JPH10170623A - Target position estimating device and signal processing method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To estimate a target position even on a target which does not perform constant velocity rectilinear motion by judging angle tracks of the same target measured by plural sensors, and estimating a target position on the basis of these. SOLUTION: Angle track preparing parts 51a and 51b respectively generate angle tracks Ya to Yd of targets l and 2 from azimuth measuring information of the targets 1 and 2 measured by respective sensors 2a and 2b. Angle track selecting parts 52 respectively take out the angle tracks Ya or Yb and Yc or Yd one by one from the preparing parts 51a and 51b, and output its combination to the same angle track judging part 53. Then, the same angle track judging part 53 estimates a radiation time pattern of a radio wave, the light, heat or the like radiated by its targets 1 and 2 from measuring time contained in the angle tracks Ya to Yd, and a related degree between patterns is compared with a preset threshold value, and among a combination of plural angle tracks, for example, the angle tracks Ya and Yc are judged as angle tracks of the same target, for example, the target 1. A position estimating part 54 estimates a position of the target 1 on the basis of these angle track Ya and Yc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention measures the direction of a target that radiates radio waves, light, heat, or the like intermittently.
Regarding the target position estimating device and the signal processing method for estimating the position of the target, particularly, when estimating the target position from the azimuth measurement results of a plurality of targets respectively measured by a plurality of sensors, it is not necessarily a constant velocity linear motion. It also relates to making it possible to estimate the position of the target.

[0002]

2. Description of the Related Art Conventionally, as a target position estimating device of this kind, for example, Yaakov Bar-Shalom, X
iao-RongLi, “Estimation an
d Tracking: Principle Tech
niqes, and Software ", Artec
h House (1993).

Prior to the description of the prior art, the definitions of signals and terms common to the present invention and the target position estimating apparatus disclosed in the above-mentioned document will be described below. A set of azimuth measurement results of the same target acquired by the same sensor and measurement information such as the measurement time is called an angle wake. The measurement information may include received power, luminance, and the like. A half line extending from the sensor in the measurement target direction is called an azimuth line.

[0004] If the orientation of one target is measured by a plurality of sensors, the target position can be obtained by a method such as triangulation. However, when the directions of a plurality of targets are measured by a plurality of sensors, it may not be possible to estimate the target positions as described below. This is called a virtual image problem. An example of the virtual image problem will be described with reference to FIG. Here, for simplicity of description, a case where the orientations of two targets 1a and 1b are measured by two sensors 2a and 2b will be described. As shown in FIG. 2, the sensor 2a detects the target 1a, 1
Assume that the direction of b is measured at a certain time, and the sensor 2b also measures the directions of the targets 1a and 1b at the same time. 2
Combination of azimuth lines for two identical targets measured by the two sensors 2a and 2b (D11, D21),
In the case of (D12, D22), the positions of the two targets 1a, 1b can be estimated from the respective intersections.

However, combinations of azimuth lines are not combinations for the same target (D11, D22), (D12, D12).
In the case of 21), a virtual image is obtained from each intersection, and the positions of the targets 1a and 1b cannot be estimated. The problem of the virtual image is not limited to the case where only the azimuth line (azimuth angle) is measured as in this example, but also occurs when the azimuth angle and the elevation angle are measured.

FIG. 9 is a block diagram showing the configuration of the same-angle trajectory judging unit of a target position estimating apparatus assumed from the above-mentioned literature as a conventional technique. The configuration and operation of FIG. 9 will be described. In the target position and velocity estimating means 71 of the conventional target position estimating device, the two target angular trajectories Ya and Yc obtained by the two sensors are input, and the two angular trajectories Ya and Yc are determined from the same target. The position and velocity X of the target are estimated and output using the Newton-Raphson method or the like, assuming that the target is obtained and that the target performs a uniform linear motion.

The evaluation value calculating means 72 calculates the angle trajectory Y
a, Yc and the estimated values of the target position and the speed X from the target position and speed estimating means 71 are input. First, the azimuth in which each sensor observes each target at each time is calculated from the target position and the estimated value of the speed X. Next, the difference between the measurement azimuth included in the angle wake and the azimuth calculated from the target position and the velocity X at the same time as the measurement time of the measurement azimuth is normalized by the standard deviation of the measurement error, and the sum thereof is calculated. Ask. The number of measurement results included in the angle track Ya is Na,
When the number of measurement results included in the angle track Yc is Nc,
It is considered that the sum obtained above follows a chi-square distribution having (Na + Nc) degrees of freedom. Therefore, in the distribution function F (x) of the chi-square distribution with the degree of freedom (Na + Nc), a value is obtained by substituting the value of the above-mentioned obtained sum into x, and this is output as the evaluation value J.

