JP2001124849A - Aircraft tracking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an aircraft tracking device greatly reducing the calculation time required for calculation in relation to a hypothesis and the calculator resource. SOLUTION: This aircraft tracking device is provided with an aircraft observation apparatus 1, an aircraft observation information inputting apparatus 2 transforming and outputting observation information from the coordinate system of the aircraft observation apparatus 1 to a tracking coordinate system, an aircraft track information inputting apparatus 10 transforming and outputting track information from the coordinate system of the aircraft observation apparatus 1 to the track coordinate, an aircraft motion data predicting apparatus 9 computing prediction data, a related group generator 3 generating related group information, a hypothesis generator 4 making a hypothesis, a hypothesis reliability computer 5 computing reliability of the hypothesis, a hypothesis reducing apparatus 6 eliminating the hypothesis, an aircraft motion data computer 7 deciding track calculation data, and an information integrator 8 computing aircraft track data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is to reduce the observation error of an aircraft observed by an aircraft observing device as much as possible and to obtain aircraft motion information as true as possible with limited computer resources. The purpose of the present invention is to reduce aircraft observation errors at low computer loads.

[0002]

2. Description of the Related Art FIG. 11 is a block diagram showing an example of the configuration of a conventional aircraft tracking device. In FIG. 11, reference numeral 1 denotes an aircraft observing device that outputs the position and orientation of an aircraft and unnecessary signals as aircraft observation information, and 2 denotes a coordinate system used for tracking in order to output the aircraft observation information as tracking target aircraft information. This is an aircraft observation information input device that performs preprocessing for tracking.

An associated group generator 3 determines whether or not the tracked aircraft information is related to the predicted information of the managed aircraft, and generates an associated group of the tracked aircraft and the managed aircraft. There is a hypothesis generator 4 for generating a combination of the relation between the tracked aircraft and the management aircraft having a relation, and 5 is a hypothesis generator based on the hypothesis, the tracked aircraft information and the management observation aircraft information. This is a hypothesis reliability calculator that calculates reliability.

Further, reference numeral 6 denotes a hypothesis reducer which leaves only the more probable hypotheses among the above hypotheses and registers the hypotheses as determined hypotheses. Location of aircraft motion specifications
This is an aircraft motion specification calculator that calculates speed and the like.

Reference numeral 8 denotes an information integrator that integrates respective information on the aircraft determined to be coincident with the tracked aircraft in the determined hypothesis. This is an aircraft motion specification predictor that calculates prediction information such as the position and speed of the aircraft motion data at the observed time.

FIG. 12 is a flowchart showing the processing operation of the conventional aircraft tracking device. The operation of the conventional aircraft tracking device will be described with reference to FIG. In the conventional aircraft tracking method, first, all the observation aircraft observed by the aircraft observing device 1 are set as tracking target aircraft, and in step S14, the aircraft position / velocity and error covariance are based on the Kalman filter theory based on the observation positions of those aircraft. An initial value of tracking calculation information such as a matrix is calculated (aircraft observation information input device 2), and a new observation aircraft is registered as a new tracking target aircraft in step S15 (aircraft observation information input device 2).

Next, in step S16, aircraft prediction information such as the aircraft position / velocity predicted value at the current time of the aircraft already managed and the aircraft prediction error covariance matrix that estimates the error of the predicted value is calculated (aircraft motion). The specification predictor 9), and in step S17, to determine whether the tracked aircraft is related to the management aircraft, the aircraft presence prediction centered on the predicted position of the aircraft already managed by the tracked aircraft information A related determination as to whether the vehicle falls within the range is made using a prediction error covariance matrix, and the tracking target aircraft and the managed aircraft are grouped based on the result of the determination (association group generator 3).

In step S18, for each of the aircraft to be tracked and the managed aircraft determined to be related, which aircraft to be tracked corresponds to which aircraft to be managed, whether it is a new aircraft to be tracked or an unnecessary signal Is generated (hypothesis generator 4), and the reliability of the hypothesis generated in step S18 in step S19 is calculated based on the aircraft prediction information and the tracking target aircraft information of the management aircraft (hypothesis reliability calculator 5). ).

In step S20, step S19 is executed.
The hypothesis is reduced in accordance with the hypothesis reliability calculated in (1) (hypothesis reducer 6), and in step S21, tracking calculation information such as aircraft position / velocity and error covariance matrix is calculated based on Kalman filter theory (aircraft motion specification calculator 7). )
Then, at step S22, the information is integrated for the aircraft whose tracking target aircraft and the management aircraft match in all the hypotheses (information integrator 8), and this series of steps is performed until the tracking is completed at step S23. Was to be repeated.

[0010]

As described above, the conventional aircraft tracking device generates a plurality of hypotheses for each of the plurality of hypotheses generated by the previous sampling for each track, as described above. Then, the number of hypotheses increases in a branching manner. Therefore, the calculation of the hypothesis reliability related to the number of hypotheses becomes a heavy load, and a huge processing time and computer resources are required.

[0011] Further, the conventional aircraft tracking device generates a hypothesis even for a wake which is not originally present but is erroneously generated by the aircraft tracking calculation, which is called a false wake. Therefore, the computer load is further reduced. Had become. For this reason, in aircraft tracking, suppression of the number of these hypotheses and reduction of false navigation traces have been major issues.

Further, in the conventional aircraft tracking apparatus, in the initial stage of tracking, failure to maintain tracking or mass generation of false navigation due to the influence of dense aircraft, unnecessary signals other than aircraft, resolution due to the performance of the aircraft observer, detection probability, etc. Therefore, it is necessary to create a track that can be tracked and maintained with high accuracy based on a plurality of hypotheses, and there has been a background in which the computer load could not be reduced due to these conflicting requirements.

[0013] The present invention has been made to solve the above-described problems, and it is possible to eliminate a wrong track.
It is an object of the present invention to provide an aircraft tracking device capable of limiting the number of hypotheses generated for a false navigation track and greatly reducing the calculation time and computer resources required for the hypothesis-related calculations.

