JP2013253909A - Tracking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a tracking device that highly accurately predicts a future position of a non-guided object after completion of observation without increasing a processing load even in a case where a period of time when the object can be observed by a radar sensor is short.SOLUTION: A tracking device comprises: an orbit correction amount estimation section 700 for generating an orbit correction amount estimation value with respect to a standard orbit by using tracking processing in consideration of a differential equation on the basis of a difference between the standard orbit calculated on the basis of the differential equation assuming known standard conditions in association with a non-guided target of which a position and a speed at certain timing are known and an observation value obtained by a radar sensor; and an orbit prediction section 800 that generates an orbit correction amount prediction value after completion of observation by the radar sensor in consideration of the differential equation on the basis of the correction amount estimation value generated by the orbit correction amount estimation section 700, corrects the standard orbit by adding the orbit correction amount prediction value to the standard orbit and predicts the future position and the speed of the non-guided target after the completion of the observation by the radar sensor.

Description

  The present invention uses a result obtained by observing and tracking a non-inductive target whose position and velocity at a certain time are known by a radar sensor after a certain period of time has elapsed from a certain time, and using the result of the non-inductive target after the end of the observation. The present invention relates to a tracking device that predicts a future position.

As a conventional tracking device of this type, there is a device that performs the following operation (for example, see Non-Patent Document 1 below).
FIG. 8 is a block diagram showing an example of the configuration of a tracking device in the prior art.
The tracking device in FIG. 8 includes tracking processing units 201-1 to 201-n based on a motion model that assumes a plurality of (for example, n) environmental factors such as air resistance, and is non-guided from the target observation device 101. The target observation values are input to the tracking processing units 201-1 to 201-n, and the tracking processing is performed in the n tracking processing units.

Next, the reliability calculation unit 301 calculates the reliability for each of the n motion models based on the n tracking processing outputs.
Then, when the observation is completed, the motion model having the highest reliability is selected, and the trajectory prediction unit 401 calculates the position and speed of the non-inductive target based on the selected motion model. The future position after the observation of the guidance target is predicted.

  In such a conventional technique, a motion model with the smallest error from the actual motion of the non-guided target is used by selecting the motion model with the highest reliability based on the output of the tracking processing by a plurality of tracking processing units. It is intended to predict the future position of unguided targets.

Ravindra, Bar-Shalom, Willet, “Project Identification and Impact Point Prediction,” IEEE, Trans. , AES, Vol. 46, no. 4, pp. 2004-2021, October 2010.

However, the prior art has the following problems.
In such a conventional technique, a motion model having the highest reliability among the n motion models is used for prediction of the unguided target trajectory after the end of observation.
Since the motion model assumes an unknown motion, it is virtually impossible to precisely define the actual motion by the motion model.
For this reason, in the prior art, when the motion model having the highest reliability does not match the actual motion of the non-inductive target, there is a problem that the prediction accuracy becomes insufficient.

When the time that can be observed by the radar sensor is short, the final output convergence state by each tracking processing unit becomes insufficient.
For this reason, in the prior art, there is a problem that the accuracy of the initial state regarding the position, speed, etc. used when predicting the future position is deteriorated and the prediction accuracy is deteriorated.

Here, as an example of an ideal form based on the prior art in which measures against the above problems are taken, a tracking device having a configuration as shown in FIG. 9 is also conceivable.
The tracking device in FIG. 9 assumes a plurality of (for example, m) tracking initial condition candidates 500-1 to 500-m, and then follows a tracking processing unit 201-1 based on a plurality (for example, n) of motion models. -201-n are provided, and the tracking process is performed by combining the tracking initial condition and the tracking processing unit in a round-robin manner.
Then, the reliability of the tracking processing output by the brute force combination is calculated, and the future position after the observation of the non-guide target is predicted based on the combination having the highest reliability when the observation is completed.

  The tracking device is configured as shown in Fig. 9 and further matches the target's actual motion by searching for the most reliable combination assuming an infinite number of initial tracking conditions and an infinite number of motion models. There may be a combination of initial tracking condition and motion model.