[0008] In the judgment means 13, the evaluation value calculation means 7
2, the evaluation value J output by
The threshold trajectories Ya and Yc are determined to be obtained from the same target if they are smaller than predetermined thresholds, and conversely, if they are larger, they are obtained from different targets. And outputs the determination result R.

[0009]

The conventional target position estimating apparatus is configured as described above. In order to estimate the position of a target, the target needs to perform approximately linear motion at approximately constant velocity. There is a problem that the angle wake obtained from a target that does not necessarily perform a constant velocity linear motion cannot be determined to be obtained from the same target, and the position of the target cannot be estimated.

[0010] The present invention has been made to solve the above-mentioned problems, and the target is to intermittently control radio waves, light,
Alternatively, it is an object of the present invention to obtain a target position estimating device and a signal processing method thereof capable of estimating the position of the target even when the target does not necessarily perform a constant-velocity linear motion when radiating heat or the like. .

[0011]

In order to achieve the above object, a target position estimating apparatus according to the first aspect of the present invention intermittently measures a direction of a target that radiates radio waves, light, heat, or the like. And a target position estimating device for estimating the position of the target, wherein the angle trajectory creating unit that generates the angle trajectory of the target from the azimuth measurement results of the plurality of targets respectively measured by the plurality of sensors; and A same-angle trajectory determination unit that determines the same target angle trajectory among the target angle trajectories measured by the sensors, and estimates the position of the target based on the same target angle trajectory respectively measured by the plurality of sensors. And a position estimating unit that performs the operation.

According to a second aspect of the present invention, there is provided a target position estimating apparatus for judging an angle trajectory of the same target among a plurality of angle trajectories measured by a plurality of sensors of the target position estimating apparatus according to the first aspect. The same-angle wake determining unit includes the following elements. (1) radiation time pattern calculation means for estimating a radiation time pattern of radio waves, light, heat, or the like radiated from the target from measurement times included in the angle wakes of the target measured by the plurality of sensors, (2) (3) means for calculating the degree of association between emission time patterns estimated from the angular wakes of the target measured by the plurality of sensors, respectively; (3) the target measured by the plurality of sensors. Determination means for comparing the degree of association between the emission time patterns estimated from the angle trajectory with a preset threshold to determine the angle trajectory of the same target.

According to a third aspect of the present invention, there is provided a target position estimating signal processing method comprising the steps of: intermittently measuring directions of targets emitting radio waves, light, heat, or the like, and estimating the positions of the targets. An estimation signal processing method, comprising: generating an angle trajectory of the target from the azimuth measurement results of a plurality of targets respectively measured by a plurality of sensors; and The method further comprises the steps of: determining an angular track of the same target; and estimating a position of the target based on the angular tracks of the same target measured by the plurality of sensors.

According to a fourth aspect of the present invention, there is provided a target position estimating signal processing method according to the third aspect of the present invention, wherein a plurality of sensors measure angular trajectories of the same target. The step of determining an angle track includes the following steps: (1) radio waves and light emitted by the target from measurement times included in the target angle track measured by the plurality of sensors, respectively. Or estimating a radiation time pattern such as heat,
(2) calculating the degree of association between the radiation time patterns estimated from the angular trajectory of the target measured by the plurality of sensors, respectively; (3) estimating from the angular trajectory of the target measured by the plurality of sensors. Comparing the determined degree of association between the emission time patterns with a preset threshold to determine the angular wake of the same target.

According to a fifth aspect of the present invention, there is provided a target position estimating apparatus for intermittently measuring a direction of a target that radiates radio waves, light, heat, or the like, and estimating the position of the target. A measurement data separation unit that distributes the azimuth measurement information of a plurality of targets measured by a plurality of sensors for each target, and whether the target position and the target actually exist based on the azimuth measurement information. A real image evaluation value calculation unit that calculates a real image evaluation value and updates each time new azimuth measurement information is input; and a real image selection unit that selects a real target based on the real image evaluation value. It is characterized by.

