Abstract: An interval-valued matrix including elements represented by interval values can be resolved into factor matrices with high accuracy. A parameter estimation unit 20 estimates a factor matrix A and a factor matrix B such that an objective function, represented by including a probability of an element xij taking a scalar value thereof, which is represented using an estimate of the element xij estimated from the factor matrix A and the factor matrix B, for each element xij that is a scalar value, and a probability of the element xij taking an interval value thereof, which is represented using the estimate of the element xij estimated from the factor matrix A and the factor matrix B, for each element xij that is an interval value, is optimized.

Abstract: It is possible to accurately predict data for a prediction target time. The operation unit 10 receives high-dimensional array data representing data at each time and external information data that is a tensor or matrix representing external information at each time. The parameter estimation unit 16 decomposes the high-dimensional array data into a weighted sum of products of a plurality of factor matrices for each rank and decomposes the external information data into a weighted sum of products of a plurality of factor matrices for each rank, under a sparse constraint of weighting parameters for each rank. The prediction unit 22 predicts the data for a prediction target time based on the weighting parameters for each rank and the plurality of factor matrices for each rank, obtained for the high-dimensional array data.

Abstract: A plurality of antennas may be arranged at positions non-linear to each other. Processing circuitry may set an initial value of one of an attitude angle and an azimuth angle of an azimuth angle calculating device. An integer value bias of a carrier phase difference between at least two groups of antennas may be determined by using the initial value. A base-line vector between the at least two groups of antennas may be calculated by using the integer value bias corresponding to the group of antennas. A multiple base-line verification may be performed, in which validity of the initial value is verified by using each of the base-line vectors calculated using the integer value bias. An azimuth angle may be calculated by using the integer value bias when the multiple base-line verification is successful.

Abstract: The purpose is to accurately and promptly calculate an error of a magnetic sensor. A sensor error calculating device may include a GNSS attitude angle calculating module, a GNSS geomagnetism calculating module, and an error estimating module. The GNSS attitude angle calculating module may calculate a GNSS attitude angle of a movable body based on positioning signals of a GNSS. The GNSS geomagnetism calculating module may calculate a GNSS geomagnetism based on the GNSS attitude angle. The error estimating module may estimate a sensitivity error, a misalignment error and a bias error of the magnetic sensor by using a magnetic detection value of the magnetic sensor and the GNSS geomagnetism.

Abstract: An object is to estimate parameters of a model including censored data at high speed, with a saved memory, and with the parameters having temporal continuity. A responsibility update unit 19 updates a responsibility based on data of a newly observed sample. Then, a moment update unit 20 updates a moment based on the data of the newly observed sample. Then, a statistic update unit 21 updates each statistic based on the responsibility or the moment. Then, a parameter update unit 22 updates a parameter related to a component based on the statistics.

Abstract: The purpose is to easily achieve verification of an integrated attitude angle based on an inertial sensor. An attitude angle calculating device may include an integrated attitude angle calculating module, a reverse-calculated value calculating module, a reference value calculating module, and a determining module. The integrated attitude angle calculating module may calculate an integrated attitude angle using an output of the inertial sensor and a positioning signal. The reverse-calculated value calculating module may reverse calculate, using the integrated attitude angle, a physical quantity obtained based on the positioning signal that is used for calculating the integrated attitude angle. The reference value calculating module may calculate a reference physical quantity corresponding to the reverse-calculated physical quantity, based on an observation value of the positioning signal.

Abstract: The probability of migration and the number of migrating persons with high accuracy and a small amount of calculation can be estimated even when migrations to areas other than adjacent areas are taken into consideration. A parameter estimation unit 120 estimates a first parameter indicating the likelihood of departure from the area to the other area and a second parameter indicating the likelihood of gathering of persons in the area for each of the plurality of areas, a third parameter indicating an influence on the probability of migration of a distance between the areas, and the number of migrating persons from the area to each of the other areas for each of the plurality of areas on the basis of the demographic information. A migration probability calculation unit 170 calculates the probability of migration from the area to each of the other areas for each of the plurality of areas on the basis of the first parameter, the second parameter, and the third parameter.

