JP2013174445A - Target tracking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that the conventional target tracking device performs stable tracking due to a tracking delay, an increase in difference between an observation target position and a predicted position when an observation period is long, or the like because a target position or the like is predicted at a predicted time only from target elements.SOLUTION: Stable tracking can perform tracking maintenance to a target having a long observation period and a low RCS characteristic concerning the target invading to a destination by preliminarily setting the destination to a target movement destination, and selecting an observation target to be correlated during target tracking while taking the destination into consideration.

Description

  The present invention relates to a target tracking device that predicts a future target position and tracks the target based on the predicted target position.

  In the conventional target tracking device, when predicting the future position of the target, constant velocity linear motion and constant velocity circle based on the motion parameters up to that point such as position and speed in the target specification information at the current time The future position is predicted based on a motion model such as motion. For this reason, a follow-up delay with respect to the target has occurred. Further, when the observation cycle of the target observation device is long, the difference between the predicted time and the current time becomes large, the difference between the predicted position and the target position observed at the time of prediction becomes large, and tracking maintenance becomes difficult.

  Furthermore, when tracking a target with a radar device, the target itself becomes difficult when the target is a low RCS (RCS: Radar Cross Section), and the target cannot be observed continuously and regularly. The frequency of sporadic observation increases, and the time difference between the previous observation time and the current observation time for the target becomes irregular. As a result, the target prediction error changes greatly each time, and the accuracy becomes unstable, which increases the number of observation targets to be correlated and the number of new targets generated, making it difficult to keep track of targets. It has become.

JP 2011-163963 A

  In target tracking, it is required to maintain tracking and improve tracking accuracy by bringing the predicted position of the target closer to the actual position of the target at the predicted time.

  When the target moves, there is a purpose of movement, and there is a destination as a destination. Therefore, the target movement route is determined by the destination, and the target position at the time of prediction is a point on the movement route. However, the conventional target tracking device is not sufficiently tracked with the destination destination, and based on the target specification information at the current time, the target future predicted position and the observation target The target tracking was performed by performing the correlation process. For this reason, when a tracking delay occurs or the observation cycle is long, there is a problem that it becomes difficult to perform stable tracking because the difference between the observation target position and the predicted position becomes large.

  The present invention has been made to solve such a problem, and it is possible to set a destination as a target destination in advance and select an observation target to be correlated in consideration of the destination at the time of target tracking. The purpose is to.

  A target tracking device according to the present invention includes a target track prediction unit that predicts a target predicted position from a target track, and an observation that exists within a presence prediction range centered on the target predicted position predicted by the target track prediction unit. A process for calculating the likelihood indicating the degree of correlation between the target and the tracking target, and a plurality of different zones divided around a line connecting the predicted position of the tracking target and the destination are provided. A target correlation determination unit that calculates a destination likelihood weighted by importance, and adds the observation target selected based on the destination likelihood to the target track and continues tracking. is there.

  A target track prediction unit that predicts a predicted position of the target from the target track, an observation target that exists in a presence prediction range centered on the predicted position of the target predicted by the target track prediction unit, and a tracking target; A process for calculating a likelihood indicating the degree of correlation of the tracking target, and providing a plurality of different zones divided for each destination around each line connecting the predicted position of the tracking target and the plurality of destinations. Calculate the destination likelihood weighted by the zone-specific importance for each location, calculate the combined likelihood from the product sum of the destination likelihood and the destination-specific importance, and select the observation selected based on the combined likelihood And a target correlation determination unit that performs a process of adding the target to the target track and continuing the tracking.

  According to the present invention, by setting a target destination and selecting an observation target, stable target tracking can be achieved, tracking delay can be eliminated, and tracking accuracy can be improved.