However, assuming an infinite number of tracking initial conditions and an infinite number of motion models is problematic in that it is impractical in terms of processing load and complexity.
In addition, particularly when the time that can be observed by the radar sensor is short, there is a problem that it is difficult to estimate environmental factors such as air resistance among the elements estimated by the tracking processing unit.

  The present invention has been made to solve the above-described problems. Even when the time that can be observed by the radar sensor is short, the future of the non-inductive target after the observation is completed without increasing the processing load. An object is to obtain a tracking device that predicts a position with high accuracy.

  The tracking device according to the present invention has a standard trajectory calculated based on a differential equation assuming a known standard condition and an observation obtained by a radar sensor with respect to a non-inductive target whose position and velocity at a certain point in time are known. A trajectory correction amount estimator that generates a trajectory correction amount estimation value for the standard trajectory using a tracking process that takes into account the differential equation based on the difference from the value, and a trajectory correction amount estimation value generated by the trajectory correction amount estimation unit The trajectory correction amount predicted value after the observation by the radar sensor is finished in consideration of the differential equation, and the standard trajectory is corrected by adding the trajectory correction amount predicted value to the standard trajectory. And a trajectory prediction unit for predicting the future position and speed of the non-guided target after the observation by the sensor is completed.

  According to the present invention, a trajectory correction amount estimated value is generated from the difference between the standard trajectory and the observed value, and a trajectory correction amount predicted value is generated in consideration of the differential equation based on the trajectory correction amount estimated value. The standard trajectory is corrected by adding the predicted value of the trajectory correction amount to the standard trajectory, and the future position and speed of the non-guided target after the observation by the radar sensor is completed. Even in a situation where the available time is short, it is possible to obtain a tracking device that can predict the future position of the non-guided target with high accuracy after the observation without increasing the processing load.

It is a block diagram which shows the structure of the tracking apparatus by Embodiment 1 of this invention. It is a flowchart which shows the flow of the tracking process of the tracking apparatus by Embodiment 1 of this invention. It is a conceptual diagram which shows the effect implement | achieved by the tracking apparatus by Embodiment 1 to Embodiment 3 of this invention. It is a block diagram which shows the structure of the tracking apparatus by Embodiment 2 of this invention. It is a flowchart which shows the flow of the tracking process of the tracking apparatus by Embodiment 2 of this invention. It is a block diagram which shows the structure of the tracking apparatus by Embodiment 3 of this invention. It is a flowchart which shows the flow of the tracking process of the tracking apparatus by Embodiment 3 of this invention. It is a block diagram which shows the structure of the conventional tracking apparatus. It is a block diagram which shows the structure of the ideal form of the conventional tracking apparatus.

Hereinafter, preferred embodiments of the tracking device of the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing an example of the configuration of a tracking device according to Embodiment 1 of the present invention.
Moreover, FIG. 2 is a flowchart which shows the flow of the tracking process of the tracking apparatus by Embodiment 1 of this invention.

The tracking device according to the first embodiment of the present invention shown in FIG. 1 includes a target observation device 101, a standard trajectory calculation unit 601, a trajectory correction amount estimation unit 700, and a trajectory prediction unit 800.
The trajectory correction amount estimation unit 700 includes a position difference calculation unit 701 and a trajectory correction amount tracking processing unit 702 therein.
Further, the trajectory prediction unit 800 includes a trajectory correction amount prediction unit 801 and a standard trajectory correction unit 802 inside.

  The numbers given as the respective operation steps in the flowchart shown in FIG. 2 are shown to coincide with the numbers of the respective components in FIG. 1 in order to clarify which component is used for processing.

Next, the operation will be described.
The standard trajectory calculation unit 601 calculates the standard trajectory of the non-guided target as data on the position and speed based on the known position, speed, and standard conditions at a certain point in time for the non-guided target.

式（１）における関数ｆ（ｘ）としては、例えば、式（２）のような形の微分方程式を満たすものを使用する。 Specifically, the standard trajectory calculation unit 601 uses a function f (x) that satisfies a differential equation assuming a known condition regarding the position, velocity, and motion at a certain time t ₀ of the non-inductive target. The standard position and velocity x _{S, k} of the non-inductive target at time t _k are calculated as in equation (1).