[0016]

Embodiments of the present invention will be described below. Embodiment 1 FIG. FIG. 1 is a block diagram showing the configuration of a target position estimating apparatus according to a first embodiment of the present invention. Here, when the target emits radio waves, light, heat, or the like intermittently, the target position can be estimated even if the target does not necessarily perform linear motion at a constant speed. The estimating device will be described.

In FIG. 1, reference numerals 1a and 1b denote targets, 2a,
2b is a sensor that measures the direction of the target and obtains measurement information;
Reference numerals 1a and 51b denote target angle trajectories Ya and Yb based on the target direction measurement information measured by the sensors, respectively.
An angle track generation unit for generating Yc and Yd is an angle track selection unit that outputs a combination of angle tracks extracted one by one from the angle track generation unit corresponding to each sensor to the same angle track determination unit 53. Is a same-angle trajectory determination unit that determines the same target angle trajectory among combinations of a plurality of target angle trajectories, and 54 is based on the same target angular trajectory among target angle trajectories measured by a plurality of sensors. It is a position estimating unit that estimates the position of the target.

FIG. 2 shows the position of two targets 1a and 1b which are real images from the intersection of two combinations of the same target azimuth line among the two target azimuth lines measured by a plurality of sensors at a certain time. 2 shows the principle by which can be estimated. FIG. 3 illustrates the principle of estimating the positions of two real images based on the same target angle track among two target angle tracks measured by a plurality of sensors.
Here, the difference from FIG. 2 is that a plurality of sensors each generate a target angle trajectory (a bundle of azimuth lines) from the azimuth measurement information of the target measured a plurality of times to estimate the position of the target. .

The configuration and operation of the same-angle wake determination unit 53 shown in FIG. 1 will be described below. FIG. 4 is a block diagram showing the internal configuration of the same-angle wake determination unit in FIG. FIG. 5 is a diagram illustrating a radiation time pattern. In FIG. 4, the angle trajectories input to the same angle trajectory determination unit are represented by Ya and Yc, and the i-th azimuth measurement result included in the angle trajectory includes the target azimuth yi and the measurement time ti. And In this case, if the measurement result included in the angle wake Ya is Na times, Ya is calculated as Na row 2 as shown in Expression (1).
It is represented by a matrix of columns.

[0020]

(Equation 1)

The radiation time pattern calculating means 5a calculates a radiation time pattern Pa (t) from the measurement time ti included in the angle track Ya. This radiation time pattern Pa
(T) is that, for example, if the direction measurement result is obtained at time t1, the target indicated by the direction measurement result is:
The probability of radiating radio waves, light, or heat is shown in FIG.
As shown in (a), it is considered that the probability is 1 at the measurement time t1, and the probability becomes lower as the time goes away therefrom. If the pattern expressing the probability at each time is shown in FIG. 5A as an emission time pattern, FIG. 5A shows an emission time pattern estimated from one azimuth measurement result.

Therefore, since the angle trajectory Ya is a set of measurement results, the required radiation time is obtained by calculating the product or selecting the MAX value at each time from the radiation time pattern estimated from each measurement result. A pattern is calculated. For example, as shown in FIG.
The emission time pattern obtained by selecting the MAX value of each emission time pattern obtained from the measurement results of t2 and t3 can be obtained. The radiation time pattern calculation means outputs this as a radiation time pattern Pa (t). The radiation time pattern calculation means 5b can similarly calculate the radiation time pattern Pc (t) for the angle wake Yc.

In the degree-of-association calculating means 6 between the emission time patterns, the two emission time patterns Pa (t), P (t)
By determining the cross-correlation function as Expression (2) as c (t), the coincidence between the two emission time patterns is determined, and this is calculated as the evaluation value J.

[0024]

(Equation 2)

However, when the target radiates radio waves, heat, light, and the like in all directions, it is considered that the lag τ of the cross-correlation function is good. When it is conceivable that the radiation is performed by using, for example, it is possible to obtain the lag τ at which the cross-correlation function becomes the largest, and obtain the cross-correlation function J (τ) at this τ as the evaluation value J.

Further, by setting the observation time to T and obtaining the equation (3), this can be used as the evaluation value J.

[0027]

(Equation 3)

Further, according to the number Na of measurement results included in the angle track Ya and the number Nc of measurement results included in the angle track Yc, the calculated evaluation value J is changed in a predetermined manner, , Nc.