[0014]

An aircraft tracking device according to the present invention includes an aircraft observation device for outputting aircraft observation information of an aircraft and position information of the aircraft observation device itself, and an aircraft observation information from the aircraft observation device. The aircraft observation information input unit that converts the coordinate system of the aircraft to the tracking coordinate system and outputs it as observation information, and converts the aircraft wake information after filtering obtained from the aircraft observer from the coordinate system of the aircraft observer to the tracking coordinate system An aircraft track information input device that outputs as track information, an aircraft motion parameter predictor that calculates prediction parameters at the current observation time from the aircraft tracking parameters accumulated during the previous sampling of the managed aircraft, and an aircraft motion parameter prediction Presence of aircraft based on management aircraft prediction information from aircraft, observation information from aircraft observation information input device, and wake information from aircraft wake information input device To calculate the circumference, does its related decision,
A related group generator that generates related group information describing the related contents based on the related determination result, and a tracked aircraft divided for each related group based on the related group information from the related group generator becomes a managed aircraft. A hypothesis generator that makes a hypothesis of whether or not to obtain, a hypothesis reliability calculator that calculates the reliability of each hypothesis for each related group based on hypothesis information from the hypothesis generator, and a hypothesis reduction condition set in advance. Hypotheses generated by the hypothesis generator for each related group are converted into a hypothesis reducer that leaves a predetermined number of hypotheses in consideration of hypothesis reliability and reduces other hypotheses, and management aircraft prediction information, observation information, and wake information. The aircraft motion specification calculator that determines the tracking calculation specifications based on the data, and the combination of the managed aircraft and the tracking target aircraft is determined based on the content and reliability of the hypothesis using the hypothesis reducer. Conducted, and an information integration unit for calculating an aircraft tracking specifications.

[0015] Further, there is further provided an input information switch for switching under predetermined conditions whether information to be input to the related group generator is observation information from an aircraft observing device or wake information from the aircraft observing device. ing.

An aircraft tracking device according to the present invention includes:
An aircraft observer that outputs aircraft observation information of an aircraft and the position information of the aircraft observer itself, and an aircraft that converts aircraft observation information from the aircraft observer from the aircraft observer's coordinate system to the tracking coordinate system and outputs it as observation information Observation information input device, aircraft motion specification predictor that calculates the forecast data at the current observation time from the previous aircraft tracking data of the managed aircraft, and management aircraft prediction information and aircraft observation information input from the aircraft motion data predictor An aircraft presence prediction range from the observation information from the device, perform a related determination, and generate a related group information describing the related content based on the result of the related determination; and a related group generator. A hypothesis generator that makes a hypothesis as to whether the tracked aircraft divided for each related group can be a managed aircraft based on the related group information of A hypothesis reliability calculator that calculates the reliability of each hypothesis for each related group based on hypothesis information from the hypothesis generator, and a hypothesis generated for each related group by the hypothesis generator based on preset hypothesis reduction conditions A hypothesis reducer that leaves a predetermined number of hypotheses in consideration of the hypothesis reliability and reduces other hypotheses, and another hypothesis from a reduced hypothesis from the hypothesis reducer when tracking is determined to be stable , Which removes all other hypotheses while retaining the hypothesis, an aircraft motion specification calculator that determines the tracking calculation parameters based on the management aircraft prediction information and observation information, and the content and reliability of the hypothesis using the hypothesis reducer The combination of the managed aircraft and the aircraft to be tracked is determined based on the degree, and the information integrator that calculates the aircraft tracking data and whether the aircraft tracking data from the information integrator is stable are determined. The determination result and a tracking stability discriminator for outputting the aircraft motion specifications predictor.

An aircraft wake information input device for converting the aircraft wake information after filtering obtained from the aircraft observer from the coordinate system of the aircraft observer to a tracking coordinate system and outputting it as wake information to the related group generator. In addition, the related group generator calculates the aircraft presence prediction range in consideration of the wake information in addition to the management aircraft prediction information and observation information, and the aircraft motion specification calculator calculates the aircraft motion prediction range in addition to the management aircraft prediction information and observation information. The tracking calculation data is determined in consideration of the track information.

Further, an input information switch for switching under predetermined conditions whether information to be input to the related group generator is observation information from an aircraft observing device or wake information from an aircraft observing device is further provided. ing.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a diagram showing a configuration of an aircraft tracking device according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes an aircraft observing device that outputs the position and orientation of an aircraft and unnecessary signals as aircraft observation information, and 2 denotes a coordinate system for performing tracking in order to output aircraft observation information as tracking target aircraft information. Is an aircraft observation information input device that performs pre-processing for tracking, and 10 converts the aircraft wake information after filtering obtained from the aircraft observation device 1 from the coordinate system of the aircraft observation device 1 to the tracking coordinate system. And an aircraft track information input device for outputting track information.

An associated group generator 3 determines whether or not the tracked aircraft information is related to the predicted information of the managed aircraft and generates a related group of the tracked aircraft and the managed aircraft. There is a hypothesis generator 4 for generating a combination of the relation between the tracked aircraft and the management aircraft having a relation, and 5 is a hypothesis generator based on the hypothesis, the tracked aircraft information and the management observation aircraft information. This is a hypothesis reliability calculator that calculates reliability.

Further, reference numeral 6 denotes a hypothesis reducer which leaves only the more probable hypotheses among the above-mentioned hypotheses and registers them as determined hypotheses. Location of aircraft motion specifications
This is an aircraft motion specification calculator that calculates speed and the like.

Reference numeral 8 denotes an information integrator that integrates respective information with respect to the aircraft determined to be coincident with the tracked aircraft in the determined hypothesis. This is an aircraft motion specification predictor that calculates prediction information such as the position and speed of the aircraft motion data at the observed time.

FIG. 2 is a flowchart showing the processing operation of this embodiment. The operation of the aircraft tracking device according to the present embodiment will be described with reference to FIG. All the observation aircraft observed by the aircraft observing device 1 are set as tracking target aircrafts, and step S
At 14, the aircraft observation information of the aircraft is acquired, and the initial values of the tracking calculation report such as the aircraft position / velocity and the error covariance matrix are calculated based on the observation positions based on the Kalman filter theory (aircraft observation information input device). 2) Then, in step S15, the new observation aircraft is registered as a new tracking target aircraft (aircraft observation information input device 2).

On the other hand, in step S24, the aircraft trajectory information of all the aircraft to be tracked is acquired, and the initial values of the tracking calculation information such as the aircraft position / velocity and the error covariance matrix are obtained based on the wake positions based on the Kalman filter theory. Calculation (aircraft observation information input device 10) calculates the observation aircraft for which new wake information was obtained in step S25.
The aircraft is registered as a new aircraft to be tracked separately from the aircraft registered as a new aircraft to be tracked (aircraft observation information input device 10).

Next, in step S16, aircraft prediction information such as an aircraft position / velocity predicted value at the current time of the aircraft already managed and an aircraft prediction error covariance matrix estimating an error of the predicted value is calculated (aircraft motion information). Original predictor 9)
Then, in step S17, steps S15 and S
In order to determine whether the tracked aircraft registered in step 25 is related to the managed aircraft, whether the tracked aircraft information falls within the aircraft presence prediction range centered on the predicted position ahead of the aircraft already managed Is determined using a prediction error covariance matrix, and the tracking target aircraft and the managed aircraft are grouped based on the determination result (association group generator 3).

