| 摘要 |
PROBLEM TO BE SOLVED: To more precisely trace a target at a control period cycle shorter than an observation period cycle. SOLUTION: The real positions of autonomic moving targets 3 and 42 on a first time series are detected by remote objects 5, 13, and 41, and a three time differential array is calculated from the present positions on the first time series. Then, the positions, speeds, and accelerations of the autonomic moving targets 3 and 42 are physically estimated on a second time series which is more precise than the first time series from the three time differential array, and the positions of the remote objects 5, 13, and 41 are controlled based on the physical estimation. Mathematical estimation is added to the physical estimation. In the mathematical estimation, the positions, speeds, and accelerations calculated by the physical estimation are further estimated by a Karman filter 31. Thus, it is possible to more precisely trace the target at the control period shorter than the observation period based on the dynamic characteristics of the past movement.
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