| 摘要 |
PROBLEM TO BE SOLVED: To eliminate a delay error due to the sampling rate of a sensor and to calculate a sensor directional position by performing smoothing processing based on the scheduled value of target movement and an actually obtained observation value. SOLUTION: An observation matrix generator 2 calculates an observation matrix for performing the smoothing processing of an observation value that is outputted from a sensor 1. A target scheduled movement-inputting device 6 outputs a target position with the schedule flight course of a target being obtained in advance as the scheduled value of target movement. A smoothing device 7 performs a smoothing processing and outputs a smoothing value based on an observation matrix that is outputted from the observation matrix generator 2 and a scheduled value that is outputted from the target scheduled movement-inputting device 6. A prediction device 8 predicts target movement at the next sampling of the sensor 1 based on the smoothing value that is outputted from the smoothing device 7, and outputs a prediction value. A sensor directional position calculation device 5 calculates the directional position of the sensor 1 based on the prediction value of the target movement, and a prediction matrix generator 19 outputs a target movement prediction element 20.
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