JPH07113859A - Multi-target tracking apparatus - Google Patents

Abstract

PURPOSE:To clearly grasp a target state by correlationally processing the angle tracks from a plurality of target observation devices and a plurality of angle tracking devices and calculating the distances from the observation devices to a target and the change ratios thereof to calculate the tracks of the respective observation devices in three- dimensional space. CONSTITUTION:The vectors and error evaluation quantities of angle tracks are calculated from the detection data calculated by target observation devices 1,5 by angle tracking devices 2,4. The correlational processing of the angle tracks due to the position of a target is performed by a target position correlation device 6 and the distances from the devices 1,5 to the target and the change ratios thereof are calculated by a target distance calculator 7 and a distance change ratio calculator 9. The initial values of the tracks in the three-dimensional polar coordinates based on the device 1,5 are calculated on the basis of the angle tracks by polar coordinate initializing calculators 11,15 and the initial values of the tracks of the orthogonal coordinates are calculated by orthogonal coordinate initializing calculators 12,16. On the basis of these values and the detection data, three-dimensional tracking devices 13,17 calculate the vectors and error evaluation quantities of the tracks in three-dimensional orthogonal coordinates at every sampling time. This operation is repeated up to the completion of tracking to display tracks on display devices 14, 18.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention uses a plurality of target observing devices for targeting a moving object such as an aircraft or a flying object, detecting radio waves or infrared rays coming from the target, and outputting target angle information. Based on the detection results of unwanted signals such as targets or clutter from the target observing device and the positional relationship between each target observing device, the true values such as the three-dimensional position and velocity of the target are estimated to estimate the motion of multiple targets. The present invention relates to a multi-target tracking device for tracking a target.

[0002]

2. Description of the Related Art FIG. 19 shows, for example, IEEE Trans.
action on Aerospace and E
electronic Systems, Vol. 27
No. 6 November 1991, 872-87
5 "Track Monitoring When T
racking With Multiple 2-D
FIG. 20 is a configuration diagram of a target correlator using a passive sensor in Passive Sensors ”, and FIG. 20 is a supplementary diagram for explaining a target correlator using a passive sensor.

In the configuration diagram of the target correlator using the conventional passive sensor shown in FIG. 19, 1 is a passive first target observation for outputting the elevation angle and the azimuth angle which are the detection results from the unnecessary signals such as the target and clutter. An apparatus 5 is a second target observing apparatus which is arranged at a different position similar to the first target observing apparatus, and 2 is an angle track based on the detection data from the first target observing apparatus. The first angle tracking device 4 which outputs the second angle tracking device 4 which outputs the angle track by performing the target angle tracking based on the detection data from the second target observation device 3 is the first target observation device The target observation device position specification input device for inputting the positional relationship between the target observation device and the second target observation device, 39 is the normal vector of the reference plane consisting of each target observation device and the reference points not on the straight line connecting them Reference plane direction specification calculator between target observation devices, 40 is a first target surface direction for calculating a normal vector of the target surface including position information of the angle wakes of the respective target observation devices and the first target tracking device A parameter calculator 41 is a second target plane direction parameter calculator that calculates a normal vector of a plane composed of the position information of the angle wakes of the target observing devices and the second target tracking device, and 42 is the target. A first evaluation angle calculator 43 for calculating the angle between the reference plane and the target surface from the normal vector of each plane from the inter-observer reference plane direction specification calculator and the first target plane direction specification calculator Is an angle between the reference plane and the target plane calculated as an evaluation angle from the normal vectors of the planes from the reference plane direction specification calculator between the target observation devices and the second target plane direction specification calculator. Evaluation angle calculator, 44 is the first evaluation angle Based on the common angle theory that if the angle wakes of the respective target tracking devices are of the same target according to the respective evaluation angles from the output device and the second evaluation angle calculator, these evaluation angles are the same. A common angle correlator 10 for correlating angle wakes is a correlation parameter input device for inputting a threshold value for correlation in the common angle correlator as a parameter.

In the supplementary diagram for explaining the target correlator by the passive sensor of FIG. 20, the reference plane including the first and second target observing devices S1 and S2 and the reference point O is πo,
Let πi (i = 1, 2) be the target plane including the direction vector from the first target observing apparatus S1, the second target observing apparatus S2, and the target observing apparatus Si (i = 1, 2) to the target T1, and π
The angle θi (i = 1, 2) formed by o and πi is shown.

[0005]

In the target correlation device using the passive sensor as described above, as shown in FIG. 19, common angular tracks from the first target tracking device 1 and the second target tracking device 5 are provided. The angle track from the same target is specified by the correlation processing using the angle, but the track of the position and velocity of the target in the three-dimensional space cannot be specified,
It was not possible to output the three-dimensional tracking state necessary for accurately grasping the target state.

Further, since the track of the target is subjected to the correlation processing by the evaluation angle consisting of the reference plane and the target plane corresponding to each track, a ghost occurs when a plurality of targets exist in the same target plane, In addition to the correct correlation of each angle track, there is a problem that an incorrect correlation occurs, which may make it difficult to grasp an accurate target state.

The present invention has been made in order to solve such a problem, and for a target observing device which can obtain only passive detection data of elevation angle and azimuth angle from a plurality of targets and unnecessary signals such as clutter, The present invention relates to a multi-target tracking device capable of suppressing the occurrence of ghosts and maintaining a track of a target position and speed in a three-dimensional space.

[0008]

In the first embodiment of the present invention, the angle information and error evaluation amount of the angle track from the target tracking device corresponding to each target observation device and the target observation device position specification input device are input. The target position correlator that performs correlation processing based on the positional relationship of the angle wakes by the positional relationship of the target observing devices, the angle information of the angle wakes determined to be the same target by the target position correlator, and the positional relationship between the target observing devices A target distance calculator that calculates the target distance of each target observation device standard by, and a target distance change rate calculation that calculates the rate of change of the target distance of each target observation device standard from the angle track and the target distance of each target observation device standard For each target observation device that calculates the initial value of the track in the three-dimensional polar coordinates of each target observation device based on the above-mentioned angle wake and the target distance and distance change rate of each target observation device reference Three-dimensional polar coordinate initial value calculator and 3 for each target observing device that calculates the initial value of the wake in three-dimensional rectangular coordinates of each target observing device from the initial value of the wake in three-dimensional polar coordinates corresponding to each target observing device The three-dimensional Cartesian coordinate initial value calculator and each target observation device start three-dimensional tracking with the initial value of the track in the three-dimensional Cartesian coordinates, and thereafter, each time detection data from the corresponding target observation device is input. Further, a three-dimensional tracking maintaining device corresponding to each target observing device for maintaining three-dimensional tracking and a display device corresponding to each target observing device for displaying a track output from the three-dimensional tracking maintaining device are provided.

The second embodiment of the present invention relates to the above-mentioned target position correlator, which is a target tracking information input device corresponding to each target observation device for inputting an angle track from each target observation device, and the above-mentioned angle track. When the direction vector of the target position in each angle track is from the same target due to the target observation device positional relationship and the target observation device positional relationship, the target observation device positional relationship and each direction vector of the target position are first-order dependent A target position correlation state quantity calculator that calculates a determinant consisting of the positional relationship of the observation device and each direction vector of the target position as the target position correlation state quantity, and the direction vector in each of the angle tracks and the target observation apparatus positional relationship The target position correlation state quantity error evaluation parameter calculator for calculating the error evaluation quantity of the target position correlation state quantity by the A target position correlation determiner that determines whether or not the angle wakes from each angle tracking device are from the same target by using the chi-square test based on the error evaluation amount and the correlation parameter from the correlation parameter input device It is a thing.

In the third embodiment of the present invention, each angle track determined to be the same target by the target position correlator in the first embodiment and each target observation device reference from the target distance calculator. The target velocity correlator for performing the correlation processing based on the velocity relationship of each angle track according to the target distance of.

A fourth embodiment of the present invention relates to the above target velocity correlator, which is a target tracking information input device corresponding to each target observation device for inputting an angle track from each target observation device, and a target distance input. Relative amount of distance change rate that calculates the relative evaluation amount of target distance change rate of each target observation device reference when the angle track is from the same target using the target distance of each target observation device reference from the device Relative evaluation of each target distance change rate using the calculator and the relative evaluation amount of the target distance change rate and each direction vector of the target position that are linearly dependent when the angle wakes are from the same target Target velocity correlation state quantity calculator that calculates the determinant consisting of the amount and each direction vector of the target position as the target velocity correlation state quantity, and the relative evaluation quantity of the angular wake and its error evaluation quantity and each target distance change rate To Target speed correlation state quantity error evaluation parameter calculator for calculating the error evaluation quantity of the target speed correlation state quantity, and the error evaluation quantity of the target speed correlation state quantity and the target speed correlation state quantity and the correlation from the correlation parameter input device. A target velocity correlation determiner for determining whether or not the angle wakes from each angle tracking device are from the same target by using the chi-square test with the parameters.

A fifth embodiment of the present invention is a target observing device which outputs angle data for ghost countermeasure in the first embodiment and each angle which is determined to be the same target by the target position correlator. A first ghost detector for detecting and removing a ghost by comparing the target position of the target observation device reference for ghost measures calculated from the track and the target distance of each target observation device reference with the angle data Is.

In a sixth embodiment of the present invention, when the target attribute information is added to the angle track from each target tracking device in the first embodiment, the same target is obtained by the target position correlator. A target attribute correlator that performs a correlation process according to the attributes of each angle track determined to be present is provided.

A seventh embodiment of the present invention is a target motion monitoring apparatus for monitoring the motion state for each angular track determined to have the same target by the target position correlator in the first embodiment. A second ghost detector for detecting and deleting as a ghost a target determined to be an unnatural motion as a tracking target in the target motion monitoring device.

The eighth embodiment of the present invention is the same as the target observing device for outputting the angle data for the ghost countermeasure in the third embodiment, and the angles determined as the same target in the target position correlator. A first ghost detector for detecting and removing a ghost by comparing the target position of the target observation device reference for ghost measures calculated from the track and the target distance of each target observation device reference with the angle data Is.

In the ninth embodiment of the present invention, when the target attribute information is added to the angle track from each target tracking device in the third embodiment, the same target is obtained by the target position correlator. A target attribute correlator that performs a correlation process according to the attributes of each angle track determined to be present is provided.

A tenth embodiment of the present invention is a target motion monitoring apparatus for monitoring a motion state for each angular track determined to be the same target in the target position correlator in the third embodiment, and the above-mentioned target motion monitoring device. A second ghost detector that detects a target that is determined as an unnatural motion as a tracking target in the target motion monitoring device and deletes it as a ghost.

The eleventh embodiment of the present invention is the positional relationship between the angle information and the error evaluation amount of the angle track from the target tracking device corresponding to each target observation device and the position of the target observation device from the target observation device position specification input device. The target position correlator that performs correlation processing based on the positional relationship of the angle wakes and the angle information of the angle wakes determined to be the same target by the target position correlator and the position relationship between the target observing devices determine the target observing device reference. , A target distance calculator for calculating the target distance, a target distance change rate calculator for calculating the change rate of the target distance of each target observation device standard from the angle track and the target distance of each target observation device reference, and the angle track And the target distance of each target observation device standard and the rate of change in distance calculate the initial value of the track in the three-dimensional polar coordinates of each target observation device standard. A value calculator and an initial three-dimensional Cartesian coordinate corresponding to each target observing device that calculates an initial value of the wake in three-dimensional Cartesian coordinates based on each target observing device from the initial value of the wake in three-dimensional polar coordinates corresponding to each target observing device Tracking is started with the initial value of the track from the value calculator and the three-dimensional Cartesian coordinate initial value calculator, and thereafter the track from the following information exchanger is also recorded each time the angle data is input from the corresponding target observation device. A three-dimensional tracking maintaining device corresponding to each target observing device that updates a track of three-dimensional Cartesian coordinates by using it, and an information exchanger that converts the wake in each three-dimensional tracking maintaining device into a target observation device standard of a transfer destination and transfers the reference. A display device corresponding to each target observation device for displaying a track from the three-dimensional tracking maintenance device is provided.

The twelfth embodiment of the present invention is based on the eleventh embodiment.
In the embodiment of the above-mentioned target position correlator, each angle track determined to be the same target and the target distance of each target observation device reference from the target distance calculator are subjected to correlation processing based on the velocity relationship of each angle track. The target velocity correlator to perform is provided.

The thirteenth embodiment of the present invention is based on the above eleventh embodiment.
Of the target observation device that outputs angle data for the ghost countermeasure in the embodiment of FIG. And a first ghost detector for detecting and removing a ghost by comparing the target position of the target observation device for use with the angle data.

The fourteenth embodiment of the present invention is based on the twelfth embodiment.
Of the target observation device that outputs angle data for the ghost countermeasure in the embodiment of FIG. And a first ghost detector for detecting and removing a ghost by comparing the target position of the target observation device for use with the angle data.

The fifteenth embodiment of the present invention is the positional relationship between the angle information and the error evaluation amount of the angle track from the target tracking device corresponding to each target observation device and the position of the target observation device from the target observation device position specification input device. The target position correlator that performs correlation processing based on the positional relationship of the angle wakes and the angle information of the angle wakes determined to be the same target by the target position correlator and the positional relationship between the target observing devices determine each target observing device reference. , A target distance calculator for calculating the target distance, a target distance change rate calculator for calculating the change rate of the target distance of each target observation device standard from the angle wake and the target distance of each target observation device standard, and the target distance calculation The target distance of each target observation device standard from the instrument and the target distance change rate of each target observation device reference from the calculator and the target position correlator are determined to be the same target. A three-dimensional polar coordinate track calculator for each target observation device that calculates a three-dimensional polar coordinate track based on each target observation device using an angle track and each target observation device based on the track from the three-dimensional polar coordinate track calculator And 3
3 for each target observing device that calculates the track of three-dimensional Cartesian coordinates
A three-dimensional Cartesian coordinate track calculator and a display device corresponding to each target observation device for displaying the track from the three-dimensional Cartesian coordinate track calculator are provided.

