
NAIST Application No  P0505 
Title  STATE ESTIMATION DEVICE, STATE ESTIMATION METHOD, STATE ESTIMATION PROGRAM, AND COMPUTERREADABLE RECORDING MEDIUM   INVENTOR  NAKAMURA, Hisakazu; .HIGUCHI, Muneaki; .NISHITANI, Hirokazu; .   Pub.No  WO/2006/126535  Pub Date  30.11.2006   International Application No  PCT/JP2006/310241  International Application Date  23.05.2006 
abstract  There are provided a state estimation device, a state estimation method, a state estimation program, and a computerreadable recording medium which can be used without requiring an error variance matrix even when the initial state is unknown. The state estimation device includes: an initial angle estimating unit (6) for estimating a posture angle (initial posture angle) of a moving body according to a relative posture angle obtained from a relative angle measuring unit (4) and an absolute posture angle obtained from an absolute angle measuring unit (5); a current angle estimating unit (7) for estimating a posture angle (current posture angle) of the moving body according to the relative posture angle and the initial posture angle; an initial position estimating unit (8) for estimating the position (initial position) of the moving body according to the initial posture angle, the relative position of the moving body obtained from the relative position measuring unit (2), and the absolute position obtained from an absolute position measuring unit (3); and a current position estimating unit (9) for estimating the current position of the moving body according to the relative position, the estimated initial posture angle, and the estimated initial position. Thus, it is possible to estimate the current position and the current posture angle of the moving body. 
National Phase  DE 23.11.2007 1120060013149 / DE 10.04.2008 1.12006E+11 / JP 09.11.2007 2007517836 