It is a figure which shows the structure of the target tracking apparatus by Embodiment 1. FIG. FIG. 10 is a diagram illustrating a processing flow of a target correlation determination unit in consideration of a single destination according to the first embodiment. It is a figure which shows the example of the table showing the relationship between CharmZone object area and importance by Embodiment 1. FIG. It is a figure which shows the relationship between the wake position of the management target by Embodiment 1, the observation position of the observation target, the destination, and CharmZone. 6 is a diagram illustrating an example of calculating a destination likelihood, which is performed in the destination likelihood calculating process according to Embodiment 1. FIG. It is a figure which shows the structure of the target tracking apparatus by Embodiment 2. FIG. It is a figure which shows the processing flow of the target correlation determination part which considered the multiple destination by Embodiment 2. FIG. It is a figure which shows the example of a description of the table showing the relationship between the position of the destination and importance by Embodiment 2. FIG. It is a figure which shows the example of the table showing the relationship between CharmZone object area and importance by Embodiment 2. FIG. It is a figure which shows the relationship between the track position of the management target by Embodiment 2, the observation position of an observation target, several destinations, and CharmZone. The destination likelihood calculation method performed in the destination likelihood calculation process considering the CharmZone for each destination according to the second embodiment, and the correlation target performed in the correlation target selection process considering the CharmZone for each destination It is the figure which described the selection method.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a target tracking device according to Embodiment 1 of the present invention. The target tracking device 301 according to the first embodiment employs a correlation target observation target selection method in which an observation target is selected for a target predicted track when a single target destination is used, and correlation processing is performed. . In FIG. 1, a target tracking device 301 includes a destination information management unit 309, an observation target information input unit 303, a target correlation determination unit 304 that considers a single destination, a target track generation / update unit 305, and track information. A management unit 306 and a target track prediction unit 307 are provided. The target tracking device 301 is connected to the target observation device 302 and the destination information input device 308. A target to be tracked by the target tracking device 301 is managed inside the device as a management target.

  The target observation device 302 generates observation target information that becomes an input to the target tracking device 301. The observation target information input unit 303 converts the observation target information input from the target observation apparatus 302 into an information format used in the target tracking apparatus, and stores the information in the apparatus. The destination information input device 308 inputs destination information to be input to the target tracking device 301. The destination information management unit 309 converts the destination information input from the destination information input device 308 into an information format used in the target tracking device, and stores and manages the information in the device. The target correlation determination unit 304 considering a single destination receives the observation information from the observation target information input unit 303, the observation time thereof, and the predicted track information of the management target from the target track prediction unit 307. The target correlation determination unit 304 considering the single destination includes the target information included in the destination information managed by the destination information management unit 309 within the apparatus and the predicted track information from the target track prediction unit 307. Considering the specification information, it is determined whether or not the observation target input from the observation target information input unit 303 and the management target managed in the apparatus are the same, and correlation processing is performed. . Here, for example, it is assumed that those having similar motion specifications have high correlation values, and those having no similar motion specifications have low correlation values.

  The target track generating / updating unit 305, based on the correlation result from the target correlation determining unit 304 considering the single destination, the observation target information selected by the target correlation determining unit 304 considering the single destination and the inside of the apparatus New management track information is updated or generated from the management track information managed as data. The target track generation / update unit 305 distributes the generated or updated management track information to the track information management unit 306 or an external device. The track information management unit 306 stores and manages the management track information distributed from the target track generation / update unit 305 as data inside the apparatus. The target track prediction unit 307 predicts the target position at the next observation time based on the management track information stored in the track information management unit 306, and generates predicted track information. The predicted track information of the target track prediction unit 307 includes target specification information including motion specifications such as the position and speed of the management target.

  FIG. 2 is a diagram illustrating a processing flow of the target correlation determination unit 304 in consideration of a single destination. The target correlation determination unit 304 considering a single destination receives the observation target information from the observation target information input unit 303 and the predicted track information of the management target managed in the target tracking device from the target track prediction unit 307. Correlation processing is performed when Here, it is assumed that the destination information is transmitted in advance from the destination information management unit 309.

  In FIG. 2, a target presence prediction range calculation process 401 calculates a range in which target observation at the observation time for the predicted track position of the management target is expected based on the predicted track information and observation target information of the management target.