The sixteenth embodiment of the present invention is based on the fifteenth embodiment.
In the embodiment of the above-mentioned target position correlator, each angle track determined to be the same target and the target distance of each target observation device reference from the target distance calculator are subjected to correlation processing based on the velocity relationship of each angle track. The target velocity correlator to perform is provided.

The seventeenth embodiment of the present invention is the above fifteenth embodiment.
Of the target observation device that outputs angle data for the ghost countermeasure in the embodiment of FIG. And a first ghost detector for detecting and removing a ghost by comparing the target position of the target observation device for use with the angle data.

The eighteenth embodiment of the present invention is based on the sixteenth embodiment.
Of the target observation device that outputs angle data for the ghost countermeasure in the embodiment of FIG. And a first ghost detector for detecting and removing a ghost by comparing the target position of the target observation device for use with the angle data.

[0026]

According to the present invention, the target distance of each target observation device, the change rate of the target distance and the error evaluation amount thereof are calculated with respect to the correlation result of the angle track from the angle tracking device corresponding to the plurality of target observation devices. Therefore, each angle track and the target distance and the rate of change of the target distance are used to obtain the track of each target observation device standard consisting of the position and velocity in the three-dimensional space,
It is possible to grasp a clear target state in each target observation device.

In the eleventh, twelfth, thirteenth and fourteenth embodiments, the three-dimensional track maintained by one of the target observing devices is used to keep track of the other target observing device. Therefore, the target correlation between the respective target observation devices in the tracking maintenance stage is possible, and the tracking accuracy can be improved as compared with the case where the individual target observation devices track and maintain.

In addition, in the fifteenth, sixteenth, seventeenth and eighteenth embodiments, the correlation of the angle wakes from each angle tracking device and the calculation of the three-dimensional wakes are always performed even in the tracking maintaining stage, so that each time is always calculated. Target correlation between target observation devices is possible.

Also, the third, eighth, ninth, tenth and first
In the second, fourteenth, sixteenth, and eighteenth embodiments, in addition to the correlation based on the positional relationship of the angle wakes from the angle tracking devices, the correlation based on the speed relationship of each angle wake is performed. It is possible to reduce the ghost which becomes a problem due to the correlation of the angle track based on only the angle information, and improve the reliability of the three-dimensional track.

The fifth, eighth, thirteenth, fourteenth and first
In the seventh and eighteenth embodiments, in addition to the correlation by the positional relationship of the angle tracks from each angle tracking device, whether or not the target exists at the intersection of the angle tracks based on the angle data from the target observation device for ghost countermeasures. Since it is determined whether or not it is possible, it is possible to reduce the ghost that becomes a problem due to the correlation of the angle wakes based only on the passive angle information, and improve the reliability of the three-dimensional wakes.

In addition, in the sixth and ninth embodiments, in addition to the correlation by the positional relationship of the angle wakes from the angle tracking devices, the target correlation is performed by the attribute information of the target accompanying the angle wakes. It is possible to reduce the ghost which is a problem in the correlation of the angle wakes based only on the passive angle information, and improve the reliability of the three-dimensional wakes.

Further, in the seventh and tenth embodiments,
In addition to the correlation based on the positional relationship of the angle wakes from each angle tracking device, the target that makes an unnatural movement is detected and deleted by monitoring the motion state of the target. It is possible to improve the reliability of the three-dimensional wake by reducing the ghost that becomes a problem in.

[0033]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the multi-target tracking device according to the present invention will be described. FIG. 1 is a diagram showing a configuration of a multi-target tracking device according to a first embodiment of the present invention, and FIG. 2 is a second embodiment of the present invention.
FIG. 3 is a diagram showing the configuration of a multi-target tracking device according to the embodiment of the present invention, FIG. 3 is a diagram showing the configuration of the multi-target tracking device according to the third embodiment of the present invention, and FIG. 4 is a multi-target according to the fourth embodiment of the present invention. FIG. 5 is a diagram showing the structure of a tracking device, FIG. 5 is a diagram showing the structure of a multi-target tracking device according to the fifth embodiment of the present invention, and FIG. 6 is a structure of the multi-target tracking device according to the sixth embodiment of the present invention. Figure,
7 is a diagram showing the configuration of a multi-target tracking device according to a seventh embodiment of the present invention, FIG. 8 is a diagram showing the configuration of a multi-target tracking device according to the eighth embodiment of the present invention, and FIG. 9 is a diagram of the present invention. FIG. 10 is a diagram showing a configuration of a multi-target tracking device according to a ninth embodiment, FIG. 10 is a diagram showing a configuration of a multi-target tracking device according to a tenth embodiment of the present invention, and FIG. 11 is a diagram showing an eleventh embodiment of the present invention. The figure which shows the structure of a multi-target tracking device, FIG. 12: 1st of this invention
1 is a diagram showing the configuration of a multi-target tracking device according to a second embodiment, FIG.
3 is a diagram showing a configuration of a multi-target tracking device according to a thirteenth embodiment of the present invention, FIG. 14 is a diagram showing a configuration of a multi-target tracking device according to a fourteenth embodiment of the present invention, and FIG. The figure which shows the structure of the multi-target tracking device by the 15th Example,
16 is a diagram showing the configuration of a multi-target tracking device according to a sixteenth embodiment of the present invention, FIG. 17 is a diagram showing the configuration of a multi-target tracking device according to the seventeenth embodiment of the present invention, and FIG. 18 is a view of the present invention. It is a figure which shows the structure of the multi target tracking apparatus by the 18th Example.

The embodiments of the present invention will be described below with reference to FIGS. 1 to 18, but before that, the outline of the theory on which the present invention is based will be described. Here, for example, 2 fixed on the ground
Suppose three-dimensional tracking is performed using two passive target observation devices.

The state vector x ^{k, i} at the sampling time t _k, which represents the true value of the target in three-dimensional Cartesian coordinates with the target observation device Si (i = 1, 2) as a reference, is defined as in equation (1). To do. Further, the state vector x _{k, i at the} sampling time t _k that represents the true value of the target in polar coordinates in the angle tracking with reference to the target observation device Si (i = 1, 2).
Is defined as in equation (2). It should be noted that when the uniform linear motion is represented by polar coordinates, it is not always linear, and the state vector considers the acceleration term. Here, hereinafter, the symbol representing the distance is R, the symbol representing the elevation angle is E, the symbol representing the azimuth angle is By, and the symbol representing the vector is a symbol such as "vector x _{k, i} " in the code input unit. A vector is added in front, and an underline is added in the image input section to distinguish them.

[0036]

[Equation 1]

A first target observing device S1 and a second target observing device S2 are assumed as two target observing devices, and a sampling time t of a target or clutter from each target observing device Si (i = 1, 2). detection of _k data vector z _k, i and (i = 1, 2) is defined by the equation (3).

[0038]

[Equation 2]

The smoothed value vector x _{k, i} (+) is used as the angle track which is the output of the angle tracking device corresponding to each target observation device Si (i = 1, 2), and the smoothed error covariance matrix P
_{k, i} (+) (i = 1, 2) is defined as in Expression (5). Here, E [] is a symbol representing an average.

[0040]

[Equation 3]

The positional relationship between the respective target observing devices Si (i = 1, 2) input from the target observing device position specification input device is defined as a position vector M which does not depend on the sampling time, and is defined as in equation (6). To do. Further, as shown in FIG. 22, a unit vector according to a true value from each target observing device Si (i = 1, 2) to the target T1 is expressed by a vector u _{k, i} (i = 1,
2), the unit vector by the smoothed value is the vector u
_{It is defined as k, i} (+) (i = 1, 2).

[0042]

[Equation 4]

Next, the correlation processing by the target position in the target position correlation device will be described. This process is performed as follows: “Target position vector R _{k, 1} vector u _{k, 1} and R
_{When the k, 2} vector u _{k, 2} is obtained from the same target, the vector u _{k, 1} , the vector u _{k, 2} and the vector M are first-order dependent, and thus defined as the equation (9). Expression (10) holds for the function f. It is based on the theory.

[0044]

[Equation 5]

A first-order approximation by expanding the function f by Taylor is defined as in equation (11). Where F _k
Is (E _{k, 1} (+) By _{k, 1} (+) E in equation (12)
_{k, 2} (+) By _{k, 2} (+)).

[0046]

[Equation 6]

For the function f, the equation (13) is established from the unbiased property of the smoothed value vector x _{k, i} (+). Further, the evaluation value of the error of the function f is expressed by Expression (14) from Expressions (11) and (12).

[0048]

[Equation 7]

Function f (E _{k, 1} (+) By _{k, 1} (+) E
The distribution of _{k, 2} (+) By _{k, 2} (+) can be approximated to the normal distribution of Expression (15) in which Expression (13) is the average and Expression (14) is the variance. In addition, from equation (15), χ shown in equation (16)
_Pk ² can be approximated to a chi-square distribution with one degree of freedom.

[0050]

[Equation 8]

Therefore, each target observation device Si (i = 1,
Whether or not the angle tracks from the angle tracking device corresponding to 2) are the same target is determined by Expression (17). Here, C ₁ is a correlation threshold.

[0052]

[Equation 9]

Next, the calculation of the distance from each target observing device Si (i = 1, 2) to the target in the target distance calculator will be described. In FIG. 22, the true value R _{k, 1} of the distance and the smoothed value of the distance are minimized so that the magnitude of the difference between the R _{k, 1} vector u _{k, 1} and the R _{k, 2} vector u _{k, 2} + vector M is minimized. R _{k, 1}
When (+) is obtained, the equations (18) and (19) are obtained. Similarly, R _{k, 2} and R _{k, 2} (+) are obtained by the equations (20) and (21).

[0054]

[Equation 10]

With only the correlation processing of the target positions, when two targets exist on the same plane including each sensor as shown in FIG. 21, a ghost having an erroneous correlation such as G1 and G2 occurs. Occurs. Here, the correlation processing by the target speed in the target speed correlator which is also effective as a ghost countermeasure will be described. This processing is “when the target velocities are obtained from the same target, according to the following equation (24), D _k that satisfies equation (22), vector u _{k, 1} and vector u _{k, 2} are linearly dependent. Equation (25) holds for the function g defined in (1). Here, the equation (22) is obtained from the equation (7) and the condition that the target velocity is obtained from the same target from the relationship between the velocity in the orthogonal coordinates and the velocity in the polar coordinates shown in the formula (23).

[0056]

[Equation 11]

The first-order approximation by expanding the function g by Taylor is defined as in the equation (26). Where G _k
Is a value in Expression (27) of Expression (28).

[0058]

[Equation 12]

For the function g, the equation (29) is established from the unbiased property of the smoothed value vector x _{k, i} (+). Further, the evaluation value of the error of the function g is as shown in Expression (30) from Expressions (26) and (28).

[0060]

[Equation 13]

The distribution of the function g (y _k (+)) is given by equation (29).
Can be approximated to the normal distribution of the equation (31) with the equation (30) as the variance. Further, χ _Pk ² shown in the equation (32) can be approximated to the chi-square distribution with one degree of freedom by the equation (31).

[0062]

[Equation 14]

Therefore, each target observation device Si (i = 1,
Whether or not the angle tracks from the angle tracking device corresponding to 2) are the same target is determined by Expression (33). Here, C ₂ is a correlation threshold.

[0064]

[Equation 15]

Next, the calculation of the distance change rate from each target observation device Si (i = 1, 2) to the target in the target speed calculator will be described. (R ^· _{k, 1} vector u _{k, 1} −R ^·
The true value R ^· _{k, 1} of the distance change rate and the smoothed value R of the distance change rate R such that the magnitude of the _{k, 2} vector u _{k, 2} + D _k ) is minimized.
^{・ When} _{k, 1} (+) is _{obtained, the} equations (34) and (35) are obtained. Similarly R ^· _{k, 2} and R ^· _k, 2 (+) formula (36)
It is calculated by (37).

[0066]

[Equation 16]

Next, the calculation of the initial value of the track in three-dimensional polar coordinates will be described. The initial value vector b _{k, i} ⁰ (+) (i = 1, 2) of the smooth value of the three-dimensional polar coordinates is the smooth value vector x _{k, i} (+) of each angle track and the distance R shown in the equation (4).
Equation (38) from _{k, i} (+) and distance change rate R ^· _{k, i} (+)
become that way.

[0068]

[Equation 17]

The smoothing error covariance matrix of the track in three-dimensional polar coordinates is B _{k, i} ⁰ (+) (i = 1, 2), and equation (3
Define as in 9). Further, the smooth error covariance matrix P _{k, i} (+) in the angle track from the angle tracking device corresponding to each target observation device Si (i = 1, 2) shown in Expression (5)
For (i = 1, 2), the error covariance due to the angle and the angular velocity is defined as A _{k, i,} and is defined as in Expression (40). At this time, the error covariance matrix of y _k (+) is as shown in Expression (41).

[0070]

[Equation 18]

Equations (18) to (21) for calculating the distance are as follows:
Since it can be interpreted as a non-linear function for y _k and y _k (+), a first-order approximation of the distance error by Taylor expansion of this function can be defined as in Expression (42). Here, N _{k, i} is y in equation (43).
It is the value at _k (+).

