| 摘要 |
PROBLEM TO BE SOLVED: To provide a target tracking device capable of precisely tracking a target even in a circumstance where the magnitude of an observation error changes in response to the motion state of a dynamic body.SOLUTION: In a Kalman filter using the value of a target motion model, a process noise matrix representing the magnitude of a model error, and an observation noise matrix representing the magnitude of an observation error by a sensor, a value that varies by fitting the motion state of the dynamic body of its own to the observation noise matrix is set. A filter property can be adaptively changed in accordance with the situation by observation noise matrix calculation processing. Resultantly, a state quantity such as a target position can be precisely estimated. |