Then, a hypothesis is determined for each of the aircraft to be tracked and the managed aircraft determined to be related in step S18, which aircraft to be tracked corresponds to which aircraft to be managed, whether it is a new aircraft to be tracked or an unnecessary signal. Is generated (hypothesis generator 4), and in step S19, step S18
Is calculated based on the aircraft prediction information of the management aircraft and the tracking target aircraft information (hypothesis reliability calculator 5).

Also, in step S20, step S19
The hypothesis is reduced in accordance with the hypothesis reliability calculated in (1) (hypothesis reducer 6), and in step S21, tracking calculation information such as aircraft position / velocity and error covariance matrix is calculated based on Kalman filter theory (aircraft motion specification calculator 7). )
Then, in step S22, the information is integrated for the aircraft whose tracking target aircraft and the management aircraft match in all the hypotheses (information integrator 8), and this series of steps is repeated until the tracking is completed in step S23. .

In the aircraft tracking device having such a configuration, the aircraft observation device 1 that outputs the aircraft observation information of the aircraft and the position information of the aircraft observation device itself, and the aircraft observation information from the aircraft observation device 1 An aircraft observation information input device 2 for converting from the coordinate system of the aircraft to the tracking coordinate system, and an aircraft motion specification predictor 9 for calculating prediction data at the current observation time from the aircraft tracking data accumulated during the previous sampling of the managed aircraft. Calculates the aircraft presence prediction range from the management aircraft prediction information from the aircraft motion specification predictor 9 and the tracked aircraft observation information from the aircraft observation information input device 2, performs the related determination, and performs the related determination based on the related determination result. A related group generator 3 for generating related group information describing related contents, and a related group based on related group information from the related group generator 3 With the hypothesis generator 4 tracked aircraft divided is make a one hypothesis may become managed aircraft in view of the related group information from the associated group generator 3,
A hypothesis reliability calculator 5 that calculates the reliability of each hypothesis based on the hypothesis information from the hypothesis generator 4 in consideration of the related group information from the related group generator 3 and a hypothesis reduction condition set in advance. A hypothesis reduction unit 6 that reduces the other hypotheses by leaving a plurality of hypotheses in consideration of the hypothesis reliability calculated by the hypothesis reliability calculator 5 with the hypotheses generated for each related group by the hypothesis generator 4; Aircraft motion specification calculator 7 that calculates Kalman gain matrix from management aircraft prediction information and aircraft observation information to determine tracking calculation specifications, and control aircraft and tracking target aircraft based on the content and reliability of hypothesis by hypothesis reduction unit 6 In the aircraft tracking device including the information integrator 8 for determining the combination of the aircraft tracking information and calculating the aircraft tracking data, the aircraft tracking information obtained from the aircraft Converted from the coordinate system of the machine observer 1 in tracking coordinate system, characterized in that for the relevant group generator 3 with aircraft track information input device 10 that outputs track information.

That is, the aircraft tracking device of the present embodiment uses not only the aircraft observation information from the aircraft observing device 1 but also the aircraft wake information as an information source of the aircraft tracking calculation in order to suppress the occurrence of an incorrect tracking. An aircraft wake information input device 10 is provided so as to be able to perform the operations.

Therefore, an aircraft wake information input device 1 for obtaining aircraft wake information from an aircraft observation device in a conventional device
By providing 0, it is possible to use not only aircraft observation information but also aircraft wake information in the tracking calculation. The hypothesis reliability based on the aircraft observation information is large in the initial tracking stage, and the hypothesis reliability based on the aircraft wake information in the tracking stable stage. As the transition from the initial tracking stage to the tracking stabilization stage progresses, unnecessary hypotheses based on either information are automatically discarded. , The calculation related to the hypothesis is performed, so that the occurrence of a false navigation trace is suppressed, and as a result, there is an effect that the computer load of the hypothesis generation processing can be reduced.

Embodiment 2 FIG. 3 is a diagram showing a configuration of the aircraft tracking apparatus according to the second embodiment of the present invention. FIG.
In 11, a predetermined value indicates whether information to be input to the related group generator 3 that generates related group information is observation information from the aircraft observing device 1 or aircraft wake information from the aircraft observing device 1. This is an input information switch that switches according to conditions. Other configurations are the same as those of the first embodiment.

FIG. 4 is a flowchart showing the processing operation of this embodiment. The operation of the aircraft tracking device according to the present embodiment will be described with reference to FIG. All the observation aircraft observed by the aircraft observing device 1 are set as tracking target aircrafts, and step S
At 14, the aircraft observation information of the aircraft is acquired, and the initial values of the tracking calculation information such as the aircraft position / velocity and the error covariance matrix are calculated based on the observation position of the aircraft based on Kalman filter theory (aircraft observation information input device 2). Then, in step S15, the new observation aircraft is registered as a new tracking target aircraft (aircraft observation information input device 2).

On the other hand, in step S24, the aircraft trajectory information of all the aircraft to be tracked is obtained, and the initial values of the tracking calculation information such as the aircraft position / velocity and the error covariance matrix are obtained based on the wake positions based on the Kalman filter theory. Calculation (aircraft observation information input device 10) calculates the observation aircraft for which new wake information was obtained in step S25.
The aircraft is registered as a new aircraft to be tracked (aircraft observation information input device 10) separately from the aircraft registered as a new aircraft to be tracked in step S26. By reading the value, the aircraft observation information obtained from the aircraft observing device is switched to aircraft wake information and output as tracking target aircraft information (input information switching device 1).
1) Yes.

Next, in step S16, aircraft prediction information such as an aircraft position / velocity prediction value at the current time of the aircraft already managed and an aircraft prediction error covariance matrix estimating an error of the prediction value is calculated (aircraft motion information). Original predictor 9)
Then, in step S17, in order to determine whether or not the tracked aircraft is related to the managed aircraft, whether or not the tracked aircraft information falls within the aircraft presence prediction range centered on the predicted position ahead of the already managed aircraft Is determined using a prediction error covariance matrix, and the tracking target aircraft and the managed aircraft are grouped based on the determination result (association group generator 3).

Then, a hypothesis is determined for each of the target aircraft and the managed aircraft determined to be related in step S18, which of the target aircraft corresponds to which managed aircraft, whether it is a new target aircraft or an unnecessary signal. Is generated (hypothesis generator 4), and in step S19, step S18
Is calculated based on the aircraft prediction information of the management aircraft and the tracking target aircraft information (hypothesis reliability calculator 5).

