| 摘要 |
PROBLEM TO BE SOLVED: To provide a device state identification method and device which is capable of considerably suppressing an increase of computational load and communication load when the number of devices of which positions should be identified is increased.SOLUTION: Each of devices A, B, and C includes: an external sensor 16 for observing directions or distances of other devices; and a state estimation unit 30 for estimating and managing the quantity of state of the device itself. By the state estimation unit 30, the quantity of state of the device itself and its variance and covariance are managed (S1), management is limited to correlation information showing high correlations between quantities of state of the other devices and the quantity of state of the device (S2), quantities of state of the device and the other devices at the observation time when an observation value of the external sensor 16 is obtained through communication with the other devices, their variances and covariances, and covariance between both of them are predicted (S5), the quantities of state of the device and the other devices, their variance and covariances, and covariance between both of them are corrected in accordance with the predicted values and the observation value of the external sensor 16 (S6), and the correction result is shared among the device and the other devices (S7). |