As the function f (x) in the equation (1), for example, a function satisfying a differential equation of the form as in the equation (2) is used.

式（２）において、ｇは重力加速度である。
また、αは空気抵抗に関わる成分である。
なお、関数ｆ（ｘ）が満たす微分方程式は、式（２）の形に限定されるものではない。

In equation (2), g is the gravitational acceleration.
Α is a component related to air resistance.
Note that the differential equation that the function f (x) satisfies is not limited to the form of the equation (2).

  Then, the standard trajectory calculation unit 601 outputs data regarding the position of the standard trajectory to the position difference calculation unit 701, and outputs data regarding the position and speed to the standard trajectory correction unit 802 (step ST601).

The target observation apparatus 101 performs signal processing on a reception signal input from an antenna / reception system (not shown) by a known method.
Specifically, the target observation apparatus 101 generates a non-inductive target observation value z _k as a result of signal processing at time t _k .

  Then, the target observation apparatus 101 outputs an observation value that is a result of signal processing to the position difference calculation unit 701 (step ST101).

Position difference calculating unit 701 calculates the difference between the observed value at time t _k, which is input from the target observation device 101, and the position at time t _k of the standard trajectory inputted from the standard trajectory calculator 601.

Specifically, the position difference calculating section 701, as Equation (3), calculates the difference between u _k and the position at time t _k observations and the standard track at time t _k.

Then, the position difference calculating section 701, the difference u _k and the position at time t _k observations and the standard track at time t _k, and outputs the trajectory correction amount tracking processing unit 702 (step ST701).

The trajectory correction amount tracking processing unit 702 considers a mismatch of the air resistance, which is a deviation of α in the differential equation of the equation (2) as a deviation from the standard trajectory, and the standard trajectory defined as the equation (4). using the state vector y of course correction amount, relative to the difference u _k and the position at time t _k observations and the standard track at time t _k, which is input from the position difference calculating unit 701 performs a tracking process.

Specifically, the trajectory correction amount tracking processing unit 702 firstly estimates the trajectory correction amount y (hat) _{k−1 | k−1} and the smooth error covariance matrix P _{k−1 | k at} time t _k−1 . Based on ₋₁ , a prediction process is performed as in Expression (5).

また、Ｑ_k-1は駆動雑音ベクトルの共分散行列である。

Q _k-1 is a covariance matrix of drive noise vectors.

式（７）のＲ_kは、観測雑音共分散行列である。 Next, the track correction quantity tracking processing unit 702, a difference u _k and the position at time t _k observations and the standard track at time t _k, based on the result of the prediction process of the formula (5), equation (7) The smoothing process is performed as described above to generate a trajectory correction amount estimated value y (hat) _{k | k} (step ST702-1).

R _{k in} Equation (7) is an observation noise covariance matrix.

  The trajectory correction amount tracking processing unit 702 performs the tracking processing according to the equations (5) and (7) while the observation is performed by the radar sensor and the observed value is obtained (No side of step ST702-2). Flow).

At the time t _k when the observation by the radar sensor is finished, the trajectory correction amount tracking processing unit 702 outputs the trajectory correction amount estimated value y (hat) _{k | k} at the time t _j to the trajectory correction amount prediction unit 801 (step). ST702-2 Yes side flow).

The trajectory correction amount prediction unit 801 predicts the trajectory correction amount after the observation by the radar sensor is completed.
Specifically, the trajectory correction amount prediction unit 801 uses the trajectory correction amount estimation value y (hat) _{k | k} at time t _k input from the trajectory correction amount tracking processing unit 702 as the trajectory correction amount prediction value y _{P, j.} As an initial value, a trajectory correction amount predicted value y _{P, j} for each time is calculated as shown in Expression (8).

Then, the trajectory correction amount prediction unit 801 outputs the trajectory correction amount prediction value y _{P, j} for each time calculated as shown in Expression (8) to the standard trajectory correction unit 802 (step ST801).

