POSITION AND ATTITUDE DETECTOR

PROBLEM TO BE SOLVED: To provide a position and attitude detector which can accurately detect the position and attitude of a traveling object in a short time by using a parallel mechanism having six degrees of freedom. SOLUTION: The position and attitude of a traveling object are detected by using a parallel mechanism structure having six degrees of freedom by constituting an arithmetic means 2 of a position assuming means 3 which sets the positions of specific three detected points from an origin to first assumed positions based on the actual, shape of a first triangle formed of the three detected points and three actual distances obtained from specific three distance measuring means which respectively measure the actual distances to the three detected points, an updating means 4 which successively updates the first assumed positions to bring the positions closer to their actual positions by reducing the errors between virtual data calculated based on the first assumed positions and already known actual data by comparing the data with each other, and a position and attitude deciding means 5 which decides the position and attitude of the traveling object by calculation when the errors become smaller than prefixed values.