| 摘要 |
PROBLEM TO BE SOLVED: To provide a target tracking device providing favorable tracking accuracy by controlling sizes and center distances of error ellipsoids and the number of models so the error ellipsoids constantly overlap, and suppressing unnecessary compensation to position and speed occurring when a turn duration of a target is shorter than a sampling interval. SOLUTION: The target tracking device is provided with an error ellipsoid multiplicity determining means of determining multiplicity of the error ellipsoids which are equal probability lines showing existence expectation probabilities of the target around predicted positions of N pieces of kinetic models on the basis of predicted values and a predicted error covariance matrix per kinetic model calculated by a Kalman filter, and an error ellipsoid enlarging/reducing means of enlarging and reducing the error ellipsoids so there are no blank areas between error ellipsoids on the basis of the multiplicity of the error ellipsoids determined by the error ellipsoid multiplicity determining means.
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