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Abstract

A state estimation apparatus is mounted in a portable instrument having a part generating a magnetic field. The state estimation apparatus is provided with a magnetic sensor and an acceleration sensor. A stability decision module decides whether motion of the portable instrument is stable or not. A Kalman filter operation module sets an initial vector to a state vector of Kalman filter as an initial value thereof in case that the stability decision module decides that the motion of the portable instrument is stable, and then updates the state vector using an observed value vector having outputs the magnetic sensor and the acceleration sensor, the initial vector having as components thereof an estimated value of an offset representing the magnetic field generated by the part of the instrument and a vector estimating a posture of the portable instrument.

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First Claim