POSITION ESTIMATION DEVICE, POSITION ESTIMATION METHOD, AND COMPUTER PROGRAM

A position estimation device (50) according to an embodiment of the present disclosure is provided for estimating a self-position of a moving object device (10) provided with one or more sensors (22). The position estimation device includes a state-amount estimation unit (60), a confidence-degree calculation unit (62), and a self-position estimation unit (64). The state-amount estimation unit (60) estimates a state amount representing a state of each sensor based on an observation value of the corresponding sensor. The confidence-degree calculation unit (62) calculates a confidence degree representing a degree of confidence of the state amount of each sensor. The self-position estimation unit (64) selects one or more target sensors from among the sensors based on the confidence degree of the state amount of each sensor, and estimates the self-position based on the observation value and the state amount of each of the selected target sensors.