  Next, in the target presence prediction range inside / outside determination process 402, it is determined whether or not an observation target exists within the target presence prediction range.

  As a result of the determination, if “the observation target exists within the target presence prediction range”, the correlation target target likelihood calculation processing 403 calculates the correlation between the management target and the observation target.

  Next, in the CharmZone determination process 404, CharmZone determination is performed to determine which CharmZone the observation target belongs to in advance.

  As a result of the determination, if “the observation target belongs to any CharmZone”, the degree of correlation between the management target and the observation target is calculated in the destination likelihood calculation process 405 in consideration of CharmZone.

  On the other hand, if “the observation target exists outside the target presence prediction range” in the target presence prediction range inside / outside determination process 402, or if “the observation target exists outside the CharmZone” in the CharmZone determination process 404, the target exists. Returning to the prediction range inside / outside determination processing 402, the next observation target is determined.

  After completion of the processing for all observation targets, the correlation target selection processing 406 in consideration of CharmZone has the largest likelihood calculation result for all observation targets within the target existence prediction range for one management target. The observation target that becomes the likelihood is selected as the target to be correlated with the management target.

  FIG. 3 shows a description example of the CharmZone target area and the importance level table showing the relationship between the target area and the importance level of the preset CharmZone. In FIG. 3, the table includes a CharmZone 501 describing the CharmZone name, a target area 502 describing the target area corresponding to the CharmZone name, and an importance 503 describing the importance of the target area corresponding to the CharmZome name.

For the target area 502, the azimuth angle direction and the elevation angle direction are set around a line connecting the predicted position of the management target and the destination. In the example of FIG. 3, CharmZone A has an azimuth angle of −30 ° to 30 ° and an elevation angle of −90 ° to 90 ° with respect to the line connecting the predicted position and the destination. CharmZoneB has an azimuth angle of −60 ° to −30 ° or 30 ° to 60 ° and an elevation angle of −90 ° to 90 ° with respect to the line connecting the predicted position and the destination. CharmZoneC has an azimuth angle of −90 ° to −60 ° or 60 ° to 90 ° and an elevation angle of −90 ° to 90 ° with respect to the line connecting the predicted position and the destination.
In addition, other areas not included in the target area are set to be outside the Zone.
In the CharmZone determination process 404, determination is performed based on the target area 502.

  The importance 503 is an importance corresponding to each CharmZone, and is used as a calculation weight at the time of likelihood calculation in the destination likelihood calculation processing 405 considering the CharmZone. Here, the larger the importance value in weighting, the higher the importance of the area. In the example of FIG. 3, CharmZone A is set to importance level 3, CharmZone B is set to importance level 2, CharmZone C is set to importance level 1, and outside zone is set to importance level 0.8.

  FIG. 4 is a diagram showing the relationship between the track position of the management target, the observation position of the observation target, the destination, and CharmZone. In the figure, reference numeral 601 is the smooth position of the management target, reference numeral 602 is the smoothing speed of the management target, reference numeral 603 is the predicted position of the management target at the observation time, reference numeral 604 is the observation target position, reference numeral 605 is the target presence prediction range calculation 401. The target presence prediction range calculated in step 606, the destination inputted from the destination information input device 308, the reference 607 is a line connecting the predicted position 603 of the management target and the destination 606, and the reference 608 is the management target and destination. It is CharmZone corresponding to.

  FIG. 5 shows a calculation example of the destination likelihood performed in the destination likelihood calculation process 405 in consideration of CharmZone in the CharmZone shown in FIG. In FIG. 5, reference numeral 701 is the name of an observation target that may be correlated with the management target. Reference numeral 702 is a likelihood value from the correlation target calculation processing 403 for calculating the correlation between the management target and the observation target. Reference numeral 703 denotes a ChamZome name determined in the CharmZone determination process 404. Reference numeral 704 is an importance level 503 corresponding to CharmZone. Reference numeral 705 denotes a calculation result of the destination likelihood calculation process 405. Reference numeral 706 denotes an observation target selected in the correlation target selection process 406 in consideration of CharmZone, and indicates the highest likelihood among the destination likelihoods.