The judgment means 13 receives the evaluation value J output from the radiation time pattern relation degree calculation means 6 as an input and compares the evaluation value J with a preset threshold value. If it is larger than the threshold value, it is determined that the two input angle trajectories Ya and Yc are angle trajectories for the same target, and if it is smaller than the threshold value, it is determined that they are angular trajectories for different targets.

Embodiment 2 FIG. FIG. 6 is a flowchart showing the second embodiment of the present invention. Intermittently, radio waves,
A target position estimation signal processing method for measuring directions of a plurality of targets that emit light, heat, or the like, and estimating the positions of the targets. First, in step 1, a plurality of targets measured by a plurality of sensors are used. A target angle trajectory is generated from the azimuth measurement result. Next, in step 2, the same target angle trajectory is determined among the target angle trajectories measured by the plurality of sensors. Estimate the position of the target based on the angle trajectory of the same target measured by each of the plurality of sensors.

Each of the above steps 1, 2, 3
The operation is the same as that described in the first embodiment of the present invention.

FIG. 7 is an internal flowchart of step 2 (ST2) of the flowchart of FIG. That is, step 2 (ST) in which the angular trajectory of the same target is determined among the angular trajectories of the target measured by the plurality of sensors in FIG.
It is a flowchart inside 2). First, step 21
In, from the measurement time included in the angular wake of a plurality of targets each measured by a plurality of sensors, estimating a radiation time pattern such as radio waves, light, or heat emitted by the target,
Next, in step 22, the degree of association between the radiation time patterns estimated from the angle wakes of the target measured by the plurality of sensors is calculated, and then in step 23,
The degree of association between the radiation time patterns estimated from the target angle wake measured by the plurality of sensors,
The angle wake of the same target is determined by comparing with a preset threshold value.

Each of the above steps 21, 22, and 23 is the same as the description of the operation described in the first embodiment of the present invention.

Embodiment 3 FIG. 8 is a configuration block diagram showing Embodiment 3 of the target position estimating device of the present invention. 8, reference numerals 1a and 1b denote targets, and reference numerals 2a and 2b denote sensors for measuring the azimuth of the target and obtaining azimuth measurement information.

81a and 81b distribute the target azimuth measurement information newly output by each sensor for each target.
This is a measurement data separation unit that outputs to the real image evaluation value calculation unit.
In the example of FIG. 8, the measurement data separation unit 81a has two target orientation measurement information Wa (ia) (ia = 1, 2, 2).
..) And Wb (ib) (ib = 1, 2,...) Are allocated to the respective targets, and real image evaluation value calculation units 82a and 82b
82c and 82d.

Reference numerals 82a, 82b, 82c, and 82d denote a target position and a real image evaluation for evaluating whether or not the target is a real target based on the azimuth measurement information input from the measurement data separation unit corresponding to each sensor. A real image evaluation value calculation unit that calculates and updates the value. In the example of FIG. 8, the real image evaluation value calculation unit 82a calculates the target position P1 from the azimuth measurement information Wa (ia) and Wc (ic) input from the measurement data separation units 81a and 81b corresponding to the two sensors. (I)
And a real image evaluation value J1 (i) for evaluating whether or not this target is a real target is calculated and updated.

Reference numeral 85 indicates whether or not a target having the real image evaluation value actually exists based on the real image evaluation value. If it is determined that the target exists, a target position corresponding to the target is output, and if it is determined that the target does not exist. , A real image selection unit that does not output a corresponding target position.

The operation of FIG. 8 will be described. First, the measurement data separation units 81a and 81b determine which azimuth measurement information newly obtained by each sensor has measured the same target as which azimuth measurement information obtained before,
For example, if it is determined that the same target as the azimuth measurement information previously output as Wa (ia) is being measured, 1 is added to ia and output as Wa (ia). This is repeated each time new azimuth measurement information is input from the sensor.

The real image evaluation value calculation units 82a, 82b,
In 82c and 82d, the target position is updated each time new azimuth measurement information is input. As the updating method, for example, a tracking filter using a Kalman filter or the like is used. However, in this case, in order to obtain the target position first, the process is not performed until the azimuth measurement information from different sensors is input, and when it is input, the target position is obtained using triangulation or the like.

The real image evaluation value J is calculated and updated based on the time of the input azimuth measurement information. This real image evaluation value also
Similarly to the target position, no processing is performed until azimuth measurement information from a different sensor is input. When the azimuth measurement information is input, a radiation time pattern as described in, for example, Embodiment 1 is obtained, and the expression (2) or the expression ( It is calculated from 3). Each time new azimuth measurement information is input, the emission time pattern and the real image evaluation value are recalculated and updated.