[0072]

[Formula 19]

Since the formulas for calculating the distance change rate of the equations (34) to (37) can be interpreted as a non-linear function for y _k and y _k (+), the distance change by the Taylor expansion of this function. A first-order approximation of the rate error can be defined as in equation (44). Here, S _{k, i} is expressed by the equation (4
It is a value in y _k (+) of 5).

[0074]

[Equation 20]

Substituting equation (38) into equation (39), equation (4)
0) to (45) are applied to obtain equations (46) to (71) as the components of the smooth error covariance matrix B _{k, i} ⁰ (+) of the track in the three-dimensional polar coordinates.

[0076]

[Equation 21]

Next, the calculation of the initial value of the track in the three-dimensional orthogonal coordinates will be described. The initial value of the smoothed value of the three-dimensional Cartesian coordinates with respect to the state vector of Expression (1) is defined as a vector x ^{k, i}
₀ (+) (i = 1, 2) is defined as in Expression (72). Initial value vector x ^{k, i} ₀ (+) of smoothed value (i =
1, 2) is an initial value vector b of smoothed values in three-dimensional polar coordinates
_{Using k, i} ⁰ (+), the position component is calculated by the equation (73), and the velocity component is calculated by the equation (74) like the equation (23).

[0078]

[Equation 22]

Expression (1) for the vector x ^{k, i} ₀ (+)
If the state vector of x is the vector x ^{k, i} ₀ , then
A first-order approximation of initial value calculation miscalculation due to lor expansion is defined as in equation (74). Where L (vector b
_{k, i} ⁰ (+) is the vector b _{k, i} ⁰ (+) of the equation (75).
Is the value at. Therefore, the initial value P ^{k, i} ₀ (+) of the smoothing error covariance matrix of the three-dimensional Cartesian coordinates is defined by the equation (76) and calculated by the equation (77).

[0080]

[Equation 23]

Next, the tracking maintaining process in each three-dimensional tracking maintaining device corresponding to each target observation device Si (i = 1, 2) will be described. Here, when the three-dimensional tracking is started in the processing up to the calculation of the three-dimensional Cartesian coordinate initial value and the initial value vectors x ^{k, i} ₀ (+) and P ^{k, i} ₀ (+) are obtained, An example of the tracking maintenance by the Kalman filter using the detection data vector z _{k + 1, i} from the corresponding target observation device after t _{k + 1} will be shown. The vector x ^{k, i} of equation (1) (i =
The motion model for 1, 2) is defined as in equation (78). Further, the observation model in the target observation device Si is defined as in Expression (79).

[0082]

[Equation 24]

In the prediction processing in the three-dimensional Cartesian coordinates based on the motion model of equation (78), the prediction value vector x ^{k, i} (−)
And the prediction error covariance matrix P ^{k, i} (−) is calculated from Equation (80) and Equation (81).

[0084]

[Equation 25]

Equation (82) shows the first-order approximation of the prediction error due to the Taylor expansion of the non-linear function g _a . Here, H _k (vector x ^{k, i} (−)) is a value in the vector x ^{k, i} (−) of the equation (83). Therefore, in the smoothing process in the three-dimensional Cartesian coordinates for the detection data vector z _{k, i} including the two-dimensional angle information, the smoothed value vector x
^{k, i} (+), the smooth error covariance matrix P ^{k, i} (+) and the Kalman gain matrix K ^{k, i} are calculated by the equations (84), (85) and (86).

[0086]

[Equation 26]

In the above, each target observation device Si (i = 1,
Each of the three-dimensional tracking maintenance devices corresponding to 2) independently performed three-dimensional tracking, but here, a process of sharing a track between the three-dimensional tracking maintenance devices and maintaining tracking will be described. In this processing, the latest detection data is assigned to the latest track without distinguishing the target observation device, and the track is updated. For example, in the information exchange, each target observation device Si
It is assumed that the sampling state at (i = 1, 2) is managed. When the latest track is the track information vector x ^{k, 1} (+) and P ^{k, 1} (+) at the target observation device S1, the detection data vector z _{k + 1 is} sent to the target observation device S2 at the sampling time t _{k + 1} . _{, 2} is input, the information exchange recognizes that the track information vector x ^{k, 1} (+) and P
^The coordinates of ^{k, 1} (+) are transformed into three-dimensional Cartesian coordinates based on the target observing device S2 by the equation (87) and transferred to the target observing device S2. In the target observing device S2, the track information vectors x ^{k, 1} (+) ′ and P ^{k, 1} (+) after coordinate conversion are applied to the equations (80) and (81) to obtain the vector x ^{k + 1,2} ( -) And P
^{k + 1,2} (−) is calculated, and the detection data vector z _{k + 1,2} is applied to the equations (83) to (86) to obtain the vector x.
Calculate ^{k + 1,2} (+) and P ^{k + 1,2} (+).

[0088]

[Equation 27]

Further, in the above description, the track of the three-dimensional Cartesian coordinates calculated from the angle track of the angle tracking device corresponding to each target observation device is used as the initial value in each three-dimensional tracking device. A process of always calculating a track of three-dimensional Cartesian coordinates from an angle track without using such a three-dimensional tracking device will be described. Each target observation device Si (i =
Vector x ^{k, i} ₀ (+) of the equation (72) for 1, 2)
As a vector x ^{k, i} (+), and P in Eq. (77)
^{Use k, i} ₀ (+) as P ^{k, i} (+).

Next, as a countermeasure against ghosts such as G1 and G2 shown in FIG. 21, an example of a method of using the third target observation apparatus will be described. The third target observation device outputs the detection data of the target elevation angle and azimuth angle similarly to the first and second target observation devices. For example, the first ghost detector detects and deletes ghosts as follows. Target observation device S1 for the correlation result in the target position correlator
Let the smoothed value of the reference target position be the vector b _{pk, 1} ⁰ (+), and its error covariance matrix be B _{pk, 1} ⁰ (+), and the equation (88)
It is defined as (89). Here, the vector b _{pk, 1} ⁰
Is the true value of the target position. Since the error of the distance R _{k, 1} (+) is approximated by the equations (42) and (43), B
_{pk, 1} ⁰ (+) component of the formula (47) - (49), (53)
It is obtained from (54) and (58). Also, the smoothed value vector x of the target position in the three-dimensional Cartesian coordinates
_P ^{k, i} (+) is defined as equation (90), and equation (7)
3). The first-order approximation of the error of the vector x _P ^{k, i} (+) with respect to the true value vector x _P ^{k, i} of the target position is defined by the equation (91). Here, L _p vector b (vector b _{pk, 1} ⁰ (+)) Formula (92)
_{pk, 1} is the value of ⁰ (+). Therefore, the error covariance matrix P _P ^{k, i} (+) of the smoothed value vector x _P ^{k, i} (+) at the target position in the three-dimensional Cartesian coordinates is as shown in equation (93).

[0091]

[Equation 28]

Assuming that the positional relationship between the target observing devices S1 and S3 is vector M ¹³ , vectors x _P ^{k, i} (+) and P _P
^{k, i} (+) is calculated by using the equations (94) and (95) as the target observation device S
Converted to three standards, the smoothed value vector x _P ^{k, 3} (+) of the target position in three-dimensional Cartesian coordinates and its error covariance matrix P _p ^{k, 3}
Get (+). Further, the target smoothed value vector b _{pk, 3} ⁰ (+) in the three-dimensional polar coordinates of the target observing device S3 standard is obtained from the equation (96). Also, the vector b
The first-order approximation of the error of _{pk, 3} ⁰ (+) with respect to the true value vector b _{pk, 3} ⁰ is defined by Expression (97). here,
L _p '(x _P ^{k, 3} (+)) is the vector x _{P of the} equation (98).
It is the value at ^{k, 3} (+). Therefore, the error covariance matrix B _{pk, 3} ⁰ (+) of the smoothed value vector b _{pk, 3} ⁰ (+) of the target position in the three-dimensional polar coordinates is as shown in Expression (99).

[0093]

[Equation 29]

The detection data vector z _{k, 3} input from the target observing device S3 is defined as in equation (100). Here, the target for the vector x _P ^{k, 3} (+) for determining whether or not the vector z _{k, 3} input to the vector x _P ^{k, 3} (+) is detection data from the same target. Calculate the existence range. The center of the target existence range is an _HP ^k vector x _P ^{k, 3} (+), and its spread S _{k, 3} is _expressed by equation (101).
Calculate with. Here, the distribution of the target H _P ^k vectors x
Since it is approximated to a normal distribution in which _P ^{k, 3} (+) is the average and S _{k, 3} is the variance, χ ² _GK shown in equation (102) has 2 degrees of freedom.
Can be approximated to the chi-square distribution of. Therefore, when the detection data vector z _{k, 3} satisfying the equation (103) does not exist, it is determined that the vector x _P ^{k, 3} (+) is a ghost, and the correlation of the angle track with respect to this is deleted. Where C ₃
Is the correlation threshold.

[0095]

[Equation 30]

Next, as a countermeasure against ghosts such as G1 and G2 shown in FIG. 21, each target observation apparatus Si (i = 1,
An example of using the attribute data of the angle track corresponding to 2) will be described. For example, the target attribute correlator detects and deletes a ghost by using the attribute information of the target associated with each angle track and its reliability. The attribute model is defined as in Expression (104). The entire detection data up to time t _k is Z _k
Then, the reliability of the attribute information of the angle track corresponding to each target observation device Si (i = 1, 2) is Pi (J _a | Z _k ).
(I = 1, 2) and conditional probability. Also, the initial value of the reliability of the attribute information is defined as Pi (J _a ) (i = 1, 2). Here, J _a is “equation (104) is true”.
Is a hypothesis. At this time, it is determined that the combination of angular wakes satisfying the expression (105) is a ghost, and the combination is deleted. Here, C ₄ is a correlation threshold.

[0097]

[Equation 31]

Next, a first embodiment of the present invention will be described with reference to FIG. The detection data vector z defined by the equation (3) from the first target observation device 1 and the second target observation device 5
_{k, i} (i = 1, 2) is output, and in the corresponding first angle tracking device 2 and second angle tracking device 4, the angle wakes are represented by the formulas (4) and (5). Smoothed value vector x _{k, i} (+) (i = 1, 2) defined by
And a smooth error covariance matrix P _{k, i} (+) (i = 1, 2) is calculated, and in the target position correlator 6, between the angle track and the target observation device from the target observation device position specification input device 3 Based on the positional relation vector M and the correlation parameter C ₁ from the correlation parameter input device 10, the correlation processing of the angle wake by the target position is performed by the formulas (9) to (17), and the target distance calculator 7 performs the target position calculation. From the first target observation device 1 and the second target observation device 5 according to equations (18) to (21) based on the angle track and the target observation device positional relationship vector M determined to be the same target by the correlator 6. The distance R _{k, i} (i = 1, 2) to the target is calculated, and the target distance change rate calculator 9 calculates the equation (34) based on the angle wakes determined by the target position correlator 6 to be the same target. ) To (37), the first target observation device And a second change rate R ^· _k of the distance from the target observation device 5 to the _{target, i (i} = 1,2) is calculated, the first three-dimensional polar coordinate initial value calculator 11 and the second 3
Based on the angle wakes determined to be the same target by the dimensional polar coordinate initial value calculator 15, the first target observing device 1 and the second target observing device 5 based on the equations (38) to (71)
The smoothed value vector b _{k, i} ⁰ (+) (i = 1, 2) and the error covariance matrix B are used as the initial value of the track in the two-dimensional polar coordinates.
_{k, i} ⁰ (+) (i = 1, 2) is calculated, and the track in the three-dimensional polar coordinates is calculated by the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16. Based on the initial values of the following equations (72) to (77), the smoothed value vector x ^{k, i} _{0 is} set as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
(+) (I = 1, 2) and error covariance matrix P
^{k, i} ₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the detection data vector Equations (80) to (8) based on z _{k, i} (i = 1, 2)
According to 6), the prediction value vector x ^{k, i} (−) (i) as a track in three-dimensional Cartesian coordinates at each sampling time t _k.
= 1, 2) and the error covariance matrix P ^{k, i} (−) (i = 1,
The process of calculating 2) is repeated until the tracking is completed, and the track in the three-dimensional rectangular coordinates at each sampling time t _k is displayed on the first display device 14 and the second display device 18.

Next, a second embodiment of the present invention will be described with reference to FIG. In the first angle tracking device 2 and the second angle tracking device 4 described above, the smoothed value vector x _{k, i} (+) (i =
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlation state quantity calculator 31, a first target tracking information input device 29 and a second target tracking information input device 30 corresponding to the respective angle tracking devices.
Direction vector u _{k, i} (+) (i = 1, 2) of the target position in the angle wake and the positional relationship vector M between the target observation devices from the target observation device position specification input device 3 Is a first-order subordinate, and is a determinant consisting of the inter-target-observer positional relationship vector M shown in equation (9) and each direction vector u _{k, i} (+) (i = 1, 2) of the target position. The target position correlation state quantity f (E _{k, 1} (+) By _{k, 1} (+) E
_{k, 2} (+) By _{k, 2} (+)), and the target position correlation state quantity error evaluation specification calculator 32 calculates each direction vector u _{k, i} (+) (i) of the target position in the angle track. =
1, 2) and the position relation vector M between the target observing device and the target position correlation state quantity f (E
_{k, 1} (+) By _{k, 1} (+) E _{k, 2} (+) By
The error evaluation specification σ _Pk ² of _{k, 2} (+) is calculated, and the target position correlation state determiner 33 calculates the target position correlation state quantity and its error evaluation specification and the correlation parameter C ₁ from the correlation parameter input device. Based on the equations (16), (10) and (17), the chi-square test is used to determine whether or not the angular wakes are from the same target.

