Control device, system, and control method

A system comprising:

• a communication device that has three or more antennas;
• another communication device that has one or more antennas;
• and
• a control device that performs control for estimating a positional relationship between the communication device and the other communication device on the basis of signals transmitted and received between the communication device and the other communication device, wherein
• the control device applies a weight parameter based on a reliability parameter that is an index indicating a degree of whether or not a signal is appropriate as a processing target for estimating a positional relationship between a plurality of communication devices and the other communication device calculated on the basis of a signal received from the other communication device by each of the plurality of communication devices to a provisional positional relationship between the plurality of the communication devices and the other communication device estimated on the basis of the signals transmitted and received between the plurality of communication devices and the other communication device, and performs control for estimating the positional relationship between the communication device and the other communication device,
• the three or more antennas included in the communication device are four or more antennas, and
• the control device applies the weight parameter to the provisional positional relationship estimated on the basis of signals transmitted and received by the three or more antennas and appropriate as processing targets for estimating the positional relationship based on the reliability parameter among the four or more antennas, and performs control for estimating the positional relationship between the communication device and the other communication device.

A control method executed by a computer, comprising:

• transmitting and receiving signals between a communication device having three or more antennas and another communication device;
• and
• performing control for estimating a positional relationship between the communication device 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 communication device and the other communication device includes
• applying a weight parameter based on a reliability parameter that is an index indicating a degree of whether or not a signal is appropriate as a processing target for estimating a positional relationship between a plurality of communication devices and the other communication device calculated on the basis of a signal received from the other communication device by each of the plurality of communication devices to a provisional positional relationship between the plurality of communication devices and the other communication device estimated on the basis of the signals transmitted and received between the plurality of communication devices and the other communication device, and performing control for estimating the positional relationship between the communication device and the other communication device,
• the three or more antennas included in the communication device are four or more antennas, and
• the control method further includes:
• applying the weight parameter to the provisional positional relationship estimated on the basis of signals transmitted and received by the three or more antennas and appropriate as processing targets for estimating the positional relationship based on the reliability parameter among the four or more antennas, and
• performing control for estimating the positional relationship between the communication device and the other communication device.