The standard trajectory correction unit 802 adds the trajectory correction amount predicted value input from the trajectory correction amount prediction unit 801 to the position and speed of the standard trajectory input from the standard trajectory calculation unit 601, and the future position of the non-guide target And calculate the speed.
Specifically, as shown in the equation (9), the future position and speed x _P of the non-inductive target are obtained by adding the trajectory correction amount predicted value y _{P, i} to the position and speed x _{s, i} of the standard trajectory. _{, i} is calculated.

Then, the standard trajectory correcting unit 802 outputs the non-guided target future position and speed x _{P, i} to a display device (not shown) (step ST802).

  As described above, according to the first embodiment, based on the difference between the observation value from the radar sensor and the standard trajectory, the trajectory correction amount with respect to the standard trajectory is estimated and predicted, and the trajectory correction amount predicted value calculated by the prediction is calculated. By adding to the position and speed of the standard trajectory, the future position of the unguided target is predicted.

As a result, even if the initial state used for prediction of the future position of the target after the observation by the radar sensor and the standard trajectory do not match due to a mismatch in air resistance or the like, as shown in FIG. Is added to the standard trajectory to reduce the difference between the standard trajectory and the true trajectory.
For this reason, even when the time that can be observed by the radar sensor is short, it is possible to predict the unguided target trajectory with high accuracy after the observation by the radar sensor is completed without increasing the processing load. .

In addition to the mismatch of air resistance, for example, it corresponds to the target future position prediction in the situation where the initial state used for target future position prediction and the standard trajectory do not match due to the influence of other external forces such as lift and wind. Is possible. The same applies to the following embodiments.
Furthermore, the more the types of external forces to be considered, the closer the future position predicted by the prior art is to the true future position, but the wider the parameter search range.
On the other hand, although the external force considered in the first embodiment is only gravity, the external force other than gravity is aggregated to the difference between the observed value and the standard orbit to bring the predicted future position closer to the true future position. It is possible. The same applies to the following embodiments.

Embodiment 2. FIG.
FIG. 4 is a block diagram showing an example of the configuration of the tracking device according to Embodiment 2 of the present invention.
FIG. 5 is a flowchart showing the flow of the tracking process of the tracking device according to the second embodiment of the present invention.

The tracking device according to the second embodiment of the present invention shown in FIG. 4 includes an air resistance correction amount tracking processing unit 703 in the trajectory correction amount estimating unit 700 in addition to the components of the tracking device according to the first embodiment. .
Further, the standard trajectory calculation unit 601a, the trajectory correction amount prediction unit 801a, and the standard trajectory correction unit 802a are newly added to the standard trajectory calculation unit 601, the trajectory correction amount prediction unit 801, and the standard trajectory correction unit 802 in the first embodiment. It adds various functions.

  Further, the numbers given as the respective operation steps in the flowchart shown in FIG. 5 are shown to coincide with the numbers of the respective components in FIG. 4 in order to clarify which component is used for processing.

Next, the operation will be described.
The standard trajectory calculation unit 601a determines the standard trajectory of the non-inductive target with respect to the position, speed, and air resistance based on the known position, velocity, air resistance, and standard conditions at a certain point of the non-inductive target. Calculate as data.
Specifically, the standard trajectory calculation unit 601a has a function f ₂ (x that satisfies a differential equation that assumes a known position, velocity, air resistance, and standard conditions regarding motion at a certain time t ₀ of the non-inductive target. ), The standard position, speed, and air resistance x _{2, S, k} of the non-inductive target at time t _k are calculated as in equation (10).

なお、関数ｆ₂（ｘ）が満たす微分方程式は、式（１１）の形に限定されるものではない。
目標観測装置１０１は、実施の形態１における目標観測装置１０１と同一の機能を有し、時刻ｔ_kにおいて、信号処理の結果として観測値ｚ_kを生成する。 As the function f ₂ (x) in the expression (10), for example, a function satisfying a differential equation of the form as in the expression (11) is used.

Note that the differential equation satisfied by the function f ₂ (x) is not limited to the form of the equation (11).
The target observation apparatus 101 has the same function as the target observation apparatus 101 in the first embodiment, and generates an observation value z _k as a result of signal processing at time t _k .

