| 摘要 |
<p>PROBLEM TO BE SOLVED: To obtain a tracking apparatus in which an algorithm can be simplified by a method wherein a second smoothing value and a smoothing-error covariance matrix are computed on the basis of a third estimated value and a third estimated-error covariance matrix which are obtained by a second delay element, and on the basis of an observed value which is obtained by an observation means. SOLUTION: In order to compute a state transition matrix by an estimation means 2, an angular velocity which is computed by an angular-velocity computing means 3 is outputted to a first delay element 4. A second delay element 7 inputs, to a smoothing means 8, an estimated-error covariance matrix obtained by the estimation means 2 before one sampling operation, it inputs to a smoothing means 9 an estimated-error covariance matrix obtained by an estimation means 5 before one sampling operation, and it outputs to the smoothing means 8, 9 an estimated value obtained by an estimated-value selection means 6 before one sampling operation. The smoothing means 8 computes a smoothing value and a smoothing- error covariance matrix on the basis of the estimated value and the estimated-error covariance matrix which are obtained by the delay element 7, and on the basis of an observed value which is obtained by an observation means 1. The smoothing means 9 computes a smoothing value and a smoothing-error covariance matrix on the basis of the observed value and the estimated-error covariance matrix which are obtained by the delay means 7, and on the basis of the observed value which is obtained by the observation means 1.</p> |
