| 摘要 |
PROBLEM TO BE SOLVED: To provide target tracking equipment which uses not only information on positions but information on Doppler speeds (the rates of change in distances with respect to time), and performs tracking processing by the use of a postponed determination type correlation system. SOLUTION: Gate computing portions 4a, 4b, observed value selecting portions 5a, 5b, a hypothesis reducing portion 15, smoothing portions 17a, 17b, and a track determining portion 16, are provided. The portions 4a, 4b and the portions 5a, 5b extract observation information having possibilities of correlation concerning the Doppler speeds of the targets to be tracked and the target positions at the present time, with respect to the tracks of the targets found until that time. Using the observation information extracted by these, the portion 15 forms groups of hypotheses which represent combinations of tracks of the targets presumed at each point of observation time, performs evaluation of certainty for each hypothesis in the groups, and reduces the number of hypotheses in the groups on the basis of the evaluation result. The portions 17a, 17b perform smoothing for various motion factors including the Doppler speeds of the targets, with respect to each track in the groups. The portion 16 selects a hypothesis which represents the motion factors at the present time of the targets most exactly from the groups. COPYRIGHT: (C)2004,JPO
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