An engine torque estimation device includes: a memory; a processor coupled to the memory and the processor configured to, acquire a measured value of a crank angle that is a rotation angle of a crank shaft of an engine, derive, based on the measured value of the crank angle, a calculated value of a crank angle speed, and derive an estimated value of an engine torque, based on a non-linear Kalman filter using a first estimation error that is a difference between the calculated value of the crank angle speed and the estimated value of the crank angle speed.
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