As a method of calculating the real image evaluation value J for which the radiation time pattern is not calculated, for example, in the case of the real image evaluation value calculation unit 82a, the measurement data separation unit 81a newly adds the azimuth Wa (i). When the measurement information is obtained and the latest azimuth measurement information obtained from the measurement data separation unit 81b is Wc (i), the Wa (i) and Wc (i)
There is also a method of calculating the difference between the times when the two azimuth measurement information are obtained, and updating the real image evaluation value so that the difference is small, and the real image evaluation value is small if the difference is large.

The real image selecting section 85 determines that the image is a real image if the real image evaluation value output from each real image evaluation value calculating section is equal to or larger than a predetermined threshold value, for example, calculated by the equation (3). For example, it is determined whether the image is a real image or a virtual image, and only the target position of the target determined as the real image is selected and output.
In addition, a target using the same azimuth measurement information is used to determine whether the image is a real image or a virtual image (for example, P2 with respect to P1 (j).
(J) uses the same azimuth measurement information Wa (i)), it is conceivable to use the condition that either one is a virtual image.

[0043]

As described above, according to the first aspect of the present invention, when the target emits radio waves, light, heat, or the like intermittently, the direction of the plurality of targets measured by the plurality of sensors is determined. An angle track generation unit that generates the angle track of the target from the measurement result, and an identical angle track determination unit that determines the angle track of the same target among the angle tracks of the target measured by the plurality of sensors. And a position estimating unit for estimating the position of the target based on the angle trajectory of the same target measured by each of the plurality of sensors. The angle trajectory of the same target can be determined from the measured angle trajectories of the target, and a target position estimating device capable of estimating the target position can be obtained.

According to a second aspect of the present invention, a plurality of sensors of the target position estimating device according to the first aspect determine the same target angle trajectory among the plurality of target angle trajectories respectively measured. Since the track determination unit includes the following elements, it is possible to determine the same target angle track among the target angle tracks measured by the plurality of sensors, even if the target does not necessarily perform linear motion at a constant speed. Thus, a target position estimating device capable of estimating the target position can be obtained. (1) radiation time pattern calculation means for estimating a radiation time pattern of radio waves, light, heat, or the like radiated by the target from measurement times included in the angle wake of the target measured by the plurality of sensors, (2) (3) means for calculating the degree of association between emission time patterns estimated from the angular wakes of the target measured by the plurality of sensors, respectively; (3) the target measured by the plurality of sensors. Determination means for comparing the degree of association between the emission time patterns estimated from the angle trajectory with a preset threshold to determine the angle trajectory of the same target.

According to the third aspect of the present invention, when the target emits radio waves, light, heat, or the like intermittently, the target is measured based on the azimuth measurement results of the plurality of targets measured by the plurality of sensors. Generating an angle track of the same target; determining the angle track of the same target among the target angle tracks measured by the plurality of sensors; and calculating the angle track of the same target measured by the plurality of sensors. Estimating the position of the target on the basis of the angle trajectory of the same target among the angular trajectories of the target measured by a plurality of sensors, even if the target does not necessarily perform a constant velocity linear motion. And a target position estimation signal processing method capable of estimating the target position can be obtained.

According to the fourth aspect of the present invention, the angle trajectory of the same target is determined from the angular trajectories of the plurality of targets measured by the plurality of sensors in the target position estimation signal processing method according to the third aspect. Since the steps include the following steps, the same target angular trajectory can be determined among the target angular trajectories measured by the plurality of sensors, even if the target does not necessarily perform a constant velocity linear motion. A target position estimation signal processing method capable of estimating a target position can be obtained. (1) estimating a radiation time pattern of radio waves, light, heat, or the like radiated by the target from measurement times included in the angular wakes of the target measured by the plurality of sensors, respectively; Calculating the degree of association between the radiation time patterns estimated from the angular trajectories of the target respectively measured by the sensors; (3) between the radiation time patterns estimated from the angular trajectories of the target respectively measured by the plurality of sensors; Determining the angle track of the same target by comparing the degree of association with a preset threshold value.

