link direction of the road indicated by the three-dimensional road information; and determining the altitude of the vehicle indicated by the positioning data and the three-dimensional road. Determining altitude consistency by comparing the altitude with the road altitude indicated by the information; and determining a road to be corrected for the vehicle position indicated by the positioning data based on the distance consistency, directional consistency and altitude consistency. And a step of correcting the position of the vehicle indicated by the positioning data on the road to be corrected, so that the position of the measured vehicle is added to the road in the map data. When, with the effect that it is possible to distinguish also road travel together in the height direction.

[0028]

Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1) Hereinafter, a first embodiment of the present invention will be described.

FIG. 1 is a block diagram showing the configuration of the navigation device according to the first embodiment of the present invention. In FIG. 1, reference numeral 21 denotes a plurality of GPS (Global Positioning Sys
tem) A GPS unit that simultaneously receives radio waves from satellites and obtains vehicle positioning data, and includes a GPS receiver. G
The PS unit 21 obtains the absolute position of the vehicle from the data received by the GPS receiver. The positioning data includes the traveling direction information and the elevation angle information of the vehicle in addition to the position information of the vehicle. Reference numeral 22 denotes a self-contained positioning unit that calculates a moving distance and a moving direction of the vehicle from output data of a self-contained sensor, and calculates a relative position with respect to a previous position based on the calculated distance and moving direction. As a self-contained sensor, a wheel speed sensor that detects a signal corresponding to the number of rotations of a wheel, an acceleration sensor that detects an acceleration of a vehicle, a gyro sensor that detects an angular speed of a vehicle, and the like can be considered. The self-contained positioning unit 22 according to the present embodiment includes an attitude angle (hereinafter, referred to as a “pitch angle”)
) Is provided, and the positioning data output from the self-contained positioning unit 22 includes pitch angle information of the vehicle. In this embodiment, the GPS unit 21 and the self-contained positioning unit 22 constitute a positioning unit, and use one or both of the positioning data.

A map storage unit 23 stores digital map data having three-dimensional road information. The storage medium is a CD-ROM (Compact Disk-Read Only Mem).
ory) is typical. If the data amount is large, it takes a long time to read the map data. Therefore, the map data is divided into a plurality of blocks and stored. The road information includes information indicating major points (nodes) such as intersections and bends. The node information includes coordinate data at the points, and the road is a straight line (link) connecting the nodes. ). The three-dimensional road information according to the present embodiment means that the node information includes three-dimensional coordinate data.

Reference numeral 24 denotes a GPS unit 21 or an independent positioning unit 22
Map storage unit 2 based on the vehicle position information obtained from
3 is a control unit for reading map data of a predetermined area to which the position of the vehicle corresponds. A display unit 25 displays the map data read by the control unit 24, and includes an LCD (Liquid Crystal Display) as a display screen.

Reference numeral 26 denotes a map matching unit for correcting the position of the vehicle on the road based on the three-dimensional road information of the vehicle positioning data and the map data. Map matching unit 26
Calculates the shortest distance between the position of the vehicle and the selected road by selecting a road within a predetermined range of the read map data, and determines its consistency (hereinafter referred to as “distance consistency”). Distance matching determining unit 28 for determining
A direction consistency determination unit 29 that compares the traveling direction of the vehicle with the link direction of the selected road and determines the consistency (hereinafter, referred to as “directional consistency”) of the vehicle, and determines the attitude angle of the vehicle and the road gradient. A road that satisfies the angle matching (hereinafter, referred to as “angle matching”) and determines the consistency (hereinafter referred to as “angle matching”); Storage unit 3 for temporarily storing
1, a road determination unit 32 for determining a road to be corrected from among the roads stored in the road storage unit 31, and correcting the determined vehicle position on the road determined by the road determination unit 32. And a position correction unit 33.

The attitude angle of the vehicle in the angle consistency judging section 30 is the inclination in the pitching direction of the vehicle with respect to the horizontal plane, and is information on elevation angle obtained from the GPS section 21 or pitch angle obtained from the self-contained positioning section 22. Can be represented by information.

The operation of the navigation device configured as described above will be described below.

As shown in FIG. 1, the control unit 24
The positioning data of the vehicle is obtained from the unit 21 and the self-contained positioning unit 22.
The control unit 24 reads the map data of the corresponding predetermined area from the map storage unit 23 based on the position of the vehicle and outputs the map data to the display unit 25. If the position of the vehicle is not located on the road in the map data, the map matching unit 26 corrects the position of the located vehicle to be located on the road in the read map data, and then displays the corrected position. Output to the unit 25. Hereinafter, the process of correcting the position of the vehicle in the map matching unit 26 will be described.

