JPH11248830A - Apparatus for measuring running course - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a running course of each racing body and a speed on each course by specifying the racing body related to identification information, measuring an azimuth angle of the racing body from an azimuth in which received radio waves come, and tracking a position and a speed of the racing body on the basis of measured results. SOLUTION: A transmitter (transmission means) 1 is mounted to each racing body to transmit radio waves including identification information of the racing body to which the transmitter is mounted. A receiver (reception means) 2 is installed via a specific distance along a track to receive radio waves transmitted from each transmitter 1. An identification process part (specification means) 3 extracts the identification information of the racing body from the radio waves received by the receiver 2, thereby specifying the racing body related to the identification information. A measured angle process part 4 measures an azimuth angle at each time of the racing body from an azimuth in which the radio waves received by the receiver 2 come. A tracking process part 5 tracks a position and a speed at each time of the racing body on the basis of the measured result of the measured angle process part 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an individual transmission transmitted from a racehorse, a bicycle, a boat (hereinafter referred to as a racing body) or the like running on a running track in a racetrack, a bicycle racetrack, a boat racetrack, or the like. The present invention relates to a traveling route measuring device that receives waves and automatically measures the instantaneous position and speed of each racetrack.

[0002]

2. Description of the Related Art FIG. 9 is a block diagram showing a lane running speed measuring device disclosed in, for example, Japanese Patent Application Laid-Open No. 9-159687. In the drawing, reference numeral 51 denotes an access controller installed in each halon; 53 is a data transmission / reception unit, 54 is a clock unit, and 55 is a host computer.

Next, the operation will be described. An access controller 51 installed in each halon always transmits a start request signal composed of a carrier to a data transmitting / receiving unit 53 from an antenna 52. Then, when the race object approaches Halong and detects a start request signal, the data transmission / reception unit 53 transmits the start signal as a response signal. Then, upon detecting this activation signal, the access controller 51 transmits a halon identification signal. On the other hand, when the data transmission / reception unit 53 receives the Halong identification signal, the data transmission / reception unit 53 returns a running signal of the racing body with the racing body identification code added thereto.

As described above, when the racetrack approaches the antenna 52 installed in each halon, a signal is exchanged between the access controller 51 and the data transmission / reception section 53 to confirm that the racetrack has passed in front of Halon. recognize. The data between the halons is timed by the timer 54, whereby the section traveling speed between the halons can be measured. In addition, by measuring the accumulated time from the start position, it was possible to measure the entire running average speed.

[0005]

Since the conventional lane running speed measuring device is configured as described above, it is possible to measure the lap time for each halon and the average speed of the racing body. Problems such as the inability to measure the running route and the speed on each route, and the inability to analyze the course taking (including speed analysis) for the purpose of determining the disturbance of the racetrack and improving the technology, etc. there were.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to provide a traveling route measuring device capable of measuring a traveling route of each racetrack and a speed on each route. .

[0007]

A traveling route measuring apparatus according to the present invention extracts identification information of a racing object from radio waves received by a receiving means, specifies a racing object according to the identification information, and receives the information. The azimuth angle of the race object is measured from the arrival direction of the radio wave received by the system, and the position and speed of the race object are tracked based on the measurement result.

[0008] The traveling route measuring device according to the present invention extracts the identification information of the race object from the radio wave received by the transmission / reception means for periodically transmitting the radio wave including the start signal, and specifies the race object according to the identification information. On the other hand, the azimuth of the race object is measured from the arrival direction of the radio wave received by the transmission / reception means, and the position and speed of the race object are tracked based on the measurement result.

The traveling route measuring device according to the present invention measures the azimuth of the race object from the arrival direction of the radio wave including the response signal received by the transmission / reception means, and based on the measurement result of the measurement means, The position and speed are tracked.

[0010] The traveling route measuring device according to the present invention measures the azimuth of the race object from the arrival direction of the radio wave including the response signal received by the receiving means, and based on the measurement result, the position and speed of the race object. Is to be tracked.

The traveling route measuring device according to the present invention uses traveling state determining means for determining a traveling state of a racetrack based on a calculated value of a smooth vector held in a smooth vector storage means, and a constant velocity straight-ahead model. Constant speed straight-line model prediction processing means for performing prediction processing, constant velocity turning model prediction processing means for performing prediction processing using a constant speed rotation model, and performing prediction processing using a constant acceleration straight-line model Uses prediction processing means for a uniform acceleration straight-line model, correlation determination processing means for determining whether the azimuth angle measured by the measurement means is valid data for tracking processing, and azimuth angle measured by the measurement means. And smoothing processing means for performing smoothing processing.