  Then, the target observation apparatus 101 outputs an observation value that is a result of signal processing to the position difference calculation unit 701 (step ST101).

Position difference calculating unit 701 has the same function as the position difference calculating section 701 in the first embodiment, the observation value at time t _k, which is input from the target observation device 101, the standard trajectory inputted from the standard trajectory calculating section 601a The difference uk with _respect to the position at time t _k is calculated as in equation (3).

Then, the position difference calculating section 701, the difference u _k and the position at time t _k observations and the standard track at time t _k, and outputs the trajectory correction amount tracking processing unit 702 and the air resistance correction quantity tracking processing unit 703 (Step ST701).

The trajectory correction amount tracking processing unit 702 has the same function as the trajectory correction amount tracking processing unit 702 according to the first embodiment, and obtains a state vector y of the trajectory correction amount with respect to the standard trajectory defined as in the above equation (4). with respect to the difference between u _k and the position at time t _k observations and the standard track at time t _k, which is input from the position difference calculating unit 701 performs a tracking process by the formula (5) and (7) Then, a trajectory correction amount estimated value y (hat) _{k | k} is generated (step ST702-1).

  The trajectory correction amount tracking processing unit 702 performs the tracking processing according to the equations (5) and (7) while the observation is performed by the radar sensor and the observed value is obtained (No side of step ST702-2). Flow).

At the time t _k when the observation by the radar sensor is finished, the trajectory correction amount tracking processing unit 702 outputs the trajectory correction amount estimated value y (hat) _{k | k} at time t _j to the trajectory correction amount prediction unit 801a (step ST702). -2 Yes side flow).

Air resistance correction amount tracking processing unit 703, by using the air resistance correction amount c to the standard track, the difference u _k and the position at time t _k observations and the standard track at time t _k, which is input from the position difference calculating section 701 A tracking process is performed.

Specifically, the air resistance correction amount tracking processing unit 703 _{first determines} the air resistance correction amount estimated value c (hat) _{k−1 | k−1} and the smoothing error variance p _{k−1 | k at} time t _k−1 . Based on ₋₁ , a prediction process is performed as in Expression (12).

また、ｑ_k-1は駆動雑音の分散である。 In Expression (12), φ _k−1 is a state transition matrix considering the function f ₂ (x).
Specifically, φ _k−1 is expressed by the following equation (13) with respect to the true orbit x _{T, 2} , standard trajectory x _{S, 2} , function f ₂ (x) and air resistance correction amount c. Is a state transition matrix considering a function G (c) satisfying

Further, q _k−1 is the dispersion of driving noise.

Then, air resistance correction amount tracking processing unit 703, a difference u _k and the position at time t _k observations and the standard track at time t _k, based on the result of the prediction process of formula (12), formula (14 ) To generate an air resistance correction amount estimated value c (hat) _{k | k} (step ST703-1).

  The air resistance correction amount tracking processing unit 703 performs the tracking processing according to the equations (5) and (7) while the observation is performed by the radar sensor and the observed value is obtained (No in step ST703-2). Side flow).

At the time t _k when the observation by the radar sensor is finished, the air resistance correction amount tracking processing unit 703 outputs the air resistance correction amount estimated value c (hat) _{k | k} at the time t _j to the trajectory correction amount prediction unit 801a. (Flow on the Yes side of Step ST703-2).

The trajectory correction amount prediction unit 801a predicts the trajectory correction amount after the observation by the radar sensor is completed.
Specifically, the trajectory correction amount prediction unit 801 a receives the trajectory correction amount estimated value y (hat) _{k | k} and the air resistance correction amount tracking processing unit 703 at time t _k input from the trajectory correction amount tracking processing unit 702. Assuming that the input air resistance correction amount estimated value c (hat) _{k | k} at the input time t _k is the initial value of the orbital air resistance correction amount predicted value y _{2, P, j} , the trajectory for each time as shown in equation (15) The air resistance correction amount predicted value y _{P, 2, j} is calculated.

Then, the trajectory correction amount prediction unit 801a outputs the calculated trajectory air resistance correction amount prediction value y2 _{, P, j} for each calculated time to the standard trajectory correction unit 802a (step ST801a).