  In the destination likelihood calculation process 405 considering CharmZone, the likelihood 702 of each observation target and the importance 704 corresponding to CharmZone are used, and are given by the following equations.

  The observation target selected in the correlation target selection process 406 in consideration of CharmZone is newly set as a management target and is sent to the target track generation / update unit 305. In addition, the selected observation target is used for the correlation process of the target correlation determination unit 304 considering the single destination at the next observation time.

  As described above, there is a destination as a destination when the target moves, the target moving path is determined by the destination, and the target predicted position is a point near the moving path. For this reason, the target tracking apparatus according to the first embodiment sets a destination as a target destination in advance, and selects an observation target to be correlated in target tracking in consideration of the destination.

  In this way, for the target toward the destination, for tracking the target information from the target observation device having a long observation cycle, or for the target having a low RCS characteristic that makes the observation sporadically, The error between the target predicted position and the observation position is reduced, and the target tracking can be performed stably. In addition, the target movement route is predicted by considering the destination as the target movement destination, and it is possible to perform tracking with high accuracy. Thus, by setting the target destination and selecting the observation target, stable target tracking can be achieved, tracking delay can be eliminated, and tracking accuracy can be improved.

  As described above, the target tracking device according to the first embodiment has a target track prediction unit 307 that predicts a predicted position of a target from a target track, and an existence centered on the predicted position of the target predicted by the target track prediction unit 307. Provide a plurality of zones (CharmZon) in the direction away from the line connecting the predicted position of the tracking target and the destination, and the process of calculating the likelihood indicating the degree of correlation between the observation target existing within the prediction range and the tracking target, A destination likelihood is calculated by calculating a destination likelihood obtained by weighting the likelihood by the importance for each zone, and performing a process of continuing the tracking by adding the observation target selected based on the destination likelihood to the target track. And a target correlation determination unit 304 in consideration.

  As a result, in the target correlation determination of the target tracking device, when performing the correlation determination between the management target and the observation target, consider the importance of the location of the management target, motion specifications such as speed, and the destination destination of the target. By predicting the target movement path toward the destination and performing correlation determination, the target position prediction accuracy can be improved and stable continuation can be realized.

  The target tracking device according to the first embodiment performs target tracking using a sensor such as a radar device or an image device for the purpose of air traffic control, air defense, etc., and is used in a system that manages the target information and uses the target information. Is possible.

Embodiment 2. FIG.
FIG. 6 is a diagram showing the configuration of the target tracking device according to the second embodiment of the present invention. The target tracking device according to the second embodiment is characterized by adopting a correlation target observation target selection method in which an observation target is selected for a target predicted track when a plurality of target destinations are used, and correlation processing is performed. In FIG. 6, the target tracking device 801 includes a multi-destination information management unit 809, an observation target information input unit 803, a target correlation determination unit 804 that takes into account multiple destinations, a target track generation / update unit 805, An information management unit 806 and a target track prediction unit 807 are provided. The target tracking device 801 is connected to the target observation device 802 and the multiple destination information input device 808. The target to be tracked by the target tracking device 801 is managed inside the device as a management target.

  The target observation device 802 generates observation target information that becomes an input to the target tracking device 801. The observation target information input unit 803 converts the observation target information input from the target observation device 802 into an information format used in the target tracking device, and stores it in the device. The multi-destination information input device 808 inputs one or a plurality of destination information to be input to the target tracking device 801. The multi-destination information management unit 809 converts the destination information input from the multi-destination information input device 808 into an information format used in the target tracking device, and stores and manages the information in the device. The target correlation determination unit 804 taking into account a plurality of destinations receives the observation information from the observation target information input unit 803, the observation time thereof, and the predicted track information of the management target from the target track prediction unit 807. The target correlation determination unit 804 taking into account the multiple destinations is a single destination or multiple destinations managed by the multi-destination information management unit 809 inside the apparatus, and the target parameters included in the predicted track information from the target track prediction unit 807. In consideration of the original information, it is determined whether the observation target input from the observation target information input unit 803 is the same as the management target managed inside the apparatus, and correlation processing is performed. Here, for example, it is assumed that those having similar motion specifications have high correlation values, and those having no similar motion specifications have low correlation values.

