| 摘要 |
PROBLEM TO BE SOLVED: To provide a direction estimation device and position estimation device capable of regularly precisely estimating a direction and position regardless of the circumferential environment. SOLUTION: The reliabilities of a DGPS receiver 2, a speed meter 2, a geomagnetic sensor 4 and a gyro 5 are judged, and the direction and position of a mobile are estimated by a position and direction calculation part 6 so that the highly reliable means 2-5 have a great influence on the estimation of direction and position. Further, since the reliabilities are judged on the basis of the detection value by each means 2-5, not only the reliability based on only the general precision which is not influenced by a turbulence factor of each means 2-5 itself but also the reliability in the state influenced by the circumferential environment. Accordingly, the direction and position can be regularly precisely estimated.
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