| 摘要 |
The invention relates to a method for calculating the range to a moving object by means of a sensor that determines the angle of the object. The sensor and the object move relative to one another, and after one measurement the procedure is as follows: - on the assumption that the target maintains a constant velocity, a number of possible target ranges are calculated, as well as areas of uncertainty associated with these ranges, so-called "straight trajectory models" (410, 411, 412), - on the assumption that the target accelerates, a number of possible target ranges are calculated, as well as areas of uncertainty associated with these ranges, so-called "manoeuvring models" (420, 421, 422), a number of the straight trajectory models (410, 411, 412) having a manoeuvring model assigned to them. In calculating the target range in the straight trajectory models (410, 411, 412) that have associated manoeuvring models (420, 421, 422), data from the respective manoeuvring model is incorporated to a predetermined extent if the probability that the target manoeuvres exceeds a predetermined limit. The range of the target from the sensor is deemed to be a weighted average of a number of ranges of the straight trajectory models, the weighting being based on the probability of each straight trajectory model. |