In step S20, the hypothesis is reduced in accordance with the hypothesis reliability calculated in step S19 (hypothesis reducer 6), and in step S21, tracking calculation information such as aircraft position / velocity and error covariance matrix based on Kalman filter theory. (Aircraft motion specification calculator 7)
Then, in step S22, the information is integrated for the aircraft whose tracking target aircraft and the management aircraft match in all the hypotheses (information integrator 8), and this series of steps is repeated until the tracking is completed in step S23. .

In the aircraft tracking device having such a configuration, the information input to the related group generator 3 for generating related group information is either observation information from the aircraft observing device 1 or information from the aircraft observing device 1. An input information switch 11 for switching whether to use the aircraft track information under a predetermined condition is further provided.

That is, in addition to the first embodiment, the aircraft tracking apparatus according to the present embodiment uses the aircraft observation information when the tracking result becomes unstable as in the initial stage of tracking, and the tracking has been stabilized. In such a case, an input information switch 11 is provided so that aircraft wake information can be used to reduce processing time.

Therefore, in addition to the aircraft wake information input device 10 for obtaining aircraft wake information from the aircraft observer 1, as information used for tracking calculation, aircraft observation information or aircraft wake information from the aircraft observer 1 is used. If the tracking is stabilized by providing the input information switch 11 for switching to either one, it is not necessary to perform the tracking calculation by using two pieces of information of the aircraft observation information and the aircraft wake information at the same time. It is sufficient to use only the aircraft observation information that does not have any information, and therefore, it is possible to suppress the occurrence of a wrong track and to reduce the computer load of the hypothesis generation processing.

Embodiment 3 FIG. 5 is a diagram showing a configuration of the third embodiment of the aircraft tracking device according to the present invention. FIG.
, 12 is an unnecessary hypothesis eliminator that deletes all but one hypothesis from the reduced hypothesis from the hypothesis reducer 6 if the tracking becomes stable. Reference numeral 13 denotes a tracking stability discriminator 13 for judging whether or not the aircraft tracking data from the information integrator 8 is stable, and outputting the judgment result to the aircraft motion data predictor 9. Other configurations are the same as those of the first embodiment.

FIG. 6 is a flowchart showing the processing operation of this embodiment. The operation of the aircraft tracking device according to the present embodiment will be described with reference to FIG. All the observation aircraft observed by the aircraft observing device 1 are set as tracking target aircrafts, and step S
At 14, the aircraft observation information of the aircraft is acquired, and the initial values of the tracking calculation such as the aircraft position / velocity and the error covariance matrix are calculated based on the observation position based on the Kalman filter theory (aircraft observation information input device 2). And step S
At 15, a new observation aircraft is registered as a new tracking target aircraft (aircraft observation information input device 2).

Next, in step S16, aircraft prediction information such as an aircraft position / velocity predicted value at the current time of the aircraft already managed and an aircraft prediction error covariance matrix estimating an error of the predicted value is calculated (aircraft motion information). Original predictor 9)
Then, in step S17, steps S15 and S
In order to determine whether the tracked aircraft registered in step 25 is related to the managed aircraft, whether the tracked aircraft information falls within the aircraft presence predicted value range centered on the predicted position ahead of the already managed aircraft The determination as to whether or not to perform the determination is made using the prediction error covariance matrix, and the tracking target aircraft and the managed aircraft are grouped based on the determination result (association group generator 3).

Then, a hypothesis as to which tracking target aircraft corresponds to which management aircraft, a new tracking target aircraft, or an unnecessary signal for each of the tracking target aircraft and the management aircraft determined to be related in step S18. Is generated (hypothesis generator 4), and in step S19, step S18
Is calculated based on the aircraft prediction information of the management aircraft and the tracking target aircraft information (hypothesis reliability calculator 5).

In step S20, the hypothesis is reduced in accordance with the hypothesis reliability calculated in step S19 (hypothesis reducer 6). In step S27, the result of the previous sampling is used to determine the result of the determination of tracking stable or tracking unstable in step S29 in the previous sampling. Then, it is determined whether or not the tracking currently being calculated is stable (unnecessary hypothesis removing unit 12), and step S2 is performed.
If the tracking is stable in step 8, only the hypothesis with the highest reliability is stored, and the other hypotheses are rejected. If the tracking is unstable, all the hypotheses input to this processing are retained (the unnecessary hypothesis deleting unit 1).
2).

In step S21, tracking calculation information such as aircraft position / velocity and error covariance matrix is calculated based on Kalman filter theory (aircraft motion specification calculator 7). In step S22, the tracking target aircraft and the managed aircraft are determined in all the hypotheses. The respective information is integrated for the coincident information (information integrator 8), the wake information from the current time of the wake integrated in step S29 to 10 samplings before is held, and the wake number is maintained. If the state in which the difference between the highest reliability and the second highest reliability is large continues, it is determined that tracking is stable, and the next sampling process S27
A tracking criterion is given to the tracking stability determination process (tracking stability determiner 13), and this series of steps is repeated until tracking is completed in step S23.

In the aircraft tracking device having such a configuration, the aircraft observation device 1 that outputs the aircraft observation information of the aircraft and the position information of the aircraft observation device itself, and the aircraft observation information from the aircraft observation device 1 An aircraft observation information input device 2 for converting from the coordinate system of the aircraft to the tracking coordinate system, an aircraft motion specification predictor 9 for calculating prediction data at the current observation time from the previous aircraft tracking data of the managed aircraft, and an aircraft motion data The aircraft presence prediction range was calculated from the management aircraft prediction information from the predictor 9 and the tracked aircraft observation information from the aircraft observation information input device 2, the related determination was made, and the related contents were described based on the related determination result. A related group generator 3 for generating related group information, and a tracked airplane divided for each related group by the related group information from the related group generator 3 Hypothesis generator 4 that makes a hypothesis as to whether it can be a managed aircraft in consideration of the related group information from related group generator 3, and an association from related group generator 3 based on the hypothesis information from hypothesis generator 4. Hypothesis reliability calculator 5 for calculating the reliability of each hypothesis in consideration of group information, and hypothesis reliability calculation for hypotheses generated for each related group by hypothesis generator 4 based on preset hypothesis reduction conditions A hypothesis reducer 6 that leaves a plurality of hypotheses in consideration of the hypothesis reliability calculated by the calculator and reduces other hypotheses,
If the tracking becomes stable, the unnecessary hypothesis elimination unit 12 that deletes all but one further hypothesis from the reduced hypothesis from the hypothesis reduction unit 6 and the Kalman gain matrix from the management aircraft prediction information and the aircraft observation information are calculated and tracked. An aircraft motion specification calculator 7 that determines calculation specifications, and an information integrator that determines the combination of the managed aircraft and the aircraft to be tracked based on the content and reliability of the hypothesis by the hypothesis reducer 6 and calculates aircraft tracking specifications 8 and a tracking stability discriminator 13 for judging whether or not the aircraft tracking data from the information integrator 8 is stable, and outputting the judgment result to the aircraft motion data predictor 9.