Next, a third embodiment of the present invention will be described with reference to FIG. The detection data vector z defined by the equation (3) from the first target observation device 1 and the second target observation device 5
_{k, i} (i = 1, 2) is output, and in the corresponding first angle tracking device 2 and second angle tracking device 4, the angle wakes are represented by the formulas (4) and (5). Smoothed value vector x _{k, i} (+) (i = 1, 2) defined by
And a smoothing error covariance matrix P _{k, i} (+) (i = 1, 2) is calculated, and the target position correlator 6 performs a calculation between the angle track and the target observation device from the target observation device position specification input device 3. Based on the positional relationship vector M and the correlation parameter C ₁ from the correlation parameter input device 10, the correlation processing of the angle wake by the target position is performed by the equations (9) to (17), and the target distance calculator 7 performs the target position calculation. From the first target observation device 1 and the second target observation device 5 according to equations (18) to (21) based on the angle track and the target observation device positional relationship vector M determined to be the same target by the correlator 6. The distance R _{k, i} (i = 1, 2) to the target is calculated, and the target velocity correlator 8 calculates the distance R from the angle wake and the first target observation device 1 and the second target observation device 5 to the target. _{k, i} (i = 1,
2) and the correlation parameter C ₂ from the correlation parameter input device 10 are used to perform the correlation processing of the angle track according to the target velocity by the formulas (22) to (33), and the target distance change rate calculator 9 performs the target velocity change. The rate of change R of the distance from the first target observing device 1 and the second target observing device 5 to the target is calculated by the equations (34) to (37) based on the angle wakes determined to be the same target by the correlator 8. ^• _{k, i} (i = 1, 2) is calculated, and the first 3D polar coordinate initial value calculator 11 and the second 3
Based on the angle wakes determined to be the same target by the dimensional polar coordinate initial value calculator 15, the first target observing device 1 and the second target observing device 5 based on the equations (38) to (71)
The smoothed value vector b _{k, i} ⁰ (+) (i = 1, 2) and the error covariance matrix B are used as the initial value of the track in the two-dimensional polar coordinates.
_{k, i} ⁰ (+) (i = 1, 2) is calculated, and the track in the three-dimensional polar coordinates is calculated by the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16. Based on the initial values of the following equations (72) to (77), the smoothed value vector x ^{k, i} _{0 is} set as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
(+) (I = 1, 2) and error covariance matrix P
^{k, i} ₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the detection data vector Equations (80) to (8) based on z _{k, i} (i = 1, 2)
According to 6), the prediction value vector x ^{k, i} (−) (i) as a track in three-dimensional Cartesian coordinates at each sampling time t _k.
= 1, 2) and the error covariance matrix P ^{k, i} (−) (i = 1,
The process of calculating 2) is repeated until the tracking is completed, and the track in the three-dimensional rectangular coordinates at each sampling time t _k is displayed on the first display device 14 and the second display device 18.

Next, a fourth embodiment of the present invention will be described with reference to FIG. In the first angle tracking device 2 and the second angle tracking device 4 described above, the smoothed value vector x _{k, i} (+) (i =
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and the distance change rate relative amount calculator 35 obtains and inputs the first target tracking information input device 29 and the second target tracking information input device 30 corresponding to each angle tracking device. Formula (22) based on the distance R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 input to the target by the angle track and the target distance input device 34. The relative amount D _k of the distance change rate is calculated by (23) and (8), and the target velocity correlation state quantity calculator 36 calculates each direction vector u _{k, i} (+) of the target position of the angle track.
By utilizing the fact that (i = 1, 2) and the relative amount D _k of the distance change rate are linearly dependent, the relative amount D _k of the distance change rate and each direction vector u of the target position shown in Expression (24) are used. _{k, i} (+)
The determinant consisting of (i = 1, 2) and the target velocity correlation state quantity g (E _{k, 1} (+) By _{k, 1} (+) E _{k, 2} (+) By _{k, 2}
(+) E ^・ _{k, 1} (+) B ^・ y _{k, 1} (+) E ^・ _{k, 2} (+)
B ^· y _{k, 2} (+)), and in the target speed correlation state quantity error evaluation specification calculator 37, based on the relative amount D _k of the angle track and the distance change rate, equations (26) to (30) ), The target velocity correlation state quantity g (E _{k, 1} (+) By _{k, 1} (+)
E _{k, 2} (+) By _{k, 2} (+) E ^・ _{k, 1} (+) By ^・ _{k, 1}
(+) E ^· _{k, 2} (+) B ^· y _{k, 2} (+)) error evaluation specification σ _VK ² is calculated, and the target speed correlation state quantity and its error evaluation are made in the target speed correlation determiner 38. Based on the specifications and the correlation parameter C ₂ from the correlation parameter input device, the equation (3
2) According to (25) and (33), the chi-square test is used to determine whether or not the angle wakes are from the same target.

Next, a fifth embodiment of the present invention will be described with reference to FIG. The detection data vector z defined by the equation (3) from the first target observation device 1 and the second target observation device 5
_{k, i} (i = 1, 2) is output, and in the corresponding first angle tracking device 2 and second angle tracking device 4, the angle wakes are represented by the formulas (4) and (5). Smoothed value vector x _{k, i} (+) (i = 1, 2) defined by
And a smoothing error covariance matrix P _{k, i} (+) (i = 1, 2) is calculated, and the target position correlator 6 performs a calculation between the angle track and the target observation device from the target observation device position specification input device 3. Based on the positional relationship vector M and the correlation parameter C ₁ from the correlation parameter input device 10, the correlation processing of the angle wake by the target position is performed by the equations (9) to (17), and the target distance calculator 7 performs the target position calculation. From the first target observation device 1 and the second target observation device 5 according to equations (18) to (21) based on the angle track and the target observation device positional relationship vector M determined to be the same target by the correlator 6. The distance R _{k, i} (i = 1, 2) to the target is calculated, and the detection data vector z _{k, 3} input from the third target observation device 20 in the first ghost detector 19 and the angle track and Position of the third target observation device 20 Based on the relation vector M ¹³ and the correlation parameter C ₃ from the correlation parameter input device 10, a ghost is detected and deleted by, for example, equations (88) to (103), and the target distance change rate calculator 9 uses the first ghost. The change rate R of the distance from the first target observing device 1 and the second target observing device 5 to the target is calculated by the equations (34) to (37) based on the angle wakes determined to be the same target by the detector 19. _{^{· k, i (i = 1,2}} ) is calculated, the first three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculator 15 the same goals as determined angular trajectory groups in In equations (38) to (71), the smoothed value vector b _{k, i} ⁰ (+) (i =) is used as the initial value of the track in the three-dimensional polar coordinates of the first target observing device 1 and the second target observing device 5.
1, 2) and the error covariance matrix B _{k, i} ⁰ (+) (i = 1,
2), and the first three-dimensional Cartesian coordinate initial value calculator 12 is calculated.
And in the second three-dimensional Cartesian coordinate initial value calculator 16 based on the initial value of the track in the three-dimensional polar coordinates, equation (72)
To (77), the smoothed value vector x ^{k, i} ₀ (+) (i = 1, 2) is used as the initial value of the track in the three-dimensional orthogonal coordinates of the first target observing device 1 and the second target observing device 5. And the error covariance matrix P ^{k, i} ₀ (+) (i = 1, 2) is calculated, and the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17 detect the track in the three-dimensional orthogonal coordinates. Based on the initial value and the detection data vector z _{k, i} (i = 1, 2), the prediction value vector x ^{k, i} is calculated as a track in three-dimensional Cartesian coordinates at each sampling time t _k according to equations (80) to (86). (−) (I = 1, 2) and error covariance matrix P ^{k, i}
The process of calculating (−) (i = 1, 2) is repeated until the tracking is completed, and the track in the three-dimensional Cartesian coordinates at each sampling time t _k in the first display device 14 and the second display device 18. Is displayed.

Next, a sixth embodiment of the present invention will be described with reference to FIG. The detection data vector z defined by the equation (3) from the first target observation device 1 and the second target observation device 5
_{k, i} (i = 1, 2) is output, and in the corresponding first angle tracking device 2 and second angle tracking device 4, the angle wakes are represented by the formulas (4) and (5). Smoothed value vector x _{k, i} (+) (i = 1, 2) defined by
And a smooth error covariance matrix P _{k, i} (+) (i = 1, 2) is calculated, and in the target position correlator 6, between the angle track and the target observation device from the target observation device position specification input device 3 Based on the positional relationship vector M and the correlation parameter C ₁ from the correlation parameter input device 10, the correlation processing of the angle track according to the target position is performed by the equations (9) to (17), and the target attribute correlator 21 performs the angle track. Equation (105) based on the attribute information defined by Equation (104), its reliability, and the correlation parameter C ₄ from the correlation parameter input device 10.
Based on the angle wake and the target observation device positional relationship vector M determined by the target attribute correlator 21 to be the same target in the target distance calculator 7, the ghosts are detected and deleted by equations (18) to (21). ) The first target observation device 1
And the distance R from the second target observation device 5 to the target
_{k, i} (i = 1, 2) is calculated, and the target distance change rate calculator 9
In the above-mentioned target position correlator, the distances from the first target observing device 1 and the second target observing device 5 to the target are calculated by the equations (34) to (37) based on the angle wakes determined to be the same target. The rate of change R ^· _{k, i} (i = 1, 2) is calculated, and the first
The first target observing device 1 according to equations (38) to (71) based on the angle wakes determined to be the same target by the three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculator 15 And the smoothed value vector b _{k, i} ⁰ as the initial value of the track in the three-dimensional polar coordinates of the second target observing device 5 reference.
(+) (I = 1, 2) and error covariance matrix B
_{k, i} ⁰ (+) (i = 1, 2) is calculated, and the track in the three-dimensional polar coordinates is calculated by the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16. Based on the initial values of the following equations (72) to (77), the smoothed value vector x ^{k, i} _{0 is} set as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
(+) (I = 1, 2) and error covariance matrix P
^{k, i} ₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the detection data vector Equations (80) to (8) based on z _{k, i} (i = 1, 2)
According to 6), the prediction value vector x ^{k, i} (−) (i) as a track in three-dimensional Cartesian coordinates at each sampling time t _k.
= 1, 2) and the error covariance matrix P ^{k, i} (−) (i = 1,
The process of calculating 2) is repeated until the tracking is completed, and the track in the three-dimensional rectangular coordinates at each sampling time t _k is displayed on the first display device 14 and the second display device 18.

Next, a seventh embodiment of the present invention will be described with reference to FIG. The detection data vector z defined by the equation (3) from the first target observation device 1 and the second target observation device 5
_{k, i} (i = 1, 2) is output, and in the corresponding first angle tracking device 2 and second angle tracking device 4, the angle wakes are represented by the formulas (4) and (5). Smoothed value vector x _{k, i} (+) (i = 1, 2) defined by
And a smooth error covariance matrix P _{k, i} (+) (i = 1, 2) is calculated, and in the target position correlator 6, between the angle track and the target observation device from the target observation device position specification input device 3 Based on the positional relation vector M and the correlation parameter C ₁ from the correlation parameter input device 10, the correlation processing of the angle wake by the target position is performed by the formulas (9) to (17), and the target distance calculator 7 performs the target position calculation. The target from the first target observing device 1 and the second target observing device 5 is expressed by the equations (18) to (21) based on the angle wake and the target observing device positional relationship vector M determined to be the same target by the correlator. The distance R _{k, i} (i = 1, 2) to the target motion observation device 22 is calculated.
In the above, the target position correlator 6 monitors the motion of the target consisting of the angular wakes determined to be the same target, and the second ghost detector 23 instructs the target monitor device 22 that the motion is unnatural. The created target is deleted as a ghost, and the target distance change rate calculator 9 uses the second
Change of the distance from the first target observing device 1 and the second target observing device 5 to the target by the equations (34) to (37) based on the angle wakes determined to be the same target by the ghost detector 23 of FIG. The angular wakes calculated as the same target in the first three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculator 15 by calculating the ratio R ^· _{k, i} (i = 1, 2). Based on equations (38) to (71), the smoothed value vector b _{k, i} ⁰ (+) is used as the initial value of the track in the three-dimensional polar coordinates of the first target observing device 1 and the second target observing device 5.
(I = 1, 2) and the error covariance matrix B _{k, i} ⁰ (+) (i
= 1, 2) is calculated, and in the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16, the equation (72) is used based on the track initial values in the three-dimensional polar coordinates. ) To (77), the smoothed value vector x ^{k, i} ₀ (+) (i =) is used as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
1, 2) and the error covariance matrix P ^{k, i} ₀ (+) (i = 1,
2) is calculated, and the first three-dimensional tracking device 13 and the second three-dimensional tracking device 13 are calculated.
In the dimension tracking device 17, the initial value of the track and the detection data vector z _{k, i} (i = 1, 1,
Prediction value vector x ^{k, i} (−) (i = 1, 2) and error covariance matrix as a track in three-dimensional Cartesian coordinates for each sampling time t _k according to equations (80) to (86) based on 2). The process of calculating P ^{k, i} (−) (i = 1, 2) is repeated until the tracking is completed, and the first display device 14 and the second display device 14
The display device 18 displays the track in the three-dimensional Cartesian coordinates at each sampling time t _k .

