POSITION ESTIMATING DEVICE AND COMPUTER PROGRAM FOR POSITION ESTIMATION

To provide a position estimating device with which it is possible to estimate the position of a moving object with high accuracy.SOLUTION: A position estimating device comprises: a first and a second position information acquisition unit for acquiring, for each of first and second information acquisition times set on first and second cycles, first and second positional relation information that represent the position of a moving object; a first and a second position calculation unit for calculating the first and second estimation positions of a moving object at the first and second information acquisition times on the basis of the first and second positional relation information; and a position estimation unit for estimating the position of the moving object at the present time on the basis of the first estimation position and the movement amount and direction of the moving object between the first information acquisition time and the present time when the first estimation position at the immediately preceding first information acquisition time is obtained, or estimating the position of the moving object at the present time on the basis of the second estimation position and the movement amount and direction of the moving object between the immediately preceding second information acquisition time and the present time when the first estimation position at the immediately preceding first information acquisition time is not obtained.SELECTED DRAWING: Figure 4 【課題】高い精度で移動物体の位置を推定できる位置推定装置を提供する。【解決手段】位置推定装置は、第１及び第２の周期で設定される第１及び第２情報取得時刻ごとに、移動物体の位置を表す第１及び第２位置関係情報を取得する第１及び第２位置情報取得部と、第１及び第２位置関係情報に基づいて、第１及び第２情報取得時刻における移動物体の第１及び第２推定位置を算出する第１及び第２位置算出部と、直前の第１情報取得時刻の第１推定位置が求められた場合、現時刻の移動物体の位置を、第１推定位置と、第１情報取得時刻と現時刻との間における移動物体の移動量及び移動方向とに基づいて推定し、直前の第１情報取得時刻の第１推定位置が求められない場合、現時刻の移動物体の位置を、第２推定位置と、直前の第２情報取得時刻と現時刻との間における移動物体の移動量及び移動方向とに基づいて推定する位置推定部と、を有する。【選択図】図４