That is, the aircraft tracking apparatus according to the present embodiment determines whether tracking has stabilized in order to suppress the number of generated hypotheses, and if the tracking is stable, the hypothesis reliability is maintained without leaving a plurality of hypotheses. The tracking stability discriminator 13 and the unnecessary hypothesis elimination unit 12 that delete only one hypothesis having a high probability and delete the others are provided.

Therefore, by providing a tracking stability discriminator 13 for discriminating whether or not the tracking is stable, and an unnecessary hypothesis elimination device 12 for receiving all the results of the tracking stability discriminator 13 and deleting all unnecessary hypotheses. If the tracking is stable, reject all but the hypothesis with the highest hypothesis reliability and leave only one hypothesis, which greatly reduces the hypotheses generated after the next sampling. This has the effect of reducing the computer load of the generation process.

Embodiment 4 FIG. 7 is a diagram showing a configuration of the fourth embodiment of the aircraft tracking device according to the present invention. FIG.
In the figure, reference numeral 10 denotes an aircraft wake information input unit that converts the aircraft wake information after filtering obtained from the aircraft observer 1 from the coordinate system of the aircraft observer 1 to a tracking coordinate system and outputs the wake information. Other configurations are the same as those of the third embodiment.

FIG. 8 is a flowchart showing the processing operation of this embodiment. The operation of the aircraft tracking device according to the present embodiment will be described with reference to FIG. All the observation aircraft observed by the aircraft observing device 1 are set as tracking target aircrafts, and step S
At 14, the aircraft observation information of the aircraft is acquired, and the initial values of the tracking calculation such as the aircraft position / velocity and the error covariance matrix are calculated based on the observation position based on the Kalman filter theory (aircraft observation information input device 2). And step S
At 15, a new observation aircraft is registered as a new tracking target aircraft (aircraft observation information input device 2).

On the other hand, in step S24, the aircraft trajectory information of all the aircraft to be tracked is acquired, and the initial values of the tracking calculation such as the aircraft position / velocity and the error covariance matrix are calculated based on the wake positions based on the Kalman filter theory. (Aircraft observation information input device 10), and register the observation aircraft for which new wake information was obtained in step S25 as a new tracking target aircraft separately from the one registered as a new tracking target aircraft in step S15 (aircraft observation information Input device 10).

Next, in step S16, aircraft prediction information such as an aircraft position / speed predicted value at the current time of the aircraft already managed and an aircraft prediction error covariance matrix estimating an error of the predicted value is calculated (aircraft motion information). Original predictor 9)
Then, in step S17, steps S15 and S
In order to determine whether the tracked aircraft registered in step 25 is related to the managed aircraft, whether the tracked aircraft information falls within the aircraft presence predicted value range centered on the predicted position ahead of the already managed aircraft The determination as to whether or not to perform the determination is made using the prediction error covariance matrix, and the tracking target aircraft and the managed aircraft are grouped based on the determination result (association group generator 3).

Then, a hypothesis as to which tracking target aircraft corresponds to which management aircraft, a new tracking target aircraft, or an unnecessary signal for each of the tracking target aircraft and the management aircraft determined to be related in step S18. Is generated (hypothesis generator 4), and in step S19, step S18
Is calculated based on the aircraft prediction information of the management aircraft and the tracking target aircraft information (hypothesis reliability calculator 5).

In step S20, the hypothesis is reduced in accordance with the hypothesis reliability calculated in step S19 (hypothesis reducer 6), and in step S27, the result of the previous sampling is used to determine whether the tracking was stable or unstable in step S29. Then, it is determined whether or not the tracking currently being calculated is stable (unnecessary hypothesis removing unit 12), and step S2 is performed.
If the tracking is stable in step 8, only the hypothesis with the highest reliability is stored, and the other hypotheses are rejected. If the tracking is unstable, all the hypotheses input to this processing are retained (the unnecessary hypothesis deleting unit 1).
2).

In step S21, tracking calculation information such as aircraft position / velocity and error covariance matrix is calculated based on Kalman filter theory (aircraft motion specification calculator 7). In step S22, the tracking target aircraft and the managed aircraft are determined in all the hypotheses. The respective information is integrated for the coincident information (information integrator 8), the wake information from the current time of the wake integrated in step S29 to 10 samplings before is held, and the wake number is maintained. If the state in which the difference between the highest reliability and the second highest reliability is large continues, it is determined that tracking is stable, and the next sampling process S27
A tracking criterion is given to the tracking stability determination process (tracking stability determiner 13), and this series of steps is repeated until tracking is completed in step S23.

In the aircraft tracking device having such a configuration, the filtered aircraft wake information obtained from the aircraft observing device 1 is converted from the coordinate system of the aircraft observing device 1 to the tracking coordinate system, and is transmitted to the related group generator 3. An aircraft track information input device 10 for outputting track information is provided.

That is, in addition to the third embodiment, the aircraft tracking device according to the present embodiment further includes the aircraft observing device 1 as an information source for the aircraft tracking calculation in order to further suppress the occurrence of a wrong track.
Aviation track information input device 10 so that not only aircraft observation information from
It is provided with.

Therefore, a tracking stability discriminator 13 for discriminating whether or not the tracking is stable, and an unnecessary hypothesis elimination device 12 for deleting all unnecessary hypotheses in response to the result of the tracking stability discriminator 13 are provided. If the tracking is stable, reject all but the one with the highest hypothesis confidence, leaving only one hypothesis, which greatly reduces the number of hypotheses generated after the next sampling. Further, by providing the aircraft track information input device 10, not only the aircraft track information but also the aircraft track information can be used together in the tracking calculation. As the hypothesis reliability based on aircraft wake information increases, either of the information is automatically Unnecessary hypotheses are discarded, and in the tracking stabilization stage, hypothesis-related calculations are performed based on aircraft trajectory information with few false trajectories. This has the effect of reducing the computer load.

Embodiment 5 FIG. FIG. 9 is a diagram showing a configuration of the fourth embodiment of the aircraft tracking device according to the present invention. FIG.
In 11, a predetermined value indicates whether information to be input to the related group generator 3 that generates related group information is observation information from the aircraft observing device 1 or aircraft wake information from the aircraft observing device 1. This is an input information switch that switches according to conditions. Other configurations are the same as those of the fourth embodiment.

