| 摘要 |
PROBLEM TO BE SOLVED: To improve a tracking performance for a tracking target which meanders, by not performing processing of a jerk term which lowers presumption accuracy easily, and to enable tracking processing along the center axis of a meandering locus. SOLUTION: This equipment is provided with a motion item prediction apparatus 15-1 for calculating motion item smoothed values of the tracking target by a Kalman filter, on the basis of a motion model for the tracking target having a uniform linear motion component and a sinusoidal motion component, and performs such prediction processing that makes the tracking target exist on the center axis of the meandering locus, or on the meandering locus as occasion demands. COPYRIGHT: (C)2005,JPO&NCIPI
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