Vehicle estimate navigation apparatus, vehicle estimate navigation method, and vehicle estimate navigation program

A vehicle estimate navigation apparatus including: a speed vector calculation means for calculating, based on GFS or calculating, based on GPS information by a GPS receiver mounted in a running vehicle, a speed vector of a running speed of the vehicle;a tire rotation information detection means for detecting rotation information of tires attached to the vehicle; a tire rotation speed calculation means for calculating rotation speeds of the tires based on tire rotation information obtained by the tire rotation information detection means; a speed calculation means for calculating a vehicle speed based on the speed vector information; a yaw rate calculation means for calculating a vehicle yaw rate based on the speed vector information; a first parameter calculation means for calculating a first parameter of a first relational expression between the vehicle speed calculated by the speed calculation means and the tire rotation speed; and a second parameter calculation means for calculating a second parameter of a second relational expression between the yaw rate calculated by the yaw rate calculation means and the tire rotation rate.