FIG. 10 is a flowchart showing the processing operation of this embodiment. The operation of the aircraft tracking device according to the present embodiment will be described with reference to FIG. All the observation aircraft observed by the aircraft observing device 1 are set as tracking target aircrafts, and the aircraft observation information of those aircraft is acquired in step S14,
Based on Kalman filter theory, initial values of tracking calculation such as aircraft position / velocity and error covariance matrix are calculated based on Kalman filter theory (aircraft observation information input device 2), and a new observation aircraft is newly added in step S15. Register as an aircraft to be tracked (aircraft observation information input device 2).

On the other hand, in step S24, the aircraft trajectory information of all the aircraft to be tracked is obtained, and the initial values of the tracking calculation information such as the aircraft position / velocity and the error covariance matrix are obtained based on the wake positions based on the Kalman filter theory. Calculation (aircraft observation information input device 10) calculates the observation aircraft for which new wake information was obtained in step S25.
The aircraft is registered as a new aircraft to be tracked (aircraft observation information input device 10) separately from the aircraft registered as a new aircraft to be tracked in step S26. By reading the value, the aircraft observation information obtained from the aircraft observing device is switched to aircraft wake information and output as tracking target aircraft information (input information switching device 1).
1) Yes.

Next, in step S16, aircraft prediction information such as an aircraft position / speed prediction value and an aircraft prediction error covariance matrix estimating an error of the prediction value at the current time of the aircraft already managed is calculated (aircraft motion information). Original predictor 9)
Then, in step S17, steps S15 and S
In order to determine whether the tracked aircraft registered in step 25 is related to the managed aircraft, whether the tracked aircraft information falls within the aircraft presence predicted value range centered on the predicted position ahead of the already managed aircraft The determination as to whether or not to perform the determination is made using the prediction error covariance matrix, and the tracking target aircraft and the managed aircraft are grouped based on the determination result (association group generator 3).

Then, a hypothesis on which aircraft to be tracked corresponds to which aircraft to be managed, which is a new aircraft to be tracked, or which is an unnecessary signal for each of the aircraft to be tracked and the managed aircraft determined to be related in step S18. Is generated (hypothesis generator 4), and in step S19, step S18
Is calculated based on the aircraft prediction information of the management aircraft and the tracking target aircraft information (hypothesis reliability calculator 5).

In step S20, the hypothesis is reduced in accordance with the hypothesis reliability calculated in step S19 (hypothesis reducer 6). In step S27, the result of the previous sampling is used to determine whether the tracking was stable or unstable in step S29. Then, it is determined whether or not the tracking currently being calculated is stable (unnecessary hypothesis removing unit 12), and step S2 is performed.
If the tracking is stable in step 8, only the hypothesis with the highest reliability is stored, and the other hypotheses are rejected. If the tracking is unstable, all the hypotheses input to this processing are retained (the unnecessary hypothesis deleting unit 1).
2).

In step S21, tracking calculation information such as aircraft position / velocity and error covariance matrix is calculated based on Kalman filter theory (aircraft motion specification calculator 7). In step S22, the tracking target aircraft and the managed aircraft are determined in all the hypotheses. The respective information is integrated for the coincident information (information integrator 8), the wake information from the current time of the wake integrated in step S29 to 10 samplings before is held, and the wake number is maintained. If the state in which the difference between the highest reliability and the second highest reliability is large continues, it is determined that tracking is stable, and the next sampling process S27
A tracking criterion is given to the tracking stability determination process (tracking stability determiner 13), and this series of steps is repeated until tracking is completed in step S23.

In the aircraft tracking apparatus having such a configuration, the information input to the related group generator 3 for generating the related group information may be the aircraft observation information from the aircraft observation device 1 or the information from the aircraft observation device 1 Information switch 11 for switching whether or not to use the aircraft wake information according to predetermined conditions
It has.

That is, in this embodiment, in addition to the fourth embodiment, the aircraft observation information is used when the tracking result becomes unstable as in the initial stage of tracking, and the processing is performed when the tracking becomes stable. An input information switch 11 is provided so that aircraft wake information can be used to reduce time.

Therefore, a tracking stability discriminator 13 for discriminating whether or not the tracking is stable, and an unnecessary hypothesis elimination device 12 for deleting all unnecessary hypotheses based on the result of the tracking stability discriminator 13 are provided. If the tracking is stable, reject all but the hypothesis with the highest hypothesis reliability, and leave only one hypothesis, greatly reducing the hypotheses generated after the next sampling, and input aircraft wake information By providing the detector 10, it is possible to use not only the aircraft observation information but also the aircraft wake information in the tracking calculation. The hypothesis reliability based on the aircraft observation information is large in the initial stage of tracking, and the hypothesis based on the aircraft wake information in the tracking stable stage. As the confidence level increases, unnecessary hypotheses based on either information are automatically generated as the transition from the initial tracking stage to the tracking stable stage proceeds. It is discarded, and in the tracking stabilization stage, hypothesis-related calculations are performed using aircraft track information with few mistracks, so occurrence of mistracks is suppressed, and in addition to these, information used for tracking calculation By providing an input information switch 11 for switching to either the aircraft observation information or the aircraft wake information from the aircraft observing device 1, if the tracking is stabilized, two information, the aircraft observation information and the aircraft wake information, are provided. It is not necessary to perform the tracking calculation by using at the same time, and it is sufficient to use only the aircraft observation information which has no cause of the occurrence of the wrong track, so that the occurrence of the wrong track is suppressed and the computer load of the hypothesis generation processing can be reduced.

As described above, in the present invention, at the initial stage of tracking, a wake is generated by a conventional method. However, when tracking is stabilized, a plurality of hypotheses are left and each hypothesis is evaluated with reliability. It is no longer necessary to do so, so one hypothesis can be left and the other hypotheses can be deleted, and if the tracking becomes stable, it is more stable than the aircraft observation information from the aircraft By using the aircraft track information from the aircraft observing device, the wrong track can be deleted, and the number of hypotheses generated for the wrong track can be limited. By doing so, the calculation time and computer resources required for the hypothesis-related calculations in the conventional method are greatly reduced.