FIG. 2 is an operation flowchart of the map matching unit according to the first embodiment of the present invention. As shown in FIG. 2, when the map matching unit 26 obtains the positioning data and the three-dimensional road information of the vehicle (step 201), the road selecting unit 27 reads out the road indicated by the three-dimensional road information, and this road is described later. A selection is made to determine consistency (step 202). At this time, as the selection range of the road, all the roads in one block where the position of the located vehicle exists are selected from the map data divided into a plurality of blocks.

For each of the roads thus read, it is determined whether or not the consistency check has been completed (step 203). If there is any road for which the consistency check has not been completed, the process proceeds to No. The road is checked for consistency. Next, determination of consistency will be described.

In step 204, the distance consistency judgment unit 28 checks the distance consistency. The distance consistency determination unit 28 determines the shortest distance between the position of the vehicle and the road, and if the distance is within 90 m, determines that the condition is satisfied with respect to the distance consistency.
Go to 5.

In step 205, the direction consistency judgment unit 29 checks the direction consistency. If the angle difference between the traveling direction of the vehicle and the link direction of the road is within 30 degrees, the direction consistency determination unit 29 determines that the condition of the direction consistency is satisfied, and proceeds to step 206.

In step 206, the angle consistency judgment unit 30 checks the angle consistency. The angle consistency determination unit 30 obtains the inclination state of the road to be checked from the three-dimensional road information, that is, the inclination in the traveling direction of the vehicle on the road. The difference between this gradient and the attitude angle of the vehicle is ± 5
If it is within degrees, it is determined that the condition is satisfied for the angle matching. However, as for the attitude angle of the vehicle, climbing on a flat road is represented by a slope of +, and conversely, descending is represented by a slope of-.

The roads that have passed the consistency in steps 204, 205, and 206 are regarded as roads that may have a car, are stored in the road storage unit 31 (step 207), and then return to step 202. .

In step 203, the road selecting section 27
When it is determined that the consistency check has been completed for all the roads in one block of the map data in which the vehicle position exists, the road determination unit 32 determines
One road to be corrected is determined from among the roads stored in No. 1 in consideration of a road having the shortest distance between the position of the vehicle and the road (step 208).

If the road to be corrected is determined in step 208, the position of the vehicle is corrected to the coordinates on the road by the position correction unit 33 (step 209).
At this time, regarding the position on the road where the vehicle position is to be corrected, correction is made to a position where the distance between the vehicle position and the road is the shortest, that is, a position where the vehicle is perpendicular to the road. Is mentioned. The corrected vehicle position information is output to the display unit 25 (step 21).
0).

For the three-dimensional road information, for example, when the link direction of the road is used, the link direction may be calculated each time from each node information, or the link direction corresponding to between the nodes may be provided in advance as a storage table. It may be something that is.

As described above, in this example, when determining the road to be corrected from the roads included in the map data, the distance between the vehicle position and the road, the traveling direction of the vehicle and the link direction of the road are determined. The road to be corrected is determined by comparing the attitude angle of the vehicle with the road gradient in addition to the comparison of the road inclination. By judging the difference,
The map matching process can be reliably performed on the road of the map data corresponding to the actual traveling road.

(Embodiment 2) Hereinafter, a second embodiment of the present invention will be described.

The difference between this embodiment and the first embodiment is that the first embodiment compares the attitude angle of the vehicle with the road gradient, whereas the second embodiment compares the vehicle's attitude angle with the road gradient. The point is to compare the altitude with the road altitude.

FIG. 3 is a block diagram showing the configuration of the navigation device according to the second embodiment of the present invention. In FIG. 3, reference numeral 34 denotes an altitude consistency judging unit which compares the altitude of the vehicle indicated by the positioning data with the road altitude indicated by the three-dimensional road information and judges the consistency at altitude (hereinafter referred to as "altitude consistency"). is there. The positioning data output from the GPS unit 21 includes altitude information of the vehicle. Note that FIG.
In FIG. 7, components denoted by the same reference numerals as those in FIG. 1 are shown in the first embodiment, and description thereof is omitted.

FIG. 4 is an operation flowchart of the map matching unit according to the second embodiment of the present invention. However,
In the flowchart shown in FIG. 4, steps other than step 211 are the same as those shown in FIG. 2, and the same step numbers are used in FIG. Further, in the following description, a description of a portion overlapping with the portion described in the first embodiment will be omitted.

