| 摘要 |
<p>PROBLEM TO BE SOLVED: To obtain a target tracking apparatus which enables the using thereof without modifying a tracking filter designed for the processing of observation values of a mechanically driven type radar by reducing coordination conversion processing for the shortening of tracking processing time. SOLUTION: This apparatus is provided with an observation value calculator 2 for calculating a three-dimensional observation value comprising the distance to a target and bidirectional cosine, a coordinate conversion device 3 for converting the observation value to a north reference orthogonal coordinate system, devices 9 and 10 which performs a calculation of a predicted vector and for a forecast error covariance matrix at the subsequent sampling time, delay means 14 and 15 which perform a single sampling delay for the predicted vector and the forecast error covariance matrix, a Karman gain matrix calculation means 4 and a smooth vector calculator 5 for calculating a smooth vector based on the predicted vector, a Karman gain matrix and the observation value and a smooth error covariance matrix calculator 6 which performs a calculation for a smooth error covariance matrix from the Karman gain matrix and the forecast error covariance matrix.</p> |
