State estimation apparatus and method to estimate current state of object

Abstract

The present disclosure provides a state estimation apparatus of estimating a current state of an object based on state information and observation information for dynamically replicating the object, the state estimation apparatus including an input unit that receives the observation information, and a current state estimation unit that generates current state estimation information through the observation information, wherein the current state estimation unit includes a prediction information generation unit that generates state prediction information through inputting past state estimation information obtained by delaying the current state estimation information by one time unit into a previously prepared state prediction model, and a prediction information correction unit that calculates a Kalman gain matrix associated with a degree of correction of the state prediction information through artificial neural network(s), and corrects the state prediction information through the observation information and the Kalman gain matrix to generate the current state estimation information.