ESTIMATION METHOD AND ESTIMATION DEVICE EMPLOYING THE SAME

摘要

PROBLEM TO BE SOLVED: To provide a technology for improving position estimation accuracy.SOLUTION: In a third processing part 34, repetitive processing is performed on a factor graph including: (1) a first factor node connected to a first parameter node on one hand and connected to a second parameter node and a third parameter node on the other hand; (2) a second factor node connected to the second parameter node over a plurality of sensors on one hand and connected to a fourth parameter node on the other hand; (3) a third factor node connected to the third parameter node over a plurality of sensors on one hand and connected to a fifth parameter node on the other hand; and (4) a fourth factor node connected to a sixth parameter node over a plurality of sensors on one hand and connected to the fourth parameter node and the fifth parameter node on the other hand. This, the fourth parameter node and the fifth parameter node are derived.