  The target wake generation / update unit 805, based on the correlation result from the target correlation determination unit 804 considering multiple destinations, and the observation target information selected by the target correlation determination unit 804 considering multiple destinations and the inside of the apparatus New management track information is updated or generated from the management track information managed as data. The target track generation / update unit 805 distributes the generated or updated management track information to the track information management unit 806 or an external device. The track information management unit 806 stores and manages the management track information distributed from the target track generation / update unit 805 as data inside the apparatus. The target track prediction unit 807 predicts the target position at the next observation time based on the management track information stored in the track information management unit 806 and generates predicted track information. The predicted track information of the target track predicting unit 807 includes target specification information including motion specifications such as the position and speed of the management target.

  FIG. 7 shows a processing flow of the target correlation determination unit 804 considering a plurality of destinations. The target correlation determination unit 804 considering multiple destinations receives the observation target information from the observation target information input unit 803 and the predicted track information of the management target managed in the target tracking device from the target track prediction unit 807. Correlation processing is performed when Here, it is assumed that one or more destination information is transmitted in advance from the multiple destination information management unit 809.

  In FIG. 7, in the target presence prediction range calculation process 901, a range in which target observation at the observation time for the predicted track position of the management target is expected is calculated based on the predicted track information and the observation target information of the management target.

  Next, in the target presence prediction range inside / outside determination processing 902, it is determined whether or not an observation target exists within the target presence prediction range.

  As a result of the determination, if “the observation target is within the target presence prediction range”, the correlation target target likelihood calculation processing 903 calculates the correlation between the management target and the observation target.

  Next, in a CharmZone determination process 904, CharmZone determination is performed for determining which CharmZone the observation target belongs to for one of the plurality of pieces of destination information.

  As a result of the determination, if “the observation target belongs to any CharmZone”, the degree of correlation between the management target and the observation target is calculated in the destination likelihood calculation process 905 in consideration of CharmZone.

  On the other hand, if “the observation target exists outside the target presence prediction range” in the target presence prediction range inside / outside determination processing 902 or “the observation target exists outside the CharmZone” in the CharmZone determination processing 904, the target exists. Returning to the prediction range inside / outside determination processing 902, the next observation target is determined.

  After the processing for all observation targets is completed, in the correlation target selection processing 906 considering all destinations and CharmZone, the calculation result of the likelihood for all the observation targets within the target existence prediction range for one management target is calculated. Among them, the observation target with the highest likelihood is selected as the correlation target observation target for the management target.

  FIG. 8 is a diagram illustrating a description example of a table representing a relationship between a destination position and importance set in advance. This table includes a destination name 1001 that describes the name of the destination, a position 1002 that describes the position of the destination, and a destination importance 1003 that describes the importance of the destination. The higher the destination importance 1003, the higher the destination.

  FIG. 9 shows a description example of the CharmZone target area and the importance level table showing the relationship between the target area and the importance level of the preset CharmZone. In FIG. 9, the table includes a CharmZone 1101 describing a CharmZone name, a target area 1102 describing a target area corresponding to the CharmZone name, and an importance 1103 describing the importance of the target area corresponding to the CharmZome name.

