| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a state estimation device capable of maintaining estimation accuracy by correction processing on the amount of observation and internal state variables of a Kalman filter. <P>SOLUTION: A state estimation device 100 includes: a state estimation part 180 which estimates an internal state of a system with a Kalman filter based on an observation signal; a signal conversion part 120 which converts the observation signal to an amount of observation; a correction part 160 which performs correction processing of the amount of observation; and a control part 140 which controls the correction part 160 and the state estimation part 180. The control part 140 instructs the correction part 160 and the state estimation part 180 to correct when determining that predetermined correction conditions are satisfied or when being notified that the predetermined correction conditions are satisfied. The correction part 160 performs correction processing of the amount of observation when instructed to perform correction. The state estimation part 180 performs correction processing of internal state variables corresponding to the amount of observation when instructed to perform correction, and estimates the state based on the amount of observation after correction and the internal state variables. <P>COPYRIGHT: (C)2013,JPO&INPIT |
