Patent ID: 8593341

Claim:
A position calculation method executed by a position calculation apparatus, the method comprising: determining whether a sensor unit for detecting a physical event for use in position calculation is mounted on the position calculation apparatus, wherein the sensor unit is one of plurality of types of sensor units; identifying, when the determining step indicates the sensor unit is mounted on the position calculation apparatus, which of the plurality of types of sensor unit is mounted on the position calculation apparatus; acquiring information from the sensor unit, the information representing a kind of data output from the sensor unit; and calculating, when the determining step indicates the sensor unit is mounted on the position calculation apparatus, a position by a Kalman filter using an output of an inertial measurement unit integrated with the position calculation apparatus; and correcting, when the determining step indicates the sensor unit is mounted on the position calculation apparatus, the Kalman filter by setting an output of the sensor unit as an observation value which corresponds to the kind of data.