Next, an eighth embodiment of the present invention will be described with reference to FIG. The detection data vector z defined by the equation (3) from the first target observation device 1 and the second target observation device 5
_{k, i} (i = 1, 2) is output, and in the corresponding first angle tracking device 2 and second angle tracking device 4, the angle wakes are represented by the formulas (4) and (5). Smoothed value vector x _{k, i} (+) (i = 1, 2) defined by
And a smoothing error covariance matrix P _{k, i} (+) (i = 1, 2) is calculated, and the target position correlator 6 performs a calculation between the angle track and the target observation device from the target observation device position specification input device 3. Based on the positional relationship vector M and the correlation parameter C ₁ from the correlation parameter input device 10, the correlation processing of the angle wake by the target position is performed by the equations (9) to (17), and the target distance calculator 7 performs the target position calculation. From the first target observation device 1 and the second target observation device 5 according to equations (18) to (21) based on the angle track and the target observation device positional relationship vector M determined to be the same target by the correlator 6. The distance R _{k, i} (i = 1, 2) to the target is calculated, and the detection data vector z _{k, 3} input from the third target observation device 20 in the first ghost detector 19 and the angle track and Position of the third target observation device 20 Based on the relation vector M ¹³ and the correlation parameter C ₃ from the correlation parameter input device 10, a ghost is detected and deleted by, for example, equations (88) to (103), and the first ghost detector is detected by the target velocity correlator 8. The angle track and the first that are determined to be the same target in 19
(22) _{-based on} the distance R _{k, i} (i = 1, 2) from the target observing device 1 and the second target observing device 5 to the target and the correlation parameter C ₂ from the correlation parameter input device 10.
The correlation processing of the angle wakes by the target speed is performed by (33), and the target distance change rate calculator 9 determines the same target by the target speed correlator 8 based on the angle wakes. rate of change in distance by 37) from the first target observation device 1 and the second target observation device 5 to the target R ^·
_{k, i} (i = 1, 2) is calculated, and the first three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculator 15 are calculated.
In equation (38) to (71) based on the angle wakes determined to be the same target in the above, a smooth value is used as an initial value of the wakes in the three-dimensional polar coordinates of the first target observing device 1 and the second target observing device 5. Vector b _{k, i} ⁰ (+) (i = 1,
2) and the error covariance matrix B _{k, i} ⁰ (+) (i = 1, 2)
In the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16
Equation (72) -based on the initial value of the track in three-dimensional polar coordinates
According to (77), the smoothed value vector x ^{k, i} ₀ (+) (i = 1, 2) and the initial value of the track in the three-dimensional Cartesian coordinates of the reference of the first target observation device 1 and the second target observation device 5 and The error covariance matrix P ^{k, i} ₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial track of the track in the three-dimensional orthogonal coordinates is obtained. Based on the value and the detection data vector z _{k, i} (i = 1, 2), the prediction value vector x ^{k, i} (as a track in three-dimensional Cartesian coordinates) at each sampling time t _k according to equations (80) to (86). −) (I = 1, 2) and error covariance matrix P ^{k, i}
The process of calculating (−) (i = 1, 2) is repeated until the tracking is completed, and the track in the three-dimensional Cartesian coordinates at each sampling time t _k in the first display device 14 and the second display device 18. Is displayed.

Next, a ninth embodiment of the present invention will be described with reference to FIG. The detection data vector z defined by the equation (3) from the first target observation device 1 and the second target observation device 5
_{k, i} (i = 1, 2) is output, and in the corresponding first angle tracking device 2 and second angle tracking device 4, the angle wakes are represented by the formulas (4) and (5). Smoothed value vector x _{k, i} (+) (i = 1, 2) defined by
And a smooth error covariance matrix P _{k, i} (+) (i = 1, 2) is calculated, and in the target position correlator 6, between the angle track and the target observation device from the target observation device position specification input device 3 Based on the positional relationship vector M and the correlation parameter C ₁ from the correlation parameter input device 10, the correlation processing of the angle track according to the target position is performed by the equations (9) to (17), and the target attribute correlator 21 performs the angle track. Equation (105) based on the attribute information defined by Equation (104), its reliability, and the correlation parameter C ₄ from the correlation parameter input device 10.
Based on the angle wake and the target observation device positional relationship vector M determined by the target attribute correlator 21 to be the same target in the target distance calculator 7, the ghosts are detected and deleted by equations (18) to (21). ) The first target observation device 1
And the distance R from the second target observation device 5 to the target
_{k, i} (i = 1, 2) is calculated, and in the target velocity correlator 8, the angle track and the distance R _{k, i} (i from the first target observing device 1 and the second target observing device 5 to the target are calculated. = 1, 2) and the correlation parameter C ₂ from the correlation parameter input device 10
Based on the equations (22) to (33), the correlation processing of the above-mentioned angle wake by the target speed is performed, and the target distance change rate calculator 9
In accordance with the equations (34) to (37), the first target velocity correlator 8 determines the same target as
Change rate R ^· _{k, i} (i = 1,2) of the distance from the target observing device 1 and the second target observing device 5 to the target is calculated, and the first three-dimensional polar coordinate initial value calculator 11 and Based on the angle wakes determined to be the same target by the two-dimensional three-dimensional polar coordinate initial value calculator 15, the first target observing device 1 and the second target observing device 5 based on the equations (38) to (71) Smoothed value vector b _{k, i} as the initial value of the track in three-dimensional polar coordinates
⁰ (+) (i = 1, 2) and error covariance matrix B
_{k, i} ⁰ (+) (i = 1, 2) is calculated, and the track in the three-dimensional polar coordinates is calculated by the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16. Based on the initial values of the following equations (72) to (77), the smoothed value vector x ^{k, i} _{0 is} set as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
(+) (I = 1, 2) and error covariance matrix P
^{k, i} ₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the detection data vector Equations (80) to (8) based on z _{k, i} (i = 1, 2)
According to 6), the prediction value vector x ^{k, i} (−) (i) as a track in three-dimensional Cartesian coordinates at each sampling time t _k.
= 1, 2) and the error covariance matrix P ^{k, i} (−) (i = 1,
The process of calculating 2) is repeated until the tracking is completed, and the track in the three-dimensional rectangular coordinates at each sampling time t _k is displayed on the first display device 14 and the second display device 18.

Next, a tenth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distances R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target are calculated by (18) to (21), and the target motion observing device 22 uses The target position correlator 6 monitors the motion of the target composed of the angular wakes determined to be the same target, and the second ghost detector 23 instructs the target monitor device 22 to indicate that the motion is unnatural. The target is deleted as a ghost, and the angle wake and the first target observing device 1 and the second target observing device 5 to the target determined by the second ghost detector 23 in the target velocity correlator 8 are determined to be the same target. Away R _k, performs correlation processing of _i (i = 1, 2) and the angle track by the target speed by the correlation parameter C ₂ and based on equation (22) - (33) from the correlation parameter input device 10, the target The first target observing device 1 and the second target observing device are calculated by the equations (34) to (37) based on the angle wakes determined by the target velocity correlator 8 to be the same target in the distance change rate calculator 9. The rate of change R ^· _{k, i} (i = 1,2) of the distance from 5 to the target is calculated, and the above-mentioned values are calculated in the first three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculator 15. Based on the angle wakes determined to be the same target, the smoothed value vector b is used as the initial value of the wake in the three-dimensional polar coordinates of the first target observing device 1 and the second target observing device 5 based on the equations (38) to (71). _{k, i} ⁰ (+)
(I = 1, 2) and the error covariance matrix B _{k, i} ⁰ (+) (i
= 1, 2) is calculated, and in the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16, the equation (72) is used based on the track initial values in the three-dimensional polar coordinates. ) To (77), the smoothed value vector x ^{k, i} ₀ (+) (i =) is used as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
1, 2) and the error covariance matrix P ^{k, i} ₀ (+) (i = 1,
2) is calculated, and the first three-dimensional tracking device 13 and the second three-dimensional tracking device 13 are calculated.
In the dimension tracking device 17, the initial value of the track and the detection data vector z _{k, i} (i = 1, 1,
Prediction value vector x ^{k, i} (−) (i = 1, 2) and error covariance matrix as a track in three-dimensional Cartesian coordinates for each sampling time t _k according to equations (80) to (86) based on 2). The process of calculating P ^{k, i} (−) (i = 1, 2) is repeated until the tracking is completed, and the first display device 14 and the second display device 14
The display device 18 displays the track in the three-dimensional Cartesian coordinates at each sampling time t _k .

Next, an eleventh embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distance R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target is calculated by (18) to (21), and the target distance change rate calculator 9 is calculated. In equations (34) to (3) based on the angle wakes determined to be the same target by the target position correlator 6 in
According to 7), the rate of change of the distance from the first target observing device 1 and the second target observing device 5 to the target R ^· _{k, i} (i = 1,
2) is calculated, and equations (38) to (7) are used based on the angle wakes determined as the same target by the first three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculator 15.
According to 1), the smoothed value vector b _{k, i} ⁰ (+) (i = 1, 2) and the error co-error are used as the initial value of the track in the three-dimensional polar coordinates of the first and second target observing devices 1 and 5. The variance matrix B _{k, i} ⁰ (+) (i = 1, 2) is calculated, and the first
In the three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16, the first target observation is performed by the equations (72) to (77) based on the initial value of the track in the three-dimensional polar coordinates Device 1 and second target observation device 5 Standard 3
The smoothed value vector x ^{k, i} ₀ (+) (i = 1, 2) and the error covariance matrix P as the initial value of the track in the three-dimensional Cartesian coordinates
^{k, i} ₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the following information exchange Equations (80) to (8) based on the track and detection data vector z _{k, i} (i = 1, 2) of the other target tracking device from the vessel 24.
According to 6), the prediction value vector x ^{k, i} (−) (i) as a track in three-dimensional Cartesian coordinates at each sampling time t _k.
= 1, 2) and the error covariance matrix P ^{k, i} (−) (i = 1,
The process of calculating 2) is repeated until the tracking is completed, and the track maintained by the three-dimensional tracking device in the information exchanger 24 is applied to the three-dimensional tracking device to which the latest detection data is input by the formula (87). The first display device 14 and the second display device 18 are converted to the target observation device standard and transferred.
At, the track in the three-dimensional Cartesian coordinates at each sampling time t _k is displayed.

Next, a twelfth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distances R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target are calculated by (18) to (21), and the target velocity correlator 8 calculates Angle track and first target observation device 1
And the distance R from the second target observation device 5 to the target
_{Based on k, i} (i = 1, 2) and the correlation parameter C ₂ from the correlation parameter input device 10, correlation processing of the above-mentioned angle wake by the target speed is performed by the equations (22) to (33) to change the target distance. Based on the angle wakes determined by the target velocity correlator 8 to be the same target in the rate calculator 9, the equation (34) is used.
From (37), the rate of change of the distance from the first target observation device 1 and the second target observation device 5 to the target R ^· _{k, i} (i =
1, 2) to calculate the first three-dimensional polar coordinate initial value calculator 1
Based on the angle wakes determined to be the same target by the first and second three-dimensional polar coordinate initial value calculators 15, equations (38) to
According to (71), the smoothed value vector b _{k, i} ⁰ (+) (i = 1, 2) and the error as the initial value of the track in the three-dimensional polar coordinates of the first target observation device 1 and the second target observation device 5 reference. Calculate the covariance matrix B _{k, i} ⁰ (+) (i = 1, 2),
In the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16, based on the initial value of the track in the three-dimensional polar coordinates, the first equation (72) to (77) The smoothed value vector x ^{k, i} ₀ (+) (i = 1, 2) and the error covariance matrix P ^k, as the initial value of the track in the three-dimensional Cartesian coordinates of the target observation device 1 and the second target observation device 5 reference ^{. i} ₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the information exchanger 24 described below. (80) -based on the track and detection data vector z _{k, i} (i = 1, 2) of another target tracking device from
According to (86), the prediction value vector x ^{k, i} (−) is calculated as a track in three-dimensional Cartesian coordinates at each sampling time t _k.
(I = 1, 2) and error covariance matrix P ^{k, i} (−) (i =
The process of calculating 1) is repeated until the tracking is completed, and the track maintained by the three-dimensional tracking device in the information exchanger 24 is input to the three-dimensional tracking device to which the latest detection data is input by the formula (87). Is converted into a corresponding target observation device standard and transferred, and the track in the three-dimensional Cartesian coordinates at each sampling time t _k is displayed on the first display device 14 and the second display device 18.

Next, a thirteenth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distances R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target are calculated by (18) to (21), and the first ghost detector 19 In the above, the detection data vector z _{k, 3} input from the third target observing device 20, the angle wake and the positional relationship vector M ^{13 of} the third target observing device 20 and the correlation parameter C ₃ from the correlation parameter input device 10
Based on the above, for example, ghosts are detected and deleted by the equations (88) to (103), and the target distance change rate calculator 9 determines the angular wakes determined by the first ghost detector 19 as the same target. Then, the change rate R ^· _{k, i} (i = 1, 2) of the distance from the first target observing apparatus 1 and the second target observing apparatus 5 to the target is calculated by the equations (34) to (37), and The first target observation device according to the equations (38) to (71) based on the angle wakes determined to be the same target in the first three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculator 15. The smoothed value vector b as the initial value of the track in the three-dimensional polar coordinates of the first and second target observation devices 5
_{k, i} ⁰ (+) (i = 1, 2) and error covariance matrix B _{k, i}
⁰ (+) (i = 1, 2) is calculated, and in the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16, the initial value of the track in the three-dimensional polar coordinates. Based on the equations (72) to (77), the smoothed value vector x is set as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
^{k, i} ₀ (+) (i = 1, 2) and error covariance matrix P ^{k, i}
₀ (+) (i = 1, 2) is calculated, and in the first three-dimensional tracking device 13 and the second three-dimensional tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the following information exchanger 2
4 based on other target tracking device tracks and detection data vectors z _{k, i} (i = 1, 2) from formulas (80) to (86) at each sampling time t _k at three-dimensional Cartesian coordinates As the prediction value vector x ^{k, i} (−) (i = 1,
2) and the process of calculating the error covariance matrix P ^{k, i} (−) (i = 1, 2) are repeated until the tracking is completed, and the track maintained by the three-dimensional tracking device in the information exchanger 24 is calculated. The three-dimensional tracking device to which the latest detection data is input is converted to the corresponding target observation device standard by the equation (87) and transferred, and each sampling time t _{k in} the first display device 14 and the second display device 18. The wake in the above three-dimensional Cartesian coordinates is displayed.