[0070]

The aircraft tracking apparatus according to the present invention includes an aircraft observing device that outputs aircraft observing information of an aircraft and the position information of the aircraft observing device itself, and an aircraft observing information from the aircraft observing device. An aircraft observation information input device that converts the
An aircraft wake information input device for converting the aircraft wake information after filtering obtained from the aircraft observer from the coordinate system of the aircraft observer to a tracking coordinate system and outputting it as wake information;
Aircraft motion specification predictor that calculates the forecast specifications at the current observation time from the aircraft tracking data accumulated during the previous sampling of the managed aircraft, and managed aircraft prediction information and aircraft observation information input device from the aircraft motion specification predictor Related group generation that calculates the aircraft presence prediction range from the observation information from the aircraft and the track information from the aircraft track information input device, makes the related determination, and generates related group information that describes the related contents based on the result of the related determination. Device, a hypothesis generator that makes a hypothesis as to whether or not the tracked aircraft divided for each related group can be a management aircraft based on the related group information from the related group generator, and a hypothesis information from the hypothesis generator. A hypothesis reliability calculator that calculates the reliability of each of the hypotheses for each related group based on a hypothesis generator based on a preset hypothesis reduction condition. A hypothesis reducer that reduces a certain number of hypotheses and reduces other hypotheses by considering hypothesis reliability based on the hypothesis reliability generated for each related group, and performs tracking calculation based on management aircraft prediction information, observation information, and wake information. An aircraft motion specification calculator that determines the source, and an information integrator that determines the combination of the managed aircraft and the aircraft to be tracked based on the content and reliability of the hypothesis by the hypothesis reducer and calculates the aircraft tracking specification I have.

Therefore, by providing an aircraft wake information input device for obtaining wake information from an aircraft observing device, not only observation information but also wake information can be used together in tracking calculation. Since the hypothesis reliability is large and the trajectory reliability is high in the tracking stable stage, unnecessary hypotheses based on either type of information are automatically discarded as the process moves from the initial tracking stage to the tracking stable stage. In the tracking stabilization stage, hypothesis-related calculations are performed based on track information with few mistracks, which suppresses the occurrence of mistracks, and as a result, has the effect of reducing the computer load of hypothesis generation processing. .

Further, there is further provided an input information switch for switching under predetermined conditions whether information to be input to the related group generator is observation information from an aircraft observer or wake information from an aircraft observer. ing.

Therefore, in addition to the aircraft wake information input device for obtaining wake information from the aircraft observation device, the input information for switching to either the observation information from the aircraft observation device or the wake information as information used for tracking calculation. If the tracking becomes stable by providing the switch, it is not necessary to perform the tracking calculation by using the two information of the observation information and the wake information at the same time, and it is sufficient to use only the observation information which does not cause the error wake. Therefore, the occurrence of a false navigation track is suppressed, and the computer load of the hypothesis generation processing can be reduced.

Also, the aircraft tracking device according to the present invention
An aircraft observer that outputs aircraft observation information of an aircraft and the position information of the aircraft observer itself, and an aircraft that converts aircraft observation information from the aircraft observer from the aircraft observer's coordinate system to the tracking coordinate system and outputs it as observation information Observation information input device, aircraft motion specification predictor that calculates the forecast data at the current observation time from the previous aircraft tracking data of the managed aircraft, and management aircraft prediction information and aircraft observation information input from the aircraft motion data predictor An aircraft presence prediction range from the observation information from the device, perform a related determination, and generate a related group information describing the related content based on the result of the related determination; and a related group generator. A hypothesis generator that makes a hypothesis as to whether the tracked aircraft divided for each related group can be a managed aircraft based on the related group information of A hypothesis reliability calculator that calculates the reliability of each hypothesis for each related group based on hypothesis information from the hypothesis generator, and a hypothesis generated for each related group by the hypothesis generator based on preset hypothesis reduction conditions A hypothesis reducer that leaves a predetermined number of hypotheses in consideration of the hypothesis reliability and reduces other hypotheses, and another hypothesis from a reduced hypothesis from the hypothesis reducer when tracking is determined to be stable , Which removes all other hypotheses while retaining the hypothesis, an aircraft motion specification calculator that determines the tracking calculation parameters based on the management aircraft prediction information and observation information, and the content and reliability of the hypothesis using the hypothesis reducer The combination of the managed aircraft and the aircraft to be tracked is determined based on the degree, and the information integrator that calculates the aircraft tracking data and whether the aircraft tracking data from the information integrator is stable are determined. The determination result and a tracking stability discriminator for outputting the aircraft motion specifications predictor.

For this reason, tracking is provided by providing a tracking stability classifier that determines whether tracking is stable or not, and an unnecessary hypothesis elimination device that deletes all unnecessary hypotheses based on the result of the tracking stability classifier. If it is stable, reject all but the hypothesis with the highest hypothesis reliability and leave only one hypothesis, which greatly reduces the hypotheses generated after the next sampling. This has the effect of reducing the computer load.

Further, an aircraft wake information input device for converting the aircraft wake information after filtering obtained from the aircraft observer from the coordinate system of the aircraft observer to the tracking coordinate system and outputting it as wake information to the related group generator. In addition, the related group generator calculates the aircraft presence prediction range in consideration of the wake information in addition to the management aircraft prediction information and observation information, and the aircraft motion specification calculator calculates the aircraft motion prediction range in addition to the management aircraft prediction information and observation information. The tracking calculation data is determined in consideration of the track information.

Therefore, by providing a tracking stability classifier for determining whether tracking is stable or not, and an unnecessary hypothesis elimination device for deleting all unnecessary hypotheses in response to the result of the tracking stability classifier, tracking is achieved. If it is stable, reject all but the hypothesis with the highest hypothesis reliability, and leave only one hypothesis. By providing a track information input device, not only the observation information but also the track information can be used together in the tracking calculation, and the hypothesis reliability based on the observation information is large in the initial stage of tracking and the hypothesis reliability based on the track information in the tracking stable stage. Becomes larger, the unnecessary hypothesis based on either information is automatically discarded as the process moves from the initial tracking stage to the tracking stable stage, and tracking is performed. In the constant stage, since the erroneous hypotheses related by a small track information of track calculation is to be performed, since the occurrence of erroneous track is suppressed, the effect that can reduce the computer load hypothesis generation process.

Further, there is further provided an input information switch for switching under predetermined conditions whether information to be input to the related group generator is observation information from an aircraft observation device or wake information from an aircraft observation device. ing.