Abstract: The device and method can calculate an absolute spatial relationship between a device and other characteristic points etc. with high precision by using VSLAM. A navigation device includes a VSLAM calculating module, a GNSS rate calculating module, and a scale correction value calculating module. The GNSS rate calculating module calculates a GNSS rate based on one of an amount of change in a phase of a GNSS signal and an amount of change in a frequency of the GNSS signal. The VSLAM calculating module estimates VSLAM locations at a plurality of time points based on a VSLAM calculation using a video image. The scale correction value calculating module calculates a scale correction value for the VSLAM location based on the VSLAM locations at two or more time points of the plurality of time points estimated by the VSLAM calculating module, and the GNSS rate.

Abstract: A movement information calculating device includes a positioning sensor, a velocity sensor, an attitude sensor and processing circuitry. The positioning sensor is configured to calculate a position of the positioning sensor on a movable body. The velocity sensor is configured to calculate a velocity of the movable body. The attitude sensor is configured to calculate an attitude of the movable body. The processing circuitry is configured to calculate a center-of-gravity position and a center-of-gravity velocity of the movable body by using the position, the velocity, and the attitude, and calculate one of a turning center position and a pivoting position of the movable body by using the center-of-gravity position and the center-of-gravity velocity.

Abstract: An oscillation observation device includes a first receiver and processing circuitry. The first receiver is configured to measure carrier phases of positioning signal. The processing circuitry is configured to calculate a velocity of an object by using an amount of change in the carrier phases measured by the first receiver, and calculate an amount of oscillation of the object in a translational direction using the velocity.

Abstract: The present disclosure is to calculate an estimated position with high precision. A course estimating device 10 includes an angular velocity calculating part 30, a horizontal ground speed calculating part 70 and an estimated position calculating part 80. The angular velocity calculating part 30 measures or calculates an angular velocity of a movable body. The horizontal ground speed calculating part 70 calculates a horizontal ground speed based on an attitude angle, a ground course, and a ground ship speed of the movable body. The estimated position calculating part 80 calculates an estimated position, based on a period of time from a current time point to an estimation time point, the horizontal ground speed, and an integration operation of the angular velocity.

Abstract: The determination of an integer value bias may be performed at high speed. A positioning device, may include a FLOAT solution calculating part and an integer value bias determining part. The FLOAT solution calculating part may use carrier phase differences between carrier phases obtained by a plurality of antennas of a first station and a carrier phase obtained by one or more antennas of a second station provided separately from the first station to calculate a FLOAT solution of a particular position that is a relative position with respect to the second station, without using posture information on the first station. The integer value bias determining part may determine an integer value bias of the carrier phase difference, using the FLOAT solution of the particular position and the posture information on the first station.

Abstract: A navigation device may include a GNSS data editing part, an attitude angle calculating part, and a speed calculating part. The GNSS data editing part may generate GNSS attitude angle estimation data and GNSS speed estimation data by using first GNSS data based on a GNSS signal received by a first antenna, and second GNSS data obtained at a shorter cycle than the first GNSS data based on a GNSS signal received by a second antenna. The attitude angle calculating part may estimate an integrated attitude angle based on the IMU angular velocity outputted from an Inertial Measurement Unit (IMU) and the GNSS attitude angle estimation data. The speed calculating part may estimate an integrated speed based on an IMU acceleration outputted from the IMU, the GNSS speed estimation data, and the integrated attitude angle.

Abstract: An attitude angle may be calculated with high precision. In a traveling state calculating device, receiving parts may output data for calculation using positioning signals received by antennas, respectively. A phase difference calculating part may calculate a single phase difference for every base line based on the data for calculation outputted by the receivers. An attitude angle calculating part may calculate an attitude angle using the data for calculation and the single phase difference. A calculating condition determining part may determine a contribution of the data for calculation to the calculation of the attitude angle, corresponding to the component of the attitude angle, based on a spatial relationship between the base line and the positioning satellite.