Next, a fourteenth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distances R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target are calculated by (18) to (21), and the first ghost detector 19 In the above, the detection data vector z _{k, 3} input from the third target observing device 20, the angle wake and the positional relationship vector M ^{13 of} the third target observing device 20 and the correlation parameter C ₃ from the correlation parameter input device 10
Based on the above, for example, the ghost is detected and deleted by the equations (88) to (103), and the angle wake and the first ghost detector 19 determined to have the same target by the first ghost detector 19 Target observing device 1 and second target observing device 5
Based on the distance R _{k, i} (i = 1, 2) from the target to the target and the correlation parameter C ₂ from the correlation parameter input device 10, the correlation processing of the angular wake by the target speed is performed by the equations (22) to (33). Then, the target distance change rate calculator 9 calculates the first target observing device 1 and the second target observing device 1 according to the equations (34) to (37) based on the angle wakes determined to be the same target by the target velocity correlator 8. Change rate R ^· _{k, i} (i = 1, 2) of the distance from the target observing device 5 to the target is calculated, and the first three-dimensional polar coordinate initial value calculator 11 and the second three-dimensional polar coordinate initial value calculation are performed. As an initial value of the track in the three-dimensional polar coordinates of the first target observing device 1 and the second target observing device 5 based on the angle wakes determined to be the same target in the vessel 15 by the formulas (38) to (71). Smoothed value vector b _{k, i} ⁰ (+)
(I = 1, 2) and the error covariance matrix B _{k, i} ⁰ (+) (i
= 1, 2) is calculated, and in the first three-dimensional Cartesian coordinate initial value calculator 12 and the second three-dimensional Cartesian coordinate initial value calculator 16, the equation (72) is used based on the track initial values in the three-dimensional polar coordinates. ) To (77), the smoothed value vector x ^{k, i} ₀ (+) (i =) is used as the initial value of the track in the three-dimensional Cartesian coordinates of the first target observing device 1 and the second target observing device 5.
1, 2) and the error covariance matrix P ^{k, i} ₀ (+) (i = 1,
2) is calculated, and the first three-dimensional tracking device 13 and the second three-dimensional tracking device 13 are calculated.
In the dimension tracking device 17, the initial value of the track in the three-dimensional Cartesian coordinates and the track and detection data vector z _{k, i} (i = 1, 1) of another target tracking device from the information exchanger 24 described below.
Predicted value vector x ^{k, i} (−) (i = 1, 2) and error covariance matrix as a track in three-dimensional Cartesian coordinates for each sampling time t _k according to equations (80) to (86) based on 2). The process of calculating P ^{k, i} (−) (i = 1, 2) is repeated until the tracking is completed, and the latest tracking data is input to the information exchanger 24 for the track maintained by the three-dimensional tracking device. To the corresponding three-dimensional tracking device according to equation (87) and transferred to the corresponding target observation device reference, and the three-dimensional orthogonal coordinates at each sampling time t _k in the first display device 14 and the second display device 18. Display the track in.

Next, a fifteenth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distance R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target is calculated by (18) to (21), and the target distance change rate calculator 9 is calculated. In equations (34) to (3) based on the angle wakes determined to be the same target by the target position correlator 6 in
According to 7), the rate of change of the distance from the first target observing device 1 and the second target observing device 5 to the target R ^· _{k, i} (i = 1,
2) is calculated, and the first three-dimensional polar coordinate track calculator 26 and the second three-dimensional polar coordinate track calculator 27 determine the first and second formulas (38) to (71) based on the angle tracks determined to be the same target. Smoothing vector b as a track in the three-dimensional polar coordinates of the first target observing device 1 and the second target observing device 5
_{k, i} ⁰ (+) (i = 1, 2) and error covariance matrix B _{k, i}
⁰ (+) (i = 1, 2) is calculated, and in the first three-dimensional rectangular coordinate track calculator 25 and the second three-dimensional rectangular coordinate track calculator 28, an equation ( 72) to (77), the smoothed value vector x ^{k, i} ₀ (+) (i = 1, 2) and the smoothed value vector x ^{k, i} ₀ (+) as a track in the three-dimensional Cartesian coordinates of the first target observation device 1 and the second target observation device 5 The error covariance matrix P ^{k, i} ₀ (+) (i = 1, 2) is calculated, the track in the three-dimensional Cartesian coordinates is displayed on the first display device 14 and the second display device 18, and tracking is performed. These series of processes are repeated until the end.

Next, a sixteenth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distances R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target are calculated by (18) to (21), and the target velocity correlator 8 calculates Angle track and first target observation device 1
And the distance R from the second target observation device 5 to the target
_{Based on k, i} (i = 1, 2) and the correlation parameter C ₂ from the correlation parameter input device 10, correlation processing of the above-mentioned angle wake by the target speed is performed by the equations (22) to (33) to change the target distance. Based on the angle wakes determined by the target velocity correlator 8 to be the same target in the rate calculator 9, the equation (34) is used.
From (37), the rate of change of the distance from the first target observation device 1 and the second target observation device 5 to the target R ^· _{k, i} (i =
1, 2) to calculate the first three-dimensional polar coordinate track calculator 26.
And equations (38) to (7) based on the angle wakes determined as the same target by the second three-dimensional polar coordinate wake calculator 27.
According to 1), the smoothed value vector b _{k, i} ⁰ (+) (i = 1, 2) and the error covariance matrix B as a track in the three-dimensional polar coordinates of the first target observation device 1 and the second target observation device 5 reference. _{k, i} ⁰ (+) (i = 1, 2) is calculated, and the first three-dimensional Cartesian coordinate trajectory calculator 25 and the second three-dimensional Cartesian coordinate trajectory calculator 28 calculate the trajectory in the three-dimensional polar coordinates. In equations (72) to (77), a smoothed value vector x ^{k, i} ₀ (+) (i = 1, 1) as a track in the three-dimensional Cartesian coordinates of the reference of the first target observation device 1 and the second target observation device 5
2) and the error covariance matrix P ^{k, i} ₀ (+) (i = 1, 2)
To calculate the first display device 14 and the second display device 18
At, the track in the three-dimensional Cartesian coordinates is displayed, and the series of processes are repeated until the tracking is completed.

Next, a seventeenth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distances R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target are calculated by (18) to (21), and the first ghost detector 19 In the above, the detection data vector z _{k, 3} input from the third target observing device 20, the angle wake and the positional relationship vector M ^{13 of} the third target observing device 20 and the correlation parameter C ₃ from the correlation parameter input device 10
Based on the equation (88) to (103), the ghosts are detected and deleted, and the target distance change rate calculator 9 determines the angle wakes determined by the first ghost detector 19 as the same target. Then, the change rate R ^· _{k, i} (i = 1, 2) of the distance from the first target observing apparatus 1 and the second target observing apparatus 5 to the target is calculated by the equations (34) to (37), and The first target observing device 1 and the first target observing device 1 and The smooth value vector b _{k, i} ⁰ (+) (i =
1, 2) and the error covariance matrix B _{k, i} ⁰ (+) (i = 1,
2) is calculated, and the above 3 is calculated in the first three-dimensional Cartesian coordinate track calculator 25 and the second three-dimensional Cartesian coordinate track calculator 28.
Based on the track in the three-dimensional polar coordinates, the smoothed value vector x ^{k, i} ₀ (+ ) (I = 1, 2) and error covariance matrix P
^{k, i} ₀ (+) (i = 1, 2) is calculated, the track in the three-dimensional Cartesian coordinates is displayed on the first display device 14 and the second display device 18, and these are tracked until the tracking ends. Repeat a series of processes.

Next, an eighteenth embodiment of the present invention will be described with reference to FIG. The first target observing device 1 and the second target observing device 5 output the detection data vector z _{k, i} (i = 1, 2) defined by the equation (3), and the corresponding first angle tracking In the device 2 and the second angle tracking device 4, a smoothed value vector x _{k, i} (+) (i =) defined by equations (4) and (5) as an angle track based on the detection data.
1, 2) and the smooth error covariance matrix P _{k, i} (+) (i =
1, 2) are calculated, and in the target position correlator 6, the positional relationship vector M between the angle track and the target observation device from the target observation device position specification input device 3 and the correlation parameter C ₁ from the correlation parameter input device 10 are calculated. Based on and, equations (9) to (1
7) performs the correlation processing of the angle wake according to the target position, and the target distance calculator 7 determines the same target by the target position correlator 6 based on the angle wake and the target observation device positional relationship vector M. The distances R _{k, i} (i = 1, 2) from the first target observing device 1 and the second target observing device 5 to the target are calculated by (18) to (21), and the first ghost detector 19 In the above, the detection data vector z _{k, 3} input from the third target observing device 20, the angle wake and the positional relationship vector M ^{13 of} the third target observing device 20 and the correlation parameter C ₃ from the correlation parameter input device 10
Based on the above, for example, the ghost is detected and deleted by the equations (88) to (103), and the angle wake and the first ghost detector 19 determined to have the same target by the first ghost detector 19 Target observing device 1 and second target observing device 5
Based on the distance R _{k, i} (i = 1, 2) from the target to the target and the correlation parameter C ₂ from the correlation parameter input device 10, the correlation processing of the angular wake by the target speed is performed by the equations (22) to (33). Then, the target distance change rate calculator 9 calculates the first target observing device 1 and the second target observing device 1 according to the equations (34) to (37) based on the angle wakes determined to be the same target by the target velocity correlator 8. The change rate R ^· _{k, i} (i = 1, 2) of the distance from the target observation device 5 to the target is calculated, and the first three-dimensional polar coordinate track calculator 26 and the second three-dimensional polar coordinate track calculator 27 are calculated. In the three-dimensional polar coordinates of the first target observing device 1 and the second target observing device 5, the smoothed value vector b _k is calculated by the equations (38) to (71) based on the angle wakes determined to be the same target in _{, i} ⁰ (+) (i = 1,2)
And the error covariance matrix B _{k, i} ⁰ (+) (i = 1, 2) are calculated, and the above 3 is calculated in the first three-dimensional Cartesian coordinate track calculator 25 and the second three-dimensional Cartesian coordinate track calculator 28. First based on equations (72) to (77) based on the track in three-dimensional polar coordinates.
Smoothed value vector x ^{k, i} ₀
(+) (I = 1, 2) and error covariance matrix P
^{k, i} ₀ (+) (i = 1, 2) is calculated, the track in the three-dimensional Cartesian coordinates is displayed on the first display device 14 and the second display device 18, and these are tracked until the tracking ends. Repeat a series of processes.

[0116]

As described above, according to the multi-target tracking device of the present invention, it is possible to calculate target motion parameters such as three-dimensional position and velocity from angle data from a plurality of passive target observation devices. It becomes possible to track three-dimensionally, and by reducing ghosts, a highly reliable three-dimensional track can be obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a multi-target tracking device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a multi-target tracking device according to a second embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a multi-target tracking device according to a third embodiment of the present invention.

FIG. 4 is a diagram showing a configuration of a multi-target tracking device according to a fourth embodiment of the present invention.

FIG. 5 is a diagram showing a configuration of a multi-target tracking device according to a fifth embodiment of the present invention.

FIG. 6 is a diagram showing a configuration of a multi-target tracking device according to a sixth embodiment of the present invention.

FIG. 7 is a diagram showing a configuration of a multi-target tracking device according to a seventh embodiment of the present invention.

FIG. 8 is a diagram showing a configuration of a multi-target tracking device according to an eighth embodiment of the present invention.

FIG. 9 is a diagram showing a configuration of a multi-target tracking device according to a ninth embodiment of the present invention.

FIG. 10 is a diagram showing a configuration of a multi-target tracking device according to a tenth embodiment of the present invention.

FIG. 11 is a diagram showing a configuration of a multi-target tracking device according to an eleventh embodiment of the present invention.

FIG. 12 is a diagram showing the configuration of a multi-target tracking device according to a twelfth embodiment of the present invention.

FIG. 13 is a diagram showing the structure of a multi-target tracking device according to a thirteenth embodiment of the present invention.

FIG. 14 is a diagram showing the structure of a multi-target tracking device according to a fourteenth embodiment of the present invention.

FIG. 15 is a diagram showing the configuration of a multi-target tracking device according to a fifteenth embodiment of the present invention.

FIG. 16 is a diagram showing a configuration of a multi-target tracking device according to a sixteenth embodiment of the present invention.

FIG. 17 is a diagram showing the structure of a multi-target tracking device according to a seventeenth embodiment of the present invention.

FIG. 18 is a diagram showing the configuration of a multi-target tracking device according to an eighteenth embodiment of the present invention.

FIG. 19 is a diagram showing a configuration of an example of a conventional target correlation device using a passive sensor.

FIG. 20 is a diagram illustrating an example of a common surface of target observing devices of an embodiment of a conventional target correlating device using a passive sensor.

FIG. 21 is a diagram illustrating an example of a ghost that occurs when two targets are tracked by two passive target observation devices.

