Position estimation device and position estimation method

摘要

A position estimation device includes: a mathematical expression model processing unit 106 that calculates a position of a mobile object, a condition quantity indicating a moving condition of the mobile object and an error in the condition quantity through filtering processing executed by using a probability model based upon an attitude information and a positioning information of the mobile object having been obtained from sensors and a specific mathematical expression model among a plurality of mathematical expression models 1, 2, 3 expressing behavior of the mobile object; a threshold calculation unit 104 that calculates a threshold candidate value for a threshold value to be used as a criterion when selecting the specific mathematical expression model, by using the error; a threshold value determining unit 105 that determines the threshold value based upon the threshold candidate value; and a mathematical expression model selection unit 107 that selects the specific mathematical expression model based upon the threshold value.