| 摘要 |
PROBLEM TO BE SOLVED: To obtain a tracking device capable of reducing the reliability of a hypothesis of wake with large estimation errors in sampling in the past and reducing errors in correlating the wake of tracking and a target by including the estimation error in sampling in the past, when reliability in the present sampling during tracking is calculated. SOLUTION: In this device are provided a sensor 1 observing a target, an observation device 2 outputting the target position as an observation data using the signal received with the sensor 1, a memory circuit 3 storing the observation data, a wake setting circuit 4 setting a hypothesis of the wake from the observation data stored in the memory circuit 3, a tracking processor 6 for processing with a Karman filter for the wake included in the hypothesis, a smoothing processor 10 for smooth-processing the wake included in the hypothesis, a reliability calculation circuit 5 calculating the reliability of each hypothesis by averaging the likelihood in each sample, and a wake decision circuit 13 for deciding the wake of the target based on the hypothesis of the wake and reliability. By this, error in correlating the wake and the target during tracking can be reduced.
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