{
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  "description": "A position attitude estimation apparatus includes sub-sensor input accepters, a speed sensor state determiner, a scale estimator, and a position attitude information corrector. The sub-sensor input accepter accepts an output of a sub-sensor which acquires information regarding a movement amount…",
  "path": "/patents/1283387",
  "publishedAt": "2021-02-11T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/021",
    "Kabushiki Kaisha Toshiba"
  ],
  "textContent": "A position attitude estimation apparatus includes sub-sensor input accepters, a speed sensor state determiner, a scale estimator, and a position attitude information corrector. The sub-sensor input accepter accepts an output of a sub-sensor which acquires information regarding a movement amount based on information other than an output value of a speed sensor. The speed sensor state determiner determines whether the output value of the speed sensor is reliable. The scale estimator estimates a size of the movement amount based on at least one of the output value of the speed sensor and an output value of the sub-sensor. The position attitude information corrector corrects position attitude information based on the size of the movement amount estimated by the scale estimator.",
  "title": "POSITION ATTITUDE ESTIMATION APPARATUS AND POSITION ATTITUDE ESTIMATION METHOD"
}