Abstract: By a movement amount estimation device, a movement amount estimation method, or a computer-readable non-transitory storage medium storing a movement amount estimation program, a degree of a priority of a combination of each of past satellite data acquired by a receiver at a plurality of past points and current satellite data acquired at a current point, for using the priority for estimating a movement amount is determined, and a relative movement amount from at least one of the plurality of past points to the current point is calculated.

Abstract: An error estimation device includes an error prediction unit and a determination unit. The error prediction unit is configured to predict a bias error occurring in an inertial sensor mounted in a vehicle. The determination unit is configured to determine whether the bias error needs to be repredicted by the error prediction unit based on a reflection distance image acquired by an optical sensor in a rolling shutter mode and an outside light image acquired by an external camera in a global shutter mode.

Abstract: An error estimation device includes an error prediction unit and a determination unit. The error prediction unit is configured to predict a bias error occurring in an inertial sensor mounted in a vehicle. The determination unit is configured to determine whether the bias error needs to be repredicted by the error prediction unit based on a reflection distance image acquired by an optical sensor in a rolling shutter mode and an outside light image acquired by an external camera in a global shutter mode.

Abstract: A positioning system includes: multiple positioning devices: and a center device that communicates with each of the multiple positioning devices. At least one positioning device is usable at a moving body, and includes: a positioning calculator that calculates a location dependence delay amount and a propagation distance and calculates a current position of the at least one positioning device; and a positioning communication portion that transmits the location dependence delay amount. The center device includes: an update portion that updates a distribution location dependence delay amount; and a distribution communication portion that transmits the distribution location dependence delay amount to at least one of the multiple positioning devices.