| 摘要 |
PROBLEM TO BE SOLVED: To provide a tracking apparatus capable of improving accuracy of an initial value in predicting a point of impact and accurately predicting the point of impact. SOLUTION: By retroactively computing smoothed vectors and a covariance matrix by the amount of the past of an L time segments by a second delay means 10, a second predicting means 11, and a second smoothing means 12, accuracy of the initial value in predicting the point of impact is improved. By a means 8 for computing a coordinate transformation matrix into kinetic coordinates and a means 9 for setting drive noise in the kinetic coordinates, the covariance matrix of drive noise vectors is defined in the kinetic coordinates, and the matrix is transformed into orthogonal coordinates with north as reference to provide the covariance matrix of the drive noise vectors. As a result, it is possible to suppress drifts of the initial value in horizontal directions. COPYRIGHT: (C)2004,JPO
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