In the running route measuring device according to the present invention, the starting position of the race object is set in advance as the initial position of the race object, and a zero value is set as the initial speed of the race object.

[0013] The traveling route measuring device according to the present invention determines that the running object is in the running state of the constant speed straight-ahead model when the running object runs on the straight course after reaching the speed equal to or higher than the reference value. When traveling on a turning course after reaching a speed equal to or higher than the reference value, it is determined that the vehicle is in the running state of the constant speed turning model, and the racetrack travels on a straight course before reaching the speed equal to or higher than the reference value. When the vehicle is running, it is determined that the vehicle is in the running state of the uniform acceleration model.

A traveling route measuring apparatus according to the present invention calculates an angular speed of a turn based on an estimated value of a speed included in a smooth vector of a racetrack and a turning radius of a turning course, and performs prediction processing according to a constant speed turning model. It is intended to be executed.

In the traveling route measuring device according to the present invention, a constant acceleration vector in the same direction as the traveling direction of the race object is set along the straight course as the acceleration of the race object.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. Embodiment 1 FIG. FIG. 1 is a configuration diagram showing a traveling route measuring device according to Embodiment 1 of the present invention. In the drawing, reference numeral 1 denotes a transmission that transmits a radio wave that is mounted on each of the racing bodies and includes identification information of the mounted racing body. A transmitter (transmitting means) 2 is provided in each halon installed at a predetermined interval along the runway, and a receiver (receiving means) for receiving a radio wave transmitted from each transmitter 1, 3 is a receiver 2 The identification processing unit (identifying means) for extracting the race information of the race object from the radio wave received by the receiver 2 and identifying the race object according to the identification information, 4 An angle measurement processing unit (measuring means) for measuring the azimuth angle at every moment in 5. A tracking processing unit (tracking means) for tracking the momentary position and speed of each racetrack based on the measurement result of the angle measurement processing unit 4 ).

Next, the operation will be described. Before describing the operation in detail, the principle of the method for tracking a racing object in the present invention will be described. The tracking method of the present invention receives an electric wave transmitted from a racetrack by a plurality of receivers in a racetrack, and uses an extended Kalman filter based on an instantaneous observation result of the azimuth of the racetrack viewed from each receiver. It is used to track the position and speed of a racetrack.

The algorithm of the extended Kalman filter is described in detail, for example, by Toru Katayama, "Applied Kalman Filter", Asakura Shoten, and the like. In the following, a tracking processing method for a single race object will be described for convenience of description. However, if this processing is executed for each race object, a plurality of race objects can be tracked.

As shown in FIG. 6, a fixed x-
Set the y orthogonal coordinate system. It is assumed that a receiver is provided for each halon provided at a predetermined interval along the running track, and that a total of N receivers are installed in the racetrack. Also, the i-th receiver is written as R _i (i = 1,..., N), and its position is represented as [X _i , Y _i ] ^T (hereinafter T represents the transposition of a matrix). Also, race is the sampling time t _k from the start of (k = 0,1,2, ···) and then, at sampling time t _k, the angular orientation of the race member H as viewed from the receiver R _i theta _{Expressed as k and i} . As shown in FIG. 6 _{, the} azimuth angle θ _{k, i} defines a clockwise rotation based on a direction parallel to the y-axis as positive.

[0020] The state vector position and velocity of the true value given race of race body at the sampling time t _k is defined by equation (1). Here, dx _k / dt, dy _k / d
t indicates each time derivative. Hereinafter, a symbol representing a vector is underlined.

[0021]

(Equation 1)

Using the above state vector, a motion model of a racetrack is defined for three cases as follows. First, a motion model (referred to as a constant-velocity straight-traveling model) when the racing body is linearly traveling at a substantially constant speed on a straight course is expressed by Equation (2),
(3). Here, Φ _s (k) is a state transition matrix of the constant speed linear motion.

