| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a position determining method for a target by sensor installation error estimation and a moving route determining method for the target which determine the arrangement or moving route of the target by computing the minimum singular value of an observation matrix in advance, and further evades divergence in real time if an estimated value diverges. SOLUTION: Assuming in the computation of the observation matrix that an observed value has no observation noise and an estimated value which is a certain time before is a real sensor installation error, the observation matrix can be a function of the real position of the target. Before the target arrangement, the observation matrix is computed in advance and its minimum singular value is computed; and the target arrangement is so previously specified that the minimum singular value is maximum, thereby previously preventing the estimated value from diverging.</p> |