As shown in FIG. 4, the road that has passed Steps 204 and 205 is judged in Step 211 about the altitude consistency by the altitude consistency judging section 34. The altitude consistency determination unit 34 reads the altitude of the road to be checked from the three-dimensional road information, compares the altitude of the road with the altitude of the vehicle indicated by the positioning data, and finds that the difference is 3
If the distance is within 0 m, it is determined that the condition for high consistency is satisfied.

In the present embodiment, altitude information obtained from the GPS unit 21 is shown as a target to be compared with the road altitude information. However, the present invention is not limited to this. For example, an altimeter or the like may be provided. A similar effect can be achieved.

As described above, in this embodiment, when determining the road to be corrected from the roads included in the map data, the distance between the vehicle position and the road, the traveling direction of the vehicle and the link direction of the road are determined. By comparing the vehicle altitude information obtained from the GPS unit 21 with the road altitude information included in the map data, the road to be corrected is determined. Even if there is a road, by judging the difference in altitude, the map matching process can be reliably performed on the road of the map data corresponding to the actual traveling road.

[0054]

As described above, according to the present invention, positioning means for measuring the position of a vehicle and obtaining positioning data of the vehicle, map storage means for storing map data having three-dimensional road information, Display means for displaying position and map data;
When correcting the position of the located vehicle on the road of the map data, an angle consistency determining means for comparing the attitude angle of the vehicle indicated by the positioning data with the road gradient indicated by the three-dimensional road information and determining the consistency thereof And road determination means for determining a road to be corrected according to the determination result of the angle consistency determination means,
With the configuration including the position correction means for correcting the position of the vehicle obtained from the positioning means on the road determined by the road determination means, the position of the measured vehicle is corrected on the road in the map data. In this case, it is possible to distinguish roads that run in the height direction, so that the position of the vehicle can be reliably corrected on the road of the map data corresponding to the actual driving road, and accurate navigation can be performed. realizable.

Further, positioning means for positioning the position of the vehicle,
Map storage means for storing map data having three-dimensional road information; display means for displaying the position and map data of the vehicle; and the vehicle height of the vehicle obtained from the positioning means and the road elevation indicated by the three-dimensional road information. A high-level consistency determining means for comparing and determining the consistency, a road determining means for determining a road to be corrected according to the determination result of the high-level matching determining means, and When the position of the located vehicle is corrected on the road of the map data, the road that travels in the height direction is provided by including the position correcting unit that corrects the position of the vehicle obtained from the positioning unit. Can also be distinguished,
The position of the vehicle can be reliably corrected on the road of the map data corresponding to the actual traveling road, and accurate navigation can be realized.

[Brief description of the drawings]

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

FIG. 2 is an operation flowchart of a map matching unit according to the first embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a navigation device according to a second embodiment of the present invention.

FIG. 4 is an operation flowchart of a map matching unit according to a second embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a conventional navigation device.

FIG. 6 is an operation flowchart of a conventional map matching unit.

[Explanation of symbols]

 Reference Signs List 21 GPS unit 22 Self-contained positioning unit 23 Map storage unit 24 Control unit 25 Display unit 26 Map matching unit 27 Road selection unit 28 Distance consistency judgment unit 29 Direction consistency judgment unit 30 Angle consistency judgment unit 31 Road storage unit 32 Road decision Unit 33 position correction unit 34 advanced consistency judgment unit

Claims (2)

[Claims] An autonomous positioning unit includes a wheel speed sensor for detecting a moving distance of a vehicle, a gyro sensor for detecting a moving direction of the vehicle, and an acceleration sensor for detecting acceleration of the vehicle. A vehicle attitude angle detection device for detecting an attitude angle in a pitch movement direction of a vehicle based on an output of the wheel speed sensor and an output of the acceleration sensor. 2. A self-supporting system comprising: positioning means for measuring a position of a vehicle; a wheel speed sensor for detecting a moving distance of the vehicle; a gyro sensor for detecting a moving direction of the vehicle; and an acceleration sensor for detecting acceleration of the vehicle. A positioning section; attitude angle detecting means for detecting an attitude angle of the vehicle in a pitch motion direction based on an output of the wheel speed sensor and an output of the acceleration sensor of the self-contained positioning section; and map data having three-dimensional road information. And a position correcting means for correcting the vehicle position obtained by the positioning means based on a comparison result between the attitude angle obtained by the attitude angle detecting means and the three-dimensional road information of the map data. A navigation device provided.