The standard trajectory correction unit 802a adds the predicted value of the trajectory air resistance correction amount input from the trajectory correction amount prediction unit 801a to the position, speed, and air resistance of the standard trajectory, and the future position, speed, and air resistance of the non-inductive target. Is calculated.
More specifically, as shown in equation (17) _, by adding the predicted value y _{2, P, i} of the track air resistance correction amount to the position, velocity and air resistance x _{2, s, i} of the standard track, non-induction The target future position, speed, and air resistance x _{2, P, i} are calculated.

Then, the standard trajectory correcting unit 802a outputs the non-inductive target future position, speed, and air resistance x2 _{, P, i} to a display device (not shown) (step ST802a).

  As described above, according to the second embodiment, the orbit correction amount and the air resistance correction amount with respect to the standard trajectory are estimated and predicted based on the difference between the observation value by the radar sensor and the standard trajectory, and the trajectory calculated by the prediction. The future position of the non-inductive target is predicted by adding the predicted value of the air resistance correction amount to the position, speed and air resistance of the standard trajectory.

As a result, even if the initial state used for predicting the future position of the target after the observation by the radar sensor and the standard trajectory do not coincide with each other due to a discrepancy in air resistance or the like, as shown in FIG. By adding the predicted value to the standard trajectory, the difference between the standard trajectory and the true trajectory is further reduced.
For this reason, even when the time that can be observed by the radar sensor is short, the trajectory of the non-guided target can be predicted with higher accuracy after the observation by the radar sensor is completed without increasing the processing load. Become.

Embodiment 3 FIG.
FIG. 6 is a block diagram showing an example of the configuration of the tracking device according to Embodiment 3 of the present invention.
Moreover, FIG. 7 is a flowchart which shows the flow of the tracking process of the tracking apparatus by Embodiment 3 of this invention.

The tracking device according to the third embodiment of the present invention shown in FIG. 6 includes a standard trajectory memory 602 in addition to the components of the tracking device according to the first embodiment.
In addition, an output from the standard trajectory correction unit 802b to the standard trajectory memory 602 is added.

  The tracking device according to the third embodiment of the present invention shown in FIG. 6 is obtained by adding the standard trajectory memory 602 to the components of the tracking device according to the first embodiment, but the configuration of the tracking device according to the second embodiment. A standard trajectory memory 602 may be added to the elements.

Next, the operation will be described.
Below, the function of each component is demonstrated as a structure which added the standard orbit memory 602 to the component of the tracking apparatus in Embodiment 1. FIG.
The standard trajectory calculation unit 601 has a function similar to that of the standard trajectory calculation unit 601 in the first embodiment, and based on a known position, speed, and standard conditions at a certain point of the non-guide target, _Is calculated as data x _{S, k} relating to position and velocity.

Then, the standard trajectory calculation unit 601 outputs the standard trajectory data x _{S, k} to the standard trajectory memory 602 (step ST601).

The standard trajectory memory 602 stores standard trajectory data x _{S, k} input from the standard trajectory calculation unit 601.

Further, the standard trajectory memory 602 outputs the position and speed of the standard trajectory to the position difference calculation unit 701 at time t _k (step ST602).

  The position difference calculation unit 701 has the same function as the position difference calculation unit 701 in the first embodiment except that one of the two input sources is changed to the standard trajectory memory 602 (step ST701).

  The trajectory correction amount tracking processing unit 702 has the same function as the trajectory correction amount tracking processing unit 702 in the first embodiment (step ST702).

  The trajectory correction amount prediction unit 801 has the same function as the trajectory correction amount prediction unit 801 in the first embodiment (step ST801).

Similar to the standard trajectory correction unit 802 in the first embodiment, the standard trajectory correction unit 802b adds the trajectory correction amount prediction value input from the trajectory correction amount prediction unit 801 to the position and speed of the standard trajectory, and performs non-induction. The target future position and speed x _{P, i} are calculated.