For the target area 1102, the azimuth direction and the elevation direction are set around a line connecting the predicted position of the management target and the destination. In the example of FIG. 9, CharmZone A has an azimuth angle of −30 ° to 30 ° and an elevation angle of −90 ° to 90 ° with respect to the line connecting the predicted position and the destination. CharmZoneB has an azimuth angle of −60 ° to −30 ° or 30 ° to 60 ° and an elevation angle of −90 ° to 90 ° with respect to the line connecting the predicted position and the destination. CharmZoneC has an azimuth angle of −90 ° to −60 ° or 60 ° to 90 ° and an elevation angle of −90 ° to 90 ° with respect to the line connecting the predicted position and the destination.
In addition, other areas not included in the target area are set to be outside the Zone.
In the CharmZone determination process 904, determination is performed based on the target area 1102.

  The importance 1103 is an importance corresponding to each CharmZone, and is used as a calculation weight at the time of calculation in the correlation target selection processing 906 considering all destinations and CharmZone. Here, the larger the importance value in weighting, the higher the importance of the area. In the example of FIG. 9, CharmZoneA is set to importance level 3, CharmZoneB is set to importance level 2, CharmZoneC is set to importance level 1, and outside zone is set to importance level 0.8.

  FIG. 10 is a diagram illustrating the relationship between the track position of the management target, the observation position of the observation target, a plurality of destinations, and CharmZone. Reference numeral 1201 is the smooth position of the management target, reference numeral 1202 is the smooth speed of the management target, reference numeral 1203 is the predicted position of the management target at the observation time, reference numeral 1204 is the observation target position, and reference numeral 1205 is the target presence prediction range calculation process 901 It is the calculated target existence prediction range. Reference numeral 1206 denotes a destination A inputted from the destination information input device 808, reference numeral 1207 denotes a line connecting the predicted position 1203 of the management target and the destination A 1206, and reference numeral 1208 denotes a CharmZone corresponding to the management target and the destination A. is there. Reference numeral 1209 denotes a destination B input from the destination information input device 808, reference numeral 1210 denotes a line connecting the predicted position 1203 of the management target and the destination B 1209, and reference numeral 1211 denotes a CharmZone corresponding to the management target and the destination B.

  FIG. 11 illustrates a destination likelihood calculation process performed in the destination likelihood calculation process 905 considering the CharmZone for each destination, and a correlation executed in the correlation target selection process 906 considering the CharmZone for each destination. It is the figure which described the object selection method.

  In FIG. 11, reference numerals 1301, 1302, 1303, 1304, 1305, and 1306 correspond to locations related to the destination likelihood calculation process 905 in consideration of CharmZone for each destination. Reference numeral 1301 is the name of an observation target that can be correlated with the management target, reference numeral 1302 is a likelihood value from the likelihood calculation process 903 for calculating the correlation between the management target and the observation target, and reference numeral 1303 is CharmZone. The ChamZome number determined in the determination process 904, reference numeral 1304 indicates the importance (1103) corresponding to CharmZone, and reference numeral 1305 indicates the calculation result of the destination likelihood calculation process 905 in consideration of CharmZone of the destination A. Reference numeral 1306 denotes a calculation result of the destination likelihood calculation process 905 in consideration of the CharmZone of the destination B.

  In FIG. 11, reference numerals 1307, 1308, 1309, and 1310 correspond to locations related to the destination likelihood calculation method and the correlation target selection processing 906 taking into account all destinations and CharmZone. Reference numeral 1307 denotes the name of an observation target that can be correlated with the management target, reference numeral 1308 denotes a likelihood value indicating the calculation result 1305 of the destination likelihood calculation process 905 in consideration of CharmZone of the destination A, and reference numeral 1309 denotes the destination B. The likelihood value indicating the calculation result 1306 of the destination likelihood calculation process 905 in consideration of the current CharmZone, reference numeral 1310 is the integrated likelihood of the calculation result of the correlation target selection process 906 in consideration of all destinations and CharmZone. Reference numeral 1311 denotes an observation target selected in the correlation target selection process 906 in consideration of all destinations and CharmZone, and indicates the highest likelihood among the destination likelihoods.

  In the destination likelihood calculation process 905 considering the Charm Zone for each destination, the destination likelihood given by the following equation is obtained using the likelihood 1303 of each observation target and the importance 1304 corresponding to the CharmZone.

