| 摘要 |
<p>PROBLEM TO BE SOLVED: To obtain a method in which a target is tracked with high accuracy by a radar or the like and to obtain its apparatus. SOLUTION: A target judgment part 14, to which an observed value is inputted, gives an observation residual to an adaptive Kalman filter 5 and a parameter estimation part 6. The filter 5 finds the covariance of a preliminarily estimated value and the observation residual from the observed value, and the covariance is given to the part 4. The part 6 estimates a parameter (the standard deviation of a target speed and a correlation time constant) on the basis of the observation residual from the part 4 and on the basis of the covariance of the observation residual from the filter 5, and the parameter is given to the filter 5. The filter 5 uses the parameter received from the part 6, and it self-adjusts a transition matrix and a system noise. Thereby, the target is converged to an optimum filter, and the target is tracked with satisfactory accuracy.</p> |
