| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate the position of a mobile terminal without using an expensive sensor.SOLUTION: Each mobile terminal 30 uses absolute position information as an initial position, extracts a position where the moving direction of the self terminal is changed from the trajectory of inertial navigation positions estimated on the basis of time series data of inertial navigation information to use the extracted position as a joint, and generates a network model in which positions where proximity communication was performed with another mobile terminal were recorded. An inertial navigation device 50 estimates the angle of each joint of the network model per mobile terminal 30 using the condition that communication positions where proximity communication was performed between mobile terminals 30 correspond between the mobile terminals 30 as the condition of constraint. |