  In the calculation of the integrated likelihood performed in the correlation target selection processing 906 in consideration of all destinations and CharmZone, the likelihoods 1308 and 1309 for each destination and the destination importance 1003 are used, and the total likelihood given by the following equation: Find the degree. Finally, the observation target with the largest integrated likelihood is selected as the correlation target.

  The observation target selected in the correlation target selection process 906 in consideration of all destinations and CharmZone is newly set as a management target and sent to the target track generation / update unit 905. In addition, the selected observation target is used for the correlation process of the target correlation determination unit 904 considering a single destination at the next observation time.

  As described above, the target tracking device according to the second embodiment has a target track prediction unit 807 that predicts a predicted position of a target from a target track, and a presence centered on the predicted position of the target predicted by the target track prediction unit 807. A process for calculating the likelihood indicating the degree of correlation between the observation target existing in the prediction range and the tracking target, and each line connecting the predicted position of the tracking target and a plurality of destinations is divided for each destination. A destination likelihood is calculated by weighting the likelihood by the importance of each zone for each destination, and the combined likelihood is calculated from the product sum of the destination likelihood and the importance by destination. And a target correlation determination unit 804 that takes into account a plurality of destinations that perform processing to add the observation target calculated based on the combined likelihood to the target track and continue tracking.

  As a result, in the target correlation determination of the target tracking device, when performing the correlation determination between the management target and the observation target, consider the importance of the location of the management target, motion specifications such as speed, and the destination destination of the target. By predicting the target movement path toward the destination and performing correlation determination, the target position prediction accuracy can be improved and stable continuation can be realized.

  301 target tracking device, 302 target observation device, 303 observation target information input unit, 304 target correlation determination unit considering single destination, 305 target track generation / update unit, 306 track information management unit, 307 target track prediction unit, 308 Destination information input device, 309 Destination management unit, 401 Target presence prediction range calculation processing, 402 Target presence prediction range inside / outside determination processing, 403 Correlation target likelihood calculation processing, 404 CharmZone determination processing, 405 Purpose considering CharmZone Target likelihood calculation processing, correlation target selection processing considering 406 CharmZone, 801 target tracking device, 802 target observation device, 803 observation target information input unit, 804 target correlation determination unit considering multiple destinations, 805 target track generation / Update unit, 806 Track information management unit, 807 Target track prediction unit, 808 Multiple destination information input device 809 multiple destination management unit, 901 target presence prediction range calculation processing, 902 target presence prediction range inside / outside determination processing, 903 correlation target likelihood calculation processing, 904 CharmZone determination processing, 905 CharmZone for each destination is considered Destination likelihood calculation process, 906 Correlation target selection process considering all destinations and CharmZone.

Claims (2)

A target wake prediction unit for predicting a predicted position of the target from the target wake;
A process for calculating a likelihood indicating the degree of correlation between the observation target existing in the presence prediction range centered on the predicted position of the target predicted by the target track prediction unit and the tracking target;
And a plurality of different zones divided around a line connecting the predicted position of the tracking target and the destination, the destination likelihood is calculated by weighting the likelihood with the importance of each zone, and the destination likelihood Processing to add the observation target selected based on the target track and continue tracking,
A target correlation determination unit for performing
Target tracking device with A target wake prediction unit for predicting a predicted position of the target from the target wake;
A process for calculating a likelihood indicating the degree of correlation between the observation target existing in the presence prediction range centered on the predicted position of the target predicted by the target track prediction unit and the tracking target;
And a plurality of different zones that are divided for each destination around each line connecting the predicted position of the tracking target and a plurality of destinations, and the likelihood is weighted by the importance of each zone for each destination. Processing that calculates likelihood, calculates combined likelihood from the product sum of the destination likelihood and importance by destination, adds the observation target selected based on the combined likelihood to the target track, and continues tracking ,
A target correlation determination unit for performing
Target tracking device with

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