According to the fifth aspect of the invention, when the target emits radio waves, light, heat, or the like intermittently, the azimuth measurement information of the plurality of targets measured by the plurality of sensors is transmitted to the target. A measurement data separation unit to sort separately,
A real image evaluation value calculating unit that calculates the position of the target and a real image evaluation value as to whether or not the target actually exists from the azimuth measurement information and updates it with new azimuth measurement information; And a real image selecting unit for selecting the target, even if the target does not necessarily perform a constant velocity linear motion, based on the azimuth measurement information of the target measured by each of the plurality of sensors, the target of the currently estimated target It is possible to obtain a target position estimating device capable of determining whether a position is a real image and selecting a real image in real time.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a virtual image problem.

FIG. 3 is a diagram illustrating an angle wake.

FIG. 4 is a block diagram showing an internal configuration of the same-angle wake determination unit in FIG. 1;

FIG. 5 is a diagram illustrating a radiation time pattern.

FIG. 6 is a flowchart showing Embodiment 2 of the present invention.

FIG. 7 is a flowchart inside step 2 (ST2) of FIG. 6;

FIG. 8 is a configuration block diagram showing a third embodiment of the present invention.

FIG. 9 is a configuration block diagram of a same-angle wake determination unit of a conventional target position estimation device.

[Explanation of symbols]

1a, 1b Target, 2a, 2b Sensor, 3a, 3b
Virtual image, 5a, 5b emission time pattern calculation means, 6 means for calculating the degree of association between emission time patterns, 7 determination means,
51a, 51b Angle track creation section, 52 Angle track selection section, 53 Same angle track determination section, 54 Target position estimation section, 81a, 81b Measurement data separation section, 82a, 82
b, 82c, 82d Real image evaluation value calculation unit, 85 Real image selection unit.

Claims (5)

[Claims] 1. A target position estimating apparatus for intermittently measuring the direction of a target that radiates radio waves, light, heat, or the like, and estimating the position of the target. An angle trajectory creating unit that generates the target angle trajectory from the target azimuth measurement result, and an identical angle trajectory determination unit that determines the same target angle trajectory among the target angle trajectories measured by the plurality of sensors. And a position estimating unit for estimating the position of the target based on the angular trajectories of the same target measured by the plurality of sensors, respectively. 2. The same-angle trajectory judging unit for judging an angle trajectory of the same target among a plurality of angle trajectories of targets measured by a plurality of sensors, respectively, comprises the following elements. A target position estimating device, (1) a radiation time pattern for estimating a radiation time pattern of radio waves, light, heat, or the like emitted by the target from measurement times included in the angle wakes of the target measured by a plurality of sensors. Calculating means; (2) radiation time pattern relation degree calculating means for calculating a relation degree between the radiation time patterns estimated from the target angle wakes measured by the plurality of sensors, respectively; The degree of association between the radiation time patterns estimated from the respective measured angular trajectories of the target is compared with a preset threshold to determine the angular trajectory of the same target. Determination means. 3. A target position estimation signal processing method for intermittently measuring the direction of a target that radiates radio waves, light, heat, or the like, and estimating the position of the target. Generating the angle trajectory of the target from the azimuth measurement results of the plurality of targets; determining the angle trajectory of the same target among the angle trajectories of the target respectively measured by the plurality of sensors; Estimating the position of the target based on the angle trajectories of the same target measured by the sensors, respectively. 4. The target position estimating signal according to claim 3, wherein the step of judging the angular trajectory of the same target among the angular trajectories of the plurality of targets respectively measured by the plurality of sensors includes the following steps. Processing method, (1) estimating a radiation time pattern of radio waves, light, heat, or the like radiated by the target from measurement times included in the angle trajectory of the target measured by a plurality of sensors, (2)
Calculating a degree of association between the radiation time patterns estimated from the angular wakes of the target measured by the plurality of sensors, respectively, (3) radiation estimated from the angular trajectories of the target measured by the plurality of sensors, respectively. Compare the degree of association between time patterns with a preset threshold,
Determining the angular wake of the same target; 5. A target position estimating apparatus for intermittently measuring a direction of a target that radiates radio waves, light, heat, or the like, and estimating the position of the target. A measurement data separation unit that divides the azimuth measurement information of the target for each target, and calculates a position of the target and a real image evaluation value as to whether or not the target actually exists based on the azimuth measurement information, and new azimuth measurement information is obtained. A real image evaluation value calculation unit that updates each time it is input, and a real image selection unit that selects an existing target based on the real image evaluation value,
A target position estimating device comprising: