Patent ID: 8421670

Claim:
A position estimation apparatus mounted at a mobile object, the position estimation apparatus comprising: an acquisition section that acquires transmission source information transmitted from each of a plurality of information transmission sources, the transmission source information including, information relating to a position of the each information transmission source, information relating to a distance between the each information transmission source and the mobile object, and information relating to a relative velocity of the mobile object with respect to the each information transmission source; a trajectory calculation section that calculates a trajectory of the mobile object by integrating velocity vectors of the mobile object over a predetermined duration, the velocity vectors of the mobile object being obtained on the basis of the transmission source information acquired by the acquisition section; and an estimation section that estimates, as a position of the mobile object, a position for which the trajectory of the mobile object calculated by the trajectory calculation section is translated such that a difference between, distances between a plurality of points at different times on the trajectory of the mobile object and the respective information transmission sources, and the acquired distances between the respective information transmission sources and the mobile object, is at a minimum.