Control device, system, and control method

A system comprising:

• a plurality of communication devices each of which has three or more antennas;
• another communication device that has one or more antennas;
• and
• a control device configured to perform control for estimating a positional relationship between the plurality of communication devices and the other communication devices on the basis of signals transmitted and received between the plurality of communication devices and the other communication devices, wherein
• the control device is configured to compare reliability parameters that are indexes indicating a degree of whether or not a signal is appropriate as a processing target for estimating a positional relationship between each of the plurality of communication devices and the other communication device, calculated on the basis of the signals received from the other communication device by the communication device, and perform control for estimating the positional relationship on the basis of a signal transmitted and received between the communication device that has received a signal that is more appropriate as a processing target for estimating the positional relationship and the other communication device.

A control method executed by a computer, comprising:

• transmitting and receiving signals between a plurality of communication devices each of which has three or more antennas and another communication device;
• and
• performing control for estimating a positional relationship between the plurality of communication devices and the other communication device on the basis of the transmitted and received signals, wherein
• the performing control for estimating a positional relationship between the plurality of communication devices and the other communication device includes
• comparing reliability parameters that are indexes indicating a degree of whether or not a signal is appropriate as a processing target for estimating a positional relationship between each of the plurality of communication devices and the other communication device, calculated on the basis of the signals received from the other communication device by the communication device, and performing control for estimating the positional relationship on the basis of a signal transmitted and received between the communication device that has received a signal that is more appropriate as a processing target for estimating the positional relationship and the other communication device.