Therefore, by providing a tracking stability classifier for determining whether tracking is stable or not, and an unnecessary hypothesis elimination device for deleting all unnecessary hypotheses based on the result of the tracking stability classifier, tracking can be performed. If it is stable, reject all but the hypothesis with the highest hypothesis reliability and leave only one hypothesis, which greatly reduces the hypotheses generated after the next sampling and installs an aircraft wake information input device By doing
In the tracking calculation, not only the observation information but also the wake information can be used together.The hypothesis reliability based on the observation information is large in the initial tracking stage, and the hypothesis reliability based on the wake information increases in the tracking stable stage. Unnecessary hypotheses based on either information are automatically discarded as the process proceeds to the tracking stabilization stage, and in the tracking stabilization stage, hypothesis-related calculations are performed using wake information with few false navigation traces. Therefore, the occurrence of mistracking is suppressed, and in addition to these, tracking is stabilized by providing an input information switch that switches to either observation information from an aircraft observer or wake information as information used for tracking calculation. In this case, it is no longer necessary to perform tracking calculations using two pieces of information, observation information and wake information at the same time. It may be used only to cause no observation information, the occurrence of this for erroneous track there is an effect that can reduce the computer load of to hypothesis generation process suppressed.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an aircraft tracking device according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating a processing operation of the aircraft tracking device according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating a configuration of an aircraft tracking device according to a second embodiment of the present invention;

FIG. 4 is a flowchart showing a processing operation of the aircraft tracking device according to the second embodiment of the present invention.

FIG. 5 is a diagram illustrating a configuration of an aircraft tracking device according to a third embodiment of the present invention;

FIG. 6 is a flowchart illustrating a processing operation of the aircraft tracking device according to the third embodiment of the present invention.

FIG. 7 is a diagram showing a configuration of an aircraft tracking device according to a fourth embodiment of the present invention.

FIG. 8 is a flowchart showing a processing operation of the fourth embodiment of the aircraft tracking device according to the present invention.

FIG. 9 is a diagram showing a configuration of an aircraft tracking device according to a fifth embodiment of the present invention.

FIG. 10 is a flowchart showing a processing operation of the aircraft tracking device according to the fifth embodiment of the present invention.

FIG. 11 is a diagram showing a configuration of a conventional aircraft tracking device.

FIG. 12 is a diagram showing a processing flow of a conventional aircraft tracking device.

[Explanation of symbols]

1 aircraft observation device, 2 aircraft observation information input device, 3 related group generator, 4 hypothesis generator, 5 hypothesis reliability calculator, 6 hypothesis reducer, 7 aircraft motion specification calculator, 8
Information integrator, 9 aircraft motion specification predictor, 10 aircraft wake information input device, 11 input information switching device, 12 unnecessary hypothesis elimination device, 13 tracking stability discriminator.

Claims (5)

[Claims] An aircraft observation device that outputs aircraft observation information of an aircraft and position information of the aircraft observation device itself; and converts aircraft observation information from the aircraft observation device from a coordinate system of the aircraft observation device to a tracking coordinate system. An aircraft observation information input device that outputs as observation information, and an aircraft wake information that converts the filtered aircraft wake information obtained from the aircraft observation device from a coordinate system of the aircraft observation device to a tracking coordinate system, and outputs it as wake information. An input device, an aircraft motion specification predictor that calculates prediction data at the current observation time from the aircraft tracking data accumulated during the previous sampling of the managed aircraft, and a managed aircraft prediction information from the aircraft motion data predictor,
The aircraft presence prediction range was calculated from the observation information from the aircraft observation information input device and the wake information from the aircraft wake information input device, the related determination was performed, and the related content was described based on the related determination result. A related group generator that generates related group information; and a hypothesis that sets a hypothesis as to whether or not the tracked aircraft divided for each related group can be a managed aircraft based on the related group information from the related group generator. A hypothesis reliability calculator that calculates the reliability of each of the hypotheses for each of the relevant groups based on hypothesis information from the hypothesis generator; A hypothesis reducer configured to leave a predetermined number of hypotheses in consideration of the hypothesis reliability and to reduce other hypotheses from the hypotheses generated for each group; Aircraft prediction information, an aircraft motion specification calculator that determines tracking calculation specifications based on the observation information and the wake information, a combination of a managed aircraft and a tracked aircraft based on the content and reliability of the hypothesis by the hypothesis reducing device And an information integrator for determining the aircraft tracking specifications. 2. An input information switch for switching under predetermined conditions whether information to be input to the related group generator is observation information from an aircraft observing device or wake information from an aircraft observing device. The aircraft tracking device according to claim 1, further comprising: 3. An aircraft observing device that outputs aircraft observing information of an aircraft and position information of the aircraft observing device itself, and converts the aircraft observing information from the aircraft observing device from a coordinate system of the aircraft observing device to a tracking coordinate system. An aircraft observation information input device that outputs as observation information, an aircraft motion specification predictor that calculates prediction data at the current observation time from the previous aircraft tracking data of the managed aircraft, and a management from the aircraft motion data predictor. An aircraft presence prediction range is calculated from the aircraft prediction information and the observation information from the aircraft observation information input device, the related determination is performed, and related group information describing the related content is generated based on the related determination result. An associated group generator; and a tracked aircraft divided for each associated group based on the associated group information from the associated group generator. A hypothesis generator that makes a hypothesis as to whether the hypothesis can be obtained, a hypothesis reliability calculator that calculates the reliability of each hypothesis for each of the related groups based on hypothesis information from the hypothesis generator, Hypotheses generated by the hypothesis generator for each related group under the hypothesis reduction condition, a hypothesis reducer that leaves a predetermined number of hypotheses in consideration of the hypothesis reliability and reduces other hypotheses, and that tracking has become stable. An unnecessary hypothesis eliminator for deleting one or more other hypotheses from the reduced hypotheses from the hypothesis reducer when determined, and a tracking calculation based on the management aircraft prediction information and the observation information; The aircraft motion specification calculator that determines the specifications and the combination of the managed aircraft and the aircraft to be tracked are determined based on the content and reliability of the hypothesis by the hypothesis reducer, and the aircraft tracking specifications are calculated. An information integrator, and a tracking stability discriminator that determines whether or not the aircraft tracking data from the information integrator is stable, and outputs a result of the determination to the aircraft motion data predictor. An aircraft tracking device, characterized in that: 4. The aircraft wake information which converts the filtered aircraft wake information obtained from the aircraft observer from a coordinate system of the aircraft observer to a tracking coordinate system and outputs the track information to the related group generator. Further comprising an input device, the related group generator calculates an aircraft presence prediction range in consideration of the wake information in addition to the management aircraft prediction information and the observation information, and the aircraft motion specification calculator includes: 4. The aircraft tracking device according to claim 3, wherein the tracking calculation data is determined in consideration of the wake information in addition to the management aircraft prediction information and the observation information. 5. Input information for switching under predetermined conditions whether information to be input to the related group generator is the observation information from the aircraft observation device or the wake information from the aircraft observation device. The aircraft tracking device according to claim 4, further comprising a switch.