| 摘要 |
<p>PURPOSE: To obtain a target tracking apparatus in which the degradation of the performance of a tracking operation due to a curved-advance target or the like is suppressed by a method wherein a tracking filter gain is changed for a curved-advance-target tracking operation on the basis of the curved-advance judgment result of a target detected on the basis of a target observed value and on the basis of the residue of a predicted value as a tracking computation result. CONSTITUTION: A predicted-value computation device 6 computes a predicted position and a prescribed speed in a next sampling time on the basis of a smoothing position and a smoothing speed. A beam control device 12 outputs a beam for tracking continuation on the basis of a predicted value when the curved advance of a target is not detected. A predicted-value storage device 7 stores a predicted value covering several latest sampling portions. A curved-advance judgment device 9 judges the curved advance of the target on the basis of an observed value and the predicted value. A tracking-filter-gain selection device 10 for a curved-advance target changes a tracking filter gain for a curved-advance-target tracking operation on the basis of a curved-advance judgment result. A retracking control device 11 computes a tracking predicted value on the basis of a predicted-value initial value to be read out from the device 7 and on the basis of a latest observed value, and it outputs the tracking predicted value to the device 12, and a beam for tracking continuation is output from the device 12.</p> |
