| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that the number of phenomena to be calculated in reliability increases explosively when the number of targets in a cluster increases and arithmetic load at the time of calculation of reliability becomes extremely large. SOLUTION: The target tracking apparatus is equipped with a hypothesis reliability calculation part 21 calculating the forming propability of respective hypotheses as hypothesis reliability, a model reliability calculation part 22 for calculating probability allowing the motion of a wake to coincide with each of motion models as model reliability with respect to all of wakes included in all of clusters, a smooth processing part 23 calculating a smooth vector and a smooth error covariance matrix when motion is performed according to respective motion models under such a suposition that each wake is correlated with each observation vector in a gate at every motion model and a smooth integration processing part 24 for throwing the smooth vector and the smooth error covariance matrix into one with respect to each wake. A tracking result can be obtained in a practical arithmetic time while keeping highly accurate correlational performance and the following performance to a high movement target.
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