| 摘要 |
PROBLEM TO BE SOLVED: To facilitate the convergence of a solution at the time of analysing a target motion by solving a nonlinear equation. SOLUTION: A received signal corresponding to the radiation sound of a target is inputted to a bearing information calculation part 22 and a frequency information calculation part 23, thereby computing an observation azimuthθm(t) as well as an observation frequency componentνkm(t) for the delivery thereof to an initial value calculation part 24 and a maneuver detection part 25. In addition, the maneuver detection part 25 sends the estimated value of VXdo* of an inner state variable and an estimated information matrixΣvxdo*<-1> to the initial value calculation part 24, with a component related to the velocity of the estimated value VXo* of the inner state variable set at zero upon the occurrence of a maneuver, respectively to the initial value calculation part 24. This initial value calculation part 24 solves a pseudo-linear equation formed out of information and observation variable for the information, using the estimated value VXdo* and the matrixΣvxdo* as foreseen information, and finds an analysing initial value VXoo* for the delivery thereof to an inner state variable estimation part 26. This inner state variable estimation part 26 analyzes the motion of the target on the basis of an evaluation function governed by the initial value VXoo*.
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