Abstract: A plurality of antennas may be arranged at positions non-linear to each other. Processing circuitry may set an initial value of one of an attitude angle and an azimuth angle of an azimuth angle calculating device. An integer value bias of a carrier phase difference between at least two groups of antennas may be determined by using the initial value. A base-line vector between the at least two groups of antennas may be calculated by using the integer value bias corresponding to the group of antennas. A multiple base-line verification may be performed, in which validity of the initial value is verified by using each of the base-line vectors calculated using the integer value bias. An azimuth angle may be calculated by using the integer value bias when the multiple base-line verification is successful.

Abstract: A small-sized state calculating device which may acquire a highly-precise state calculation value is provided. The state calculating device may include antennas, receiving parts, a phase difference calculating part and an operation part. The receiving parts may calculate carrier phase measurements PYA, PYB and PYC of GNSS signals received by the antennas, respectively. The phase difference calculating part may set the antennas to be switched between a master antenna and a slave antenna, and calculate the plurality of inter-antenna phase differences ??AB, ??BC and ??CA, for every combination of the master antenna and the slave antenna, using the carrier phase measurements PYA, PYB and PYC. The operation part may calculate an attitude angle AT using the plurality of inter-antenna phase differences ??AB, ??BC and ??CA.

Abstract: A velocity calculating device is provided, which can accurately calculate a moving velocity of a movable body without depending on signals obtained externally. A navigation device includes an acceleration acquiring module, an angular velocity acquiring module, a time difference detecting module, and a velocity calculating module. The acceleration acquiring module acquires the vertical acceleration of one of the axle of the front wheels and the axle of the rear wheels. The angular velocity acquiring module acquires a pitch angular velocity of the automobile. The time difference detecting module detects a time difference between the acceleration in the vertical directions and the pitch angular velocity. The velocity calculating module calculates a moving velocity of the automobile based on a rate of a wheelbase with respect to the time difference.

Abstract: The purpose is to easily achieve verification of an integrated attitude angle based on an inertial sensor. An attitude angle calculating device may include an integrated attitude angle calculating module, a reverse-calculated value calculating module, a reference value calculating module, and a determining module. The integrated attitude angle calculating module may calculate an integrated attitude angle using an output of the inertial sensor and a positioning signal. The reverse-calculated value calculating module may reverse calculate, using the integrated attitude angle, a physical quantity obtained based on the positioning signal that is used for calculating the integrated attitude angle. The reference value calculating module may calculate a reference physical quantity corresponding to the reverse-calculated physical quantity, based on an observation value of the positioning signal.

Abstract: The purpose is to accurately and promptly calculate an error of a magnetic sensor. A sensor error calculating device may include a GNSS attitude angle calculating module, a GNSS geomagnetism calculating module, and an error estimating module. The GNSS attitude angle calculating module may calculate a GNSS attitude angle of a movable body based on positioning signals of a GNSS. The GNSS geomagnetism calculating module may calculate a GNSS geomagnetism based on the GNSS attitude angle. The error estimating module may estimate a sensitivity error, a misalignment error and a bias error of the magnetic sensor by using a magnetic detection value of the magnetic sensor and the GNSS geomagnetism.

Abstract: To accurately calculate an attached angle of an accelerometer and accurately correct an acceleration that is obtained from the accelerometer: a frequency analyzing module of an acceleration corrector divides a sensor coordinate system acceleration into a bias frequency component, a gravity frequency component, a movement acceleration frequency component, and a noise frequency component, through a wavelet transform. The frequency analyzing module outputs a sum component of the gravity frequency component and the movement acceleration frequency component to an attached angle estimating module and a correcting operation module. The attached angle estimating module estimation-calculates the attached angle of an accelerometer and outputs it to the correcting operation module.