| 摘要 |
PROBLEM TO BE SOLVED: To obtain a target-tracking apparatus which reduces errors, when a navigation track is made to correspond to a target in a tracking initializing operation by a method, wherein after a smoothing processing operation regarding a target navigation track, the mean value of confidence values calculated in respective samples is used as an evaluation reference. SOLUTION: Radio waves or the like whose transmission source is a target are received by a sensor 1. A first track-setting circuit 4 to which observed data is input uses N pieces of observation vectors, the hypothesis of a track is created, and the observation vectors in the respective samples by the hypithesis are sent to a memory circuit 7 and a memory circuit 11. In addition, an estimation-value calculation circuit 8 sequentially sends and estimation value x-hat and an estimation value p-hat as calculation results to the memory circuit 11. Tracking results of the N pieces of samples from the memory circuit 11 subjected to smoothing by a smoothing-value calculation circuit 12, and a smoothing value under the conditions that the N pieces of samples are observed is calculated. On the basis of the result of this smoothing processing operation, areliability calculation circuit 5 calculates the mean value of reliabilities for the N pieces of samples, so as to be sent to a tracking decision circuit 13. In this manner, the mean value of the reliabilities in the respective samples after a smoothing processing operation is used as an evaluation reference.
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