FIG. 22 is a diagram illustrating a positional relationship between two passive target observation devices and a target.

[Explanation of symbols]

 1 First Target Observing Device 2 First Angle Tracking Device 3 Target Observing Device Position Specifications Input Device 4 Second Angle Tracking Device 5 Second Target Observing Device 6 Target Position Correlator 7 Target Distance Calculator 8 Target Velocity Correlator 9 Target distance change rate calculator 10 Correlation parameter input device 11 First three-dimensional polar coordinate initial value calculator 12 First three-dimensional rectangular coordinate initial value calculator 13 First three-dimensional tracking device 14 First display Device 15 Second three-dimensional polar coordinate initial value calculator 16 Second three-dimensional Cartesian coordinate initial value calculator 17 Second three-dimensional tracking device 18 Second display device 19 First ghost detector 20 Third target Observation device 21 Target attribute correlator 22 Target motion monitoring device 23 Second ghost detector 24 Information exchanger 25 First three-dimensional Cartesian coordinate track calculator 26 First three-dimensional polar coordinate track calculator 27 Second 3 Original Cartesian coordinate track calculator 28 second three-dimensional polar coordinate track calculator 29 first target tracking specification input device 30 second target tracking specification input device 31 target position correlation state quantity calculator 32 target position correlation state quantity Error evaluation specification calculator 33 Target position correlation determiner 34 Target distance input device 35 Distance change rate relative amount calculator 36 Target speed correlation state quantity calculator 37 Target speed correlation state quantity Error evaluation specification calculator 38 Target speed correlation determination 39 Calculator for reference plane direction specifications between target observation devices 40 First target surface direction specification calculator 41 First target surface direction specification calculator 42 First evaluation angle calculator 43 Second evaluation angle calculation Unit 44 Common angle correlator

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location // G01S 7/03 K 7/295 Z 7/32 F 13/66

Claims (18)

