METHOD AND APPARATUS FOR INTEGRATING SENSOR INFORMATION

PROBLEM TO BE SOLVED: To provide a method and apparatus for integrating information from a plurality of sensors without increasing errors and the amount of calculation.SOLUTION: Newly received sensor information Yn is recorded in observation time order and determined on whether each sensor information satisfies a first condition (S3). The first condition is that "sensor information from all sensors has been received at the observation time of received sensor information or later" If the first condition is satisfied, each sensor information 6 that satisfies the first condition is used in observation time order to predict the internal condition of a target object, a first estimate value X1 is updated with the predicted internal condition and stored, a second estimate value X2 is overwritten by the updated first estimate value X1, and the sensor information used for the update is deleted (S4, S5, S7, S8). If the first condition is not satisfied, the internal condition is predicted using the newly received sensor information Yn, and the second estimate value X2 is updated with the predicted internal condition and stored (S9). The second estimate value X2 is output as the internal condition of the target object (S10).