| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To easily switch a filter, to track a target in an early period, and to reduce a calculation amount. <P>SOLUTION: A tracking device comprises: respective Kalman filter processing units 3-5 for calculating a prediction value, a prediction error covariance matrix, an observation error covariance matrix and a smoothed value from an observation value by using a Kalman filter based on a uniform linear motion model, a meandering motion model, and a multiple motion model; a uniform linear motion determination unit 7 for determining whether or not a target is a uniform linear motion on the basis of the observation value and respective values by the Kalman filter processing unit 3; a likelihood calculation unit 6 for calculating likelihood for the respective motion models on the basis of the observation value and the respective values by the respective Kalman filter processing units; a reliability calculation unit 8 for calculating reliability for the respective motion models on the basis of the likelihood for the respective motion models and a determination result by the uniform linear motion determination means 7; and a weighted average calculation unit 9 for calculating a weighted average value of the respective smoothed values on the basis of the reliability for the respective motion models. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
