Communication device and position estimation method

1. A communication device comprising:

a plurality of wireless communication units configured to perform wireless communication with an other communication device; and

a control unit configured to estimate positional information indicating a position at which the other communication device is located based on at least one distance measurement value indicating a distance between the other communication device and at least one wireless communication unit and obtained through the wireless communication of each of the plurality of wireless communication units,

wherein the control unit corrects first positional information among a plurality of pieces of positional information estimated at different times based on second positional information different from the first positional information among the plurality of pieces of positional information.

2. The communication device according to claim 1 , wherein the control unit corrects the first positional information using the positional information estimated based on a number of distance measurement values more than a number of the distance measurement values used to estimate the first positional information, as the second positional information.

3. The communication device according to claim 2 , wherein the control unit corrects the first positional information using a positional information estimated based on at least three distance measurement values as the second positional information.

4. The communication device according to claim 1 ,

wherein the first positional information indicates a plurality of positions, and

wherein the control unit performs selecting certain positions among the plurality of positions indicated by the first positional information as the position at which the other communication device is located as correcting the first positional information.

5. The communication device according to claim 1 , wherein the control unit corrects the first positional information using the positional information estimated using the distance measurement value obtained through the wireless communication at a timing consecutive on a time axis with a timing at which the wireless communication in which the measured value used to estimate the first positional information is obtained is performed, as the second positional information.

6. The communication device according to claim 5 , wherein the control unit selects a position close to a position indicated by the second positional information among a plurality of positions indicated by the first positional information as the position at which the other communication device is located.

7. The communication device according to claim 4 , wherein the control unit corrects the first positional information based on a plurality of the pieces of second positional information.

8. The communication device according to claim 7 , wherein the control unit performs selecting a position consistent with a movement trajectory connecting positions at which the other communication device is located and which are indicated by the plurality of pieces of second positional information among the plurality of positions indicated by the first positional information, as a position at which the other communication device is located as correcting the first positional information.

9. The communication device according to claim 1 ,

wherein the communication device is mounted in a vehicle, and

wherein the other communication device is carried by a user of the vehicle.

10. A communication device comprising:

a wireless communication unit configured to perform wireless communication with each of a plurality of other wireless communication units included in another communication device; and

a control unit configured to estimate positional information indicating a position at which the communication device is located based on at least one distance measurement value indicating a distance between the wireless communication unit and at least one other wireless communication unit and obtained through the wireless communication performed by the wireless communication unit,

wherein the control unit corrects first positional information among a plurality of pieces of positional information estimated at different times based on second positional information different from the first positional information among the plurality of pieces of positional information.

11. A positional estimation method performed by a communication device including a plurality of wireless communication units performing wireless communication with an other communication device, the method comprising:

estimating positional information indicating a position at which the other communication device is located based on at least one distance measurement value indicating a distance between the other communication device and at least one wireless communication unit and obtained through the wireless communication of each of the plurality of wireless communication units; and

correcting first positional information among a plurality of pieces of positional information estimated at different times based on second positional information different from the first positional information among the plurality of pieces of positional information.