PURPOSE:To reduce the time required for software and at the same time to facilitate the handling of a Kalman filter, by incorporating previously the algorism of the Kalman filter into an ROM. CONSTITUTION:An arithmetic control part 5 extracts each constant out of a data buffer 4 with each measurement of measuring signals U and Y. Then each constant is substituted for the algorism of a Kalman filter which is previously incorporated into an ROM6 to deliver the estimated value. At the same time, each of new constants is written to the buffer 4. Such an operation is repeated for each measurement. Thus the time required for software is reduced since the algorism of the Kalman filter is previously incorporated into the ROM6. Furthermore the handling is facilitated for the Kalman filter.
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