Then, the standard trajectory correcting unit 802 b outputs the non-guided target future position and velocity x _{P, i} to the standard trajectory memory 602 and updates the standard trajectory data stored in the standard trajectory memory 602.
As described above, the standard trajectory data updated in the standard trajectory memory 602 is used as the position and velocity of the new standard trajectory.

Further, the standard trajectory correcting unit 802b outputs the non-guided target future position and speed x _{P, i} to a display device (not shown) (step ST802b).

  As described above, according to the third embodiment, the trajectory correction amount estimated with respect to the standard trajectory is estimated and predicted based on the difference between the observation value from the radar sensor and the standard trajectory, and the trajectory correction amount predicted value calculated by the prediction is calculated. The target position and velocity obtained by adding to the position and velocity of the standard trajectory are used as a new standard trajectory.

In the third embodiment, assuming that a plurality of non-inductive targets move continuously under substantially the same conditions, the correction obtained by the standard trajectory correcting unit 802b in FIG. By adding the quantity to the initial standard trajectory, the standard trajectory in the standard trajectory memory 602 is modified from a broken line in FIG. 3 to a solid line.
As a result, the standard trajectory used for observation and future position prediction for the second target becomes closer to the true trajectory.
As a result, after observing a non-inductive target, another non-inductive target is observed in the same orbit as the non-inductive target. In a situation where the initial state used for target future position prediction and the standard trajectory do not match, the position and speed obtained by adding the trajectory correction amount predicted value to the standard trajectory are used as a new standard trajectory as shown in FIG. This reduces the difference between the standard trajectory and the true trajectory for the second and subsequent unguided targets.
For this reason, even when the time that can be observed by the radar sensor is short, the trajectory of the second and subsequent unguided targets can be predicted with high accuracy after the observation by the radar sensor is completed without increasing the processing load. Is possible.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  101 target observation device, 601, 601a standard trajectory calculation unit, 602 standard trajectory memory, 700 trajectory correction amount estimation unit, 701 position difference calculation unit, 702 trajectory correction amount tracking processing unit, 703 air resistance correction amount tracking processing unit, 800 trajectory Prediction unit, 801, 801a Trajectory correction amount prediction unit, 802, 802a, 802b, standard trajectory correction unit.

Claims (4)

Based on the difference between the standard trajectory calculated based on the differential equation assuming a known standard condition and the observation value obtained by the radar sensor, for an unguided target whose position and velocity at a certain point in time are known A trajectory correction amount estimation unit that generates a trajectory correction amount estimate for the standard trajectory using a tracking process that takes into account the differential equation;
Based on the trajectory correction amount estimation value generated by the trajectory correction amount estimation unit, the trajectory correction amount prediction value after the observation by the radar sensor is finished in consideration of the differential equation is generated, and the trajectory correction amount prediction A tracking device comprising: a trajectory prediction unit that corrects the standard trajectory by adding a value to the standard trajectory and predicts the future position and speed of the non-guided target after the observation by the radar sensor is completed.   The tracking device according to claim 1, wherein the standard trajectory is updated based on the future position and speed of the non-guided target predicted by the trajectory prediction unit, and the updated trajectory is used as a new standard trajectory. The difference between the standard trajectory calculated based on the differential equation assuming a known standard condition and the observation value obtained by the radar sensor for an unguided target with known position, velocity and air resistance at a certain point in time A trajectory correction amount estimation unit that generates a trajectory correction amount estimated value and an air resistance correction amount estimated value for the standard trajectory using a tracking process that takes into account the differential equation;
Based on the trajectory correction amount estimated value and the air resistance correction amount estimated value generated by the trajectory correction amount estimation unit, the trajectory air resistance correction amount predicted value after the observation by the radar sensor is completed in consideration of the differential equation The standard orbit is corrected by adding the predicted value of the orbit air resistance correction amount to the standard orbit, and the future position, speed and air of the non-guided target after the observation by the radar sensor is completed. A tracking device including a trajectory prediction unit that predicts resistance.   4. The standard trajectory is updated based on the future position, velocity, and air resistance of the non-guided target predicted by the trajectory prediction unit, and the updated trajectory is used as a new standard trajectory. Tracking device.

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