[Claims] 1. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device reference by the target observation device positional relationship from the specification input device,
Calculating the target distance change rate of each target observing device standard from the target distance of each target observing device standard from the target distance calculator and the angle track determined to be the same target by the target position correlator The target distance of each target observation device standard from the target distance calculator and the target distance change rate of each target observation device standard from the target distance change rate calculator and the target position correlator were determined to be the same target. The target of each target observation device is calculated from the three-dimensional polar coordinate initial value calculator corresponding to each target observation device and the initial value of the track from the three-dimensional polar coordinate calculator. Tracking is performed with the three-dimensional Cartesian coordinate initial value calculator corresponding to each target observation apparatus that calculates the initial value of the three-dimensional Cartesian coordinate track based on the observation apparatus, and the initial value of the track from the three-dimensional Cartesian coordinate initial value calculator. After the start, after that, the 3D tracking maintenance device corresponding to each target observation device that updates the 3D Cartesian coordinate track each time the angle data is input from the corresponding target observation device, and the track from the 3D tracking maintenance device A multi-target tracking device comprising a display device corresponding to each target observation device for displaying. 2. The target position correlator according to claim 1, wherein the target tracking information input device for inputting the angle tracks from the plurality of angle tracking devices and the direction vector of the target position in each angle track are from the same target. Target observation device position specifications By taking advantage of the fact that the target observation device positional relationship from the input device and each direction vector of the target position are first-order dependent, a determinant consisting of the target observation device positional relationship and each direction vector of the target position is obtained. A target position correlation state quantity calculator that calculates the target position correlation state quantity, a direction vector in the angle track from each angle tracking device and its error evaluation amount, and a target observation device position relationship from the target observation device position specification input device The target position correlation state quantity error evaluation parameter calculator that calculates the error evaluation quantity of the target position correlation state quantity by using the error evaluation quantity of the target position correlation state quantity and the target position correlation state quantity And a correlation parameter from the correlation parameter input device are used to construct a target position correlation determiner that determines whether or not the angle wakes from each angle tracking device are from the same target using the chi-square test. The multi-target tracking device according to claim 1. 3. A plurality of target observing devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observing device that performs angle tracking based on the angle data and calculates an angle track, and each target observing device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device reference by the target observation device positional relationship from the specification input device,
Correlation based on the velocity relationship of each angle track by the target distance of each target observation device from the target distance calculator and the correlation parameter from the input device and the angle track determined to be the same target by the target position correlator Change in target distance of each target observation device based on the target velocity correlator that performs processing, the target distance of each target observation device reference from the target distance calculator, and the angle track determined to be the same target by the target velocity correlator A target distance change rate calculator for calculating the rate,
The target distance of each target observation device standard from the target distance calculator and the target distance change rate of each target observation device reference from the target distance change rate calculator and the angle track determined to be the same target by the target velocity correlator Calculate the initial value of the three-dimensional polar coordinate track of each target observing device by using the three-dimensional polar coordinate initial value calculator corresponding to each target observing device and each target observing device standard by the initial value of the wake from the three-dimensional polar coordinate calculator 3D Cartesian coordinate initial value calculator for calculating the track initial value of the 3D Cartesian coordinate system, and tracking is started by the track initial value from the 3D Cartesian coordinate initial value calculator. Is a three-dimensional tracking maintenance device corresponding to each target observation device that updates the track of three-dimensional Cartesian coordinates each time angle data is input from the corresponding target observation device, and each eye that displays the trajectory from the three-dimensional tracking maintenance device. Multi target tracking device, characterized in that it consists of observation apparatus compatible display device. 4. The target velocity correlator uses a target tracking information input device for inputting an angle track from a plurality of angle tracking devices, and each angle using a target distance of each target observation device reference from the target distance input device. When the distance change rate relative amount calculator that calculates the relative evaluation amount of the distance change rate of each target observation device when the tracks are from the same target, and when each angle track is from the same target By utilizing the fact that the relative evaluation amount of the distance change rate of each target observation device reference from the distance change rate relative amount calculator and each direction vector of the target position are linearly dependent, the distance change rate of each target observation device reference is calculated. A target velocity correlation state quantity calculator that calculates a determinant consisting of the relative evaluation amount and each direction vector of the target position as a target velocity correlation state quantity, an angle track from each angle tracking device and its error evaluation amount, and each target observation Device-based A target speed correlation state quantity error evaluation parameter calculator that calculates the error evaluation quantity of the target speed correlation state quantity based on the relative evaluation quantity of the distance change rate, and the error evaluation quantity of the target speed correlation state quantity and the target speed correlation state quantity It is characterized by being composed of a target velocity correlation determiner that determines whether or not the angle tracks from each angle tracking device are from the same target by using the chi-square test with the correlation parameter from the correlation parameter input device. The multi-target tracking device according to claim 3. 5. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device reference by the target observation device positional relationship from the specification input device,
Target observing device that outputs angle data for ghost countermeasures, and target observing device for ghost countermeasures calculated from each angle track determined to be the same target by the target position correlator and each target observing device reference target distance A first ghost detector that detects and removes a ghost by using a reference target position and angle data for ghost measures, and a target distance of each target observation device from the target distance calculator The target distance change rate calculator that calculates the target distance change rate of each target observation apparatus reference by the angle track determined to be, and the target distance and target distance change rate of each target observation apparatus reference from the target distance calculator The three-dimensional pole of each target observation device standard is calculated from the target distance change rate of each target observation device standard from the calculator and the angle track determined to be the same target by the target position correlator. 3D polar coordinate initial value calculator corresponding to each target observing device that calculates the initial value of the target track, and initial 3D Cartesian coordinate track of each target observing device based on the wake initial value from the 3D polar coordinate calculator A three-dimensional Cartesian coordinate initial value calculator corresponding to each target observing device that calculates a value, and tracking is started by the initial value of the track from the three-dimensional Cartesian coordinate initial value calculator, and thereafter the angle from the corresponding target observing device Consists of a 3D tracking and maintenance device for each target observation device that updates the track of 3D Cartesian coordinates each time data is input, and a display device for each target observation device that displays the track from the 3D tracking and maintenance device A multi-target tracking device characterized in that 6. A plurality of target observation devices that output angle data and attribute data from the target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and Target observation device position specification input device for inputting positional relationship of target observation device, correlation parameter input device for inputting correlation parameter, target observation device positional relationship and correlation parameter input device from target observation device position specification input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the correlation parameter from the angle tracker and the angle track from each angle tracking device, and the angle track determined to be the same target by the target position correlator The target attribute correlator that removes the ghost by performing correlation processing of each angle track with the attribute data Target distance calculator that calculates the target distance based on each target observation device based on the determined angle wake and the position relationship of the target observation device from the target observation device position specification input device, and each target observation from the target distance calculator From the target distance change rate calculator that calculates the target distance change rate of each target observation apparatus reference by the target distance of the apparatus reference and the angle track determined to be the same target by the target position correlator, and from the target distance calculator Based on the target distance of each target observation device and the target distance change rate of each target observation device reference from the target distance change rate calculator, and the angle track determined to be the same target by the target position correlator, each target observation device reference The three-dimensional polar coordinate initial value calculator corresponding to each target observing device that calculates the initial value of the three-dimensional polar coordinate wake and the target observation device standard 3 based on the wake initial value from the three-dimensional polar coordinate calculator A three-dimensional Cartesian coordinate initial value calculator corresponding to each target observation device that calculates the initial value of the original Cartesian coordinate track and tracking is started after the track starting value from the three-dimensional Cartesian coordinate initial value calculator A three-dimensional tracking maintenance device corresponding to each target observation device that updates the track of three-dimensional Cartesian coordinates each time the angle data is input from the target observation device and each target observation device that displays the track from the three-dimensional tracking maintenance device A multi-target tracking device characterized by being configured with a corresponding display device. 7. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that calculates an angle track by performing angle tracking based on the angle data, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device reference by the target observation device positional relationship from the specification input device,
A target motion monitoring device that monitors the target motion for each angular track determined to be the same target by the target position correlator, and the correlation between the angular tracks determined to be ghost by the target motion monitoring device is removed. The ghost detector of 2 and the target distance of each target observing device reference from the target distance calculator and the angle track determined to be the same target by the target position correlator are used to calculate the target distance change rate of each target observing device reference. The target distance change rate calculator to be calculated is the same as the target distance of each target observation apparatus reference from the target distance calculator and the target distance change rate of each target observation apparatus reference from the target distance change rate calculator to the target position correlator A three-dimensional polar coordinate initial value calculator corresponding to each target observing device, which calculates an initial value of the wake of the three-dimensional polar coordinate of each target observing device based on the angle track determined to be the target, and 3. A three-dimensional Cartesian coordinate initial value calculator corresponding to each target observing device that calculates the initial value of the wake of three-dimensional Cartesian coordinates of each target observing device based on the initial value of the wake from the original polar coordinate calculator, and the three-dimensional Cartesian coordinate initial Tracking is started with the initial value of the track from the value calculator, and thereafter, the track of three-dimensional Cartesian coordinates is updated each time the angle data is input from the corresponding target observation device. A multi-target tracking device comprising a device and a display device corresponding to each target observation device for displaying a track from a three-dimensional tracking maintenance device. 8. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that calculates an angle track by performing angle tracking based on the angle data, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device reference by the target observation device positional relationship from the specification input device,
Target observing device that outputs angle data for ghost countermeasures, and target observing device for ghost countermeasures calculated from each angle track determined to be the same target by the target position correlator and each target observing device reference target distance A first ghost detector that detects and removes a ghost by using a reference target position and angle data for ghost countermeasures, and each target observation device from a target distance calculator Correlation from a reference target distance and a correlation parameter input device A target velocity correlator that performs correlation processing based on the velocity relationship of each angle track by the parameters and the angle track determined to be the same target in the target position correlator,
Calculating the target distance change rate of each target observation device reference from the target distance of each target observation device reference from the target distance calculator and the angle track determined to be the same target by the target velocity correlator And the target distance change rate of each target observation device standard from the target distance calculator and the target distance change rate of each target observation device reference from the target distance change rate calculator and the target velocity correlator were determined to be the same target. The target of each target observation device is calculated from the three-dimensional polar coordinate initial value calculator corresponding to each target observation device and the initial value of the track from the three-dimensional polar coordinate calculator. Tracking is performed with the three-dimensional Cartesian coordinate initial value calculator corresponding to each target observation apparatus that calculates the initial value of the three-dimensional Cartesian coordinate track based on the observation apparatus, and the initial value of the track from the three-dimensional Cartesian coordinate initial value calculator After the start, after that, the 3D tracking maintenance device corresponding to each target observation device that updates the 3D Cartesian coordinate track each time the angle data is input from the corresponding target observation device, and the track from the 3D tracking maintenance device A multi-target tracking device comprising a display device corresponding to each target observation device for displaying. 9. A plurality of target observation devices that output angle data and attribute data from the target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and Target observation device position specification input device for inputting positional relationship of target observation device, correlation parameter input device for inputting correlation parameter, target observation device positional relationship and correlation parameter input device from target observation device position specification input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the correlation parameter from the angle tracker and the angle track from each angle tracking device, and the angle track determined to be the same target by the target position correlator The target attribute correlator that removes the ghost by performing correlation processing of each angle track with the attribute data Target distance calculator that calculates the target distance based on each target observation device based on the determined angle wake and the position relationship of the target observation device from the target observation device position specification input device, and each target observation from the target distance calculator A target velocity correlator that performs correlation processing based on the velocity relationship of each angle track by the device-target target distance and the correlation parameter from the correlation parameter input device and the angle track determined to be the same target in the target position correlator, Calculating the target distance change rate of each target observation device reference from the target distance of each target observation device reference from the target distance calculator and the angle track determined to be the same target by the target velocity correlator And the target distance of each target observation device standard from the target distance calculator and the target distance change rate of each target observation device reference from the target distance change rate calculator and the target velocity correlator In the three-dimensional polar coordinate initial value calculator corresponding to each target observing device and the three-dimensional polar coordinate calculation for calculating the initial value of the track of the three-dimensional polar coordinate of each target observing device based on the angle wakes determined to be the same target Three-dimensional Cartesian coordinate initial value calculator corresponding to each target observing device, and three-dimensional Cartesian coordinate initial value calculator for calculating the wake initial value of the three-dimensional Cartesian coordinate of each target observing device based on the initial value of the wake from the vessel A three-dimensional tracking maintaining device corresponding to each target observation device that starts tracking with the initial value of the track from and then updates the track of three-dimensional Cartesian coordinates every time the angle data is input from the corresponding target observation device, A multi-target tracking device comprising a display device corresponding to each target observation device for displaying a track from a three-dimensional tracking maintenance device. 10. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that calculates an angle track by performing angle tracking based on the angle data, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device standard from the target observation device positional relationship from the specification input device, and a target position correlator And a second ghost that removes the correlation between the target motion monitoring device that monitors the motion of the target for each angular track determined to be the same target, and the angular track that is determined to be a ghost by the target motion monitoring device. Velocity of each angle track by the detector, the target distance of each target observation device from the target distance calculator, the correlation parameter from the correlation parameter input device, and the angle track determined to be the same target by the target position correlator The target velocity correlator that performs correlation processing based on the relationship, the target distance of each target observation device reference from the target distance calculator, and the angle track determined to be the same target by the target velocity correlator each target observation device reference Target distance change rate calculator that calculates the target distance change rate of each, and the target distance of each target observation device standard from the target distance calculator and each eye from the target distance change rate calculator 3 for each target observation device that calculates the initial value of the three-dimensional polar coordinate track of each target observation device based on the target distance change rate of the observation device reference and the angle track determined to be the same target by the target velocity correlator Three-dimensional polar coordinate initial value calculator and three-dimensional standard
3D Cartesian coordinate initial value calculator corresponding to each target observing device that calculates the initial value of the track of 3D Cartesian coordinates and tracking is started after the track initial value from the 3D Cartesian coordinate initial value calculator A three-dimensional tracking maintenance device corresponding to each target observation device that updates the track of three-dimensional Cartesian coordinates each time the angle data is input from the target observation device and each target observation device that displays the track from the three-dimensional tracking maintenance device A multi-target tracking device characterized by being configured with a corresponding display device. 11. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance based on each target observation device based on the positional relationship between the target observation device and the specification input device. A target distance change rate calculator that calculates the target distance change rate of each target observation apparatus reference from the target distance of each target observation apparatus reference and the angle track determined to be the same target by the target position correlator, and the target From the target distance of each target observation device standard from the distance calculator and the target distance change rate of each target observation device standard from the target calculator and the angle track determined to be the same target by the target position correlator The 3D polar coordinate initial value calculator corresponding to each target observation device that calculates the initial value of the 3D polar coordinate track of each target observation device and the initial value of the track from the 3D polar coordinate calculator The tracking is started by the three-dimensional Cartesian coordinate initial value calculator corresponding to each target observing device for calculating the three-dimensional Cartesian coordinate track initial value and the track initial value from the three-dimensional Cartesian coordinate initial value calculator. Three-dimensional tracking and maintenance device for each target observation device that updates the track of three-dimensional Cartesian coordinates by using the track from the following information exchanger each time the angle data is input from the corresponding target observation device, and each three-dimensional It is characterized by comprising an information exchanger for converting and transferring the track in the tracking maintaining device to the reference of the target observation device of the transfer destination, and a display device corresponding to each target observation device for displaying the track from the three-dimensional tracking maintaining device. Multi-target tracking device. 12. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance based on each target observation device based on the positional relationship between the target observation device and the specification input device. Targets based on each target observation device, correlation parameters from the correlation parameter input device, and targets that perform correlation processing based on the velocity relationship of each angle track by the correlation parameter from the input device and the angle track determined to be the same target by the target position correlator The target distance change rate of each target observation device reference is calculated by the velocity correlator, the target distance of each target observation device reference from the target distance calculation device, and the angle track determined to be the same target by the target velocity correlator. The target distance change rate calculator, the target distance of each target observation device reference from the target distance calculator, the target distance change rate of each target observation device reference from the target distance change rate calculator, and the target velocity correlator with the same target A three-dimensional polar coordinate initial value calculator corresponding to each target observing device, which calculates an initial value of a track of three-dimensional polar coordinates of each target observing device based on the determined angle wake, and 3 A three-dimensional Cartesian coordinate initial value calculator corresponding to each target observing device that calculates the initial value of the wake of three-dimensional Cartesian coordinates of each target observing device based on the initial value of the wake from the original polar coordinate calculator Tracking is started with the initial value of the track from the value calculator, and thereafter, each time the angle data is input from the corresponding target observation device, the track from the following information exchanger is also used to update the track in three-dimensional Cartesian coordinates. A three-dimensional tracking maintenance device corresponding to each target observation device, an information exchanger that converts the track in each three-dimensional tracking maintenance device to the target observation device standard of the transfer destination, and transfers the track from the three-dimensional tracking maintenance device. A multi-target tracking device comprising a display device corresponding to each target observation device for displaying. 13. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device standard from the positional relationship of the target observation device from the specification input device, and a ghost countermeasure Target observing device that outputs angle data, and target position of the target observing device for ghost measures calculated from each angle track determined to be the same target by the target position correlator and the target distance of each target observing device reference And the first ghost detector that detects and removes ghosts using angle data for ghost countermeasures, and the target distance of each target observation device reference from the target distance calculator and the target position correlator determine the same target. The target distance change rate calculator that calculates the target distance change rate of each target observation device standard by the calculated angle track, and the target distance of each target observation device reference and the target distance change rate calculator from the target distance calculator The initial of the track of the three-dimensional polar coordinates of each target observation device reference by the target distance change rate of each target observation device reference and the angle track determined to be the same target by the target position correlator 3D polar coordinate initial value calculator corresponding to each target observing device and each target for calculating the wake initial value of the 3D orthogonal coordinate of each target observing device based on the wake initial value from the 3D polar coordinate calculator 3D Cartesian coordinate initial value calculator corresponding to the observation device and tracking is started by the initial value of the track from the 3D Cartesian coordinate initial value calculator, and thereafter each time the angle data is input from the corresponding target observation device. A 3D tracking and maintenance device corresponding to each target observation device that updates the track of 3D Cartesian coordinates by using the track from the following information exchanger, and the track in each 3D tracking and maintenance device is used as the reference of the target observation device of the transfer destination. A multi-target tracking device comprising an information exchanger for converting and transferring and a display device corresponding to each target observation device for displaying a track from a three-dimensional tracking maintaining device. 14. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device standard from the positional relationship of the target observation device from the specification input device, and a ghost countermeasure Target observing device that outputs angle data, and target position of the target observing device for ghost measures calculated from each angle track determined to be the same target by the target position correlator and the target distance of each target observing device reference And a first ghost detector that detects and removes ghosts using angle data for ghost countermeasures, target distances of each target observation device from the target distance calculator, and correlation parameters and correlation parameters from the input device and target position A target velocity correlator that performs correlation processing based on the velocity relationship of each angle track by the angle tracks determined to be the same target by the correlator, and the target distance and target speed of each target observation device reference from the target distance calculator A target distance change rate calculator that calculates the target distance change rate for each target observation device based on the angle wakes determined to be the same target by the correlator, and The target distance of each target observation device reference from the distance calculator and the target distance change rate of each target observation device reference from the target calculation device and the angle track determined to be the same target by the target velocity correlator The 3D polar coordinate initial value calculator corresponding to each target observation device that calculates the initial value of the 3D polar coordinate track of each target observation device and the initial value of the track from the 3D polar coordinate calculator The tracking is started by the three-dimensional Cartesian coordinate initial value calculator corresponding to each target observation device that calculates the three-dimensional Cartesian coordinate track initial value, and the track starting from the three-dimensional Cartesian coordinate initial value calculator. Three-dimensional tracking and maintenance device for each target observation device that updates the track of three-dimensional Cartesian coordinates by using the track from the following information exchanger each time the angle data is input from the corresponding target observation device, and each three-dimensional Add It is characterized by being constituted by an information exchanger for converting and transferring a track in the maintenance device to a target observation device standard of a transfer destination and a display device corresponding to each target observation device for displaying the track from the three-dimensional tracking maintenance device. Multi-target tracking device. 15. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance based on each target observation device based on the positional relationship between the target observation device and the specification input device. A target distance change rate calculator that calculates the target distance change rate of each target observation apparatus reference from the target distance of each target observation apparatus reference and the angle track determined to be the same target by the target position correlator, and the target From the target distance of each target observation device standard from the distance calculator and the target distance change rate of each target observation device standard from the target calculator and the angle track determined to be the same target by the target position correlator A three-dimensional polar coordinate track calculator corresponding to each target observation device that calculates a three-dimensional polar coordinate track of each target observation device, and a three-dimensional orthogonal coordinate track of each target observation device based on the track from the three-dimensional polar coordinate track calculator A three-dimensional Cartesian coordinate track calculator corresponding to each target observing device for calculating the value and a display device corresponding to each target observing device for displaying a track from the three-dimensional Cartesian coordinate track calculator. Multi-target tracking apparatus that. 16. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance based on each target observation device based on the positional relationship between the target observation device and the specification input device. Targets based on each target observation device, correlation parameters from the correlation parameter input device, and targets that perform correlation processing based on the velocity relationship of each angle track by the correlation parameter from the input device and the angle track determined to be the same target by the target position correlator The target distance change rate of each target observation device reference is calculated by the velocity correlator, the target distance of each target observation device reference from the target distance calculation device, and the angle track determined to be the same target by the target velocity correlator. The target distance change rate calculator, the target distance of each target observation device reference from the target distance calculator, the target distance change rate of each target observation device reference from the target distance change rate calculator, and the same target in the target position correlator 3 corresponding to each target observation device that calculates the track of the three-dimensional polar coordinates of each target observation device reference based on the determined angle track
A three-dimensional orthogonal coordinate track calculator for each target observation device and a three-dimensional orthogonal coordinate track calculator for calculating a three-dimensional orthogonal coordinate track of each target observation device based on the track from the three-dimensional polar coordinate track calculator A multi-target tracking device comprising a display device corresponding to each target observation device for displaying a track from a coordinate track calculator. 17. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device standard from the positional relationship of the target observation device from the specification input device, and a ghost countermeasure Target observing device that outputs angle data, and target position of the target observing device for ghost measures calculated from each angle track determined to be the same target by the target position correlator and the target distance of each target observing device reference And the first ghost detector that detects and removes ghosts using angle data for ghost countermeasures, and the target distance of each target observation device reference from the target distance calculator and the target position correlator determine the same target. The target distance change rate calculator that calculates the target distance change rate of each target observation device standard by the calculated angle track, and the target distance of each target observation device reference and the target distance change rate calculator from the target distance calculator Three-dimensional polar coordinate track of each target observation device is calculated from the target distance change rate of each target observation device and the angle track determined to be the same target by the target position correlator. 3D polar coordinate track calculator corresponding to each target observing device, and 3D orthogonal coordinate corresponding to each target observing device that calculates the track of 3D orthogonal coordinate of each target observing device by the track from the 3D polar coordinate wake calculator A multi-target tracking device comprising a track calculator and a display device corresponding to each target observation device for displaying the track from the three-dimensional orthogonal coordinate track calculator. 18. A plurality of target observation devices that output angle data from a target and unnecessary signals, an angle tracking device corresponding to each target observation device that performs angle tracking based on the angle data and calculates an angle track, and each target observation device. Target observation device position specification input device for inputting the positional relationship of the target observation device, correlation parameter input device for inputting the correlation parameter, target observation device positional relationship from the target observation device position specification input device, and correlation from the correlation parameter input device The target position correlator that performs correlation processing based on the positional relationship of each angle track by the parameter and the angle track from each angle tracking device, and the angle track and target observation device position determined to be the same target by the target position correlator A target distance calculator that calculates the target distance of each target observation device standard from the positional relationship of the target observation device from the specification input device, and a ghost countermeasure Target observing device that outputs angle data, and target position of the target observing device for ghost measures calculated from each angle track determined to be the same target by the target position correlator and the target distance of each target observing device reference And a first ghost detector that detects and removes ghosts using angle data for ghost countermeasures, target distances of each target observation device from the target distance calculator, and correlation parameters and correlation parameters from the input device and target position A target velocity correlator that performs correlation processing based on the velocity relationship of each angle track by the angle tracks determined to be the same target by the correlator, and the target distance and target speed of each target observation device reference from the target distance calculator A target distance change rate calculator that calculates the target distance change rate for each target observation device based on the angle wakes determined to be the same target by the correlator, and From the target distance of each target observation device standard from the distance calculator and the target distance change rate of each target observation device standard from the target calculator and the angle track determined to be the same target by the target position correlator A three-dimensional polar coordinate track calculator corresponding to each target observation device that calculates a three-dimensional polar coordinate track of each target observation device, and a three-dimensional orthogonal coordinate track of each target observation device based on the track from the three-dimensional polar coordinate track calculator Multi-target tracking characterized by being composed of a three-dimensional Cartesian coordinate track calculator corresponding to each target observation apparatus for calculating the and a display apparatus corresponding to each target observation apparatus for displaying the track from the three-dimensional Cartesian coordinate track calculator apparatus.