| 摘要 |
PROBLEM TO BE SOLVED: To estimate a moving azimuth and velocity of a target object with high tracking accuracy.SOLUTION: Each transmitter transmits a radio signal, and a plurality of receivers receive radio signals which are or are not reflected by an object, convert a time of arrival into a distance from velocity of the radio signal. There is an object on an oval with the transmitter and the receivers as focal points, and a position where a plurality of ovals overlap with one another is analytically operated to determine a position of the object by similarly acquiring ovals in a plurality of other receivers. There is provided a maximum likelihood speed vector calculation part which, on the basis of a known position of the transmitter, known positions of the receivers, and the determined position of the object, in the state that a posture of the object coincides with a moving azimuth, discretely assumes the moving azimuth of the object in the whole circumference, calculates with a moving object a Doppler shift amount to be a frequency deviation amount of a radio signal by a Doppler phenomenon, and thus integrates velocity estimation values calculated from all exploration candidate values including pseudo-candidate values, and estimates a velocity estimation value of the object. |