[0023]

(Equation 2)

W (k) is a driving noise vector corresponding to acceleration for expressing an error caused by regarding the actual motion of the racetrack as a constant-velocity straight-line motion. Equations (4) and (5) It is assumed that the noise is normal white noise having the property of Γ (k) is a conversion matrix of driving noise, and is represented by Expression (6).

[0025]

(Equation 3)

A motion model (referred to as a constant acceleration straight motion model) when the racetrack is running straight while accelerating at a substantially constant acceleration is represented by equation (7). Φ _s (k) is a state transition matrix of constant-velocity linear motion defined by equation (3), and α is a preset constant acceleration vector, and as shown in FIG. It is assumed that the vector is a vector having a direction along the straight course (the direction is the same as the traveling direction of the racetrack). w (k) and Γ (k) are obtained from equations (4) to
The same as defined in (6).

[0027]

(Equation 4)

Further, a motion model (hereinafter, referred to as a constant speed turning model) when the racing body is turning at a substantially constant speed on a turning course having a turning radius of r _turn is set by equations (8) and (9). I do. Φ _M (k) is a state transition matrix of constant-speed turning motion, and ω _k is a turning angular velocity represented by Expression (10). Also, w (k) and Γ (k) are the same as those defined in Equations (4) to (6).

[0029]

(Equation 5)

The motion models in the above three cases can be conveniently expressed in a unified manner by equation (11). Here, in the case of the straight-travelling model, the equation (12) is used.
Equation (13) may be set for a constant acceleration straight-traveling model, and Equation (14) may be set for a constant velocity turning model.

[0031]

(Equation 6)

Next, an observation model is defined. At the sampling time t _k , the true value θ _{k, i} of the azimuth angle of the racetrack viewed from the receiver R _i can be expressed by the following equation using the state vector x (k) of the racetrack.

[0033]

(Equation 7)

Therefore, the observation model of the receiver R _i can be defined by equation (17). Here, θ ^* _{k, i} represents an observation value by the receiver R _i , and ν _{k, i} represents observation noise. It is assumed that the observation noise ν _{k, i} is normal white noise having the properties of Expressions (18) and (19).

[0035]

(Equation 8)

Hereinafter, a tracking processing method according to the present invention, which is performed based on the above-described motion model and observation model using an algorithm of the extended Kalman filter, will be described. First, variables are defined as follows. Here, E is a symbol representing the collective average.

[0037]

(Equation 9)

Here, x ' (k) is the sampling time t
smoothing vector to estimate the state vector of the sampling time t _k by observation information to _k, x _"(k) is the predicted vector to estimate the state vector of the sampling time t _k by observation information to the sampling time t _k-1 P ′ (k) and P ″ (k) are smoothed vectors,
It is an error covariance matrix of a prediction vector.

The start time of the race is set to the initial sampling time t.
_0, and sets 'initial value P (0) and error covariance matrix' initial value x of the smoothing vector (0) in advance. Here, particularly for the initial value of the smoothing vector, the starting position of the racing object given as advance information in advance as the initial position of the racing object is set, and both the x and y components are set to zero as the initial speed of the racing object. Set. In the normal target tracking, as the initial value of the smoothing vector, the target observation position calculated based on the observation result obtained in the initial one sample and the target observation position calculated from each observation result obtained in the initial two samples are used. Since the speed calculated from the displacement and the time interval between the two points is set based on the observation position of the point, the accuracy of the initial value is poor, and it takes time for the tracking result to converge and reach the predetermined accuracy. In the apparatus of the present invention, by setting the initial value as described above, a tracking result with high accuracy can be obtained from the beginning of tracking.

Hereinafter, in any of the N receivers,
Each time a new observation value is obtained, the sampling time is advanced by one, and tracking processing is executed. Hereinafter, it will be described a specific method of tracking processing executed at the sampling time t _k. In sampling time t _k, the receiver R
_{When the} observation value θ ^* _{k, i} is obtained _{from i} , first, the following prediction processing is performed according to the processing algorithm of the extended Kalman filter.

[0041]

(Equation 10)

In the prediction processing equations (24) and (25), the state transition matrix Φ (k-1) and the acceleration vector a
Equations (12), (13), (13), (k-1) are appropriately determined according to the motion mode of the racetrack before the observation value θ ^* _{k, i} is obtained.
Switch and use one of (14). That is,
If the predetermined time has elapsed after the racer has started and the speed has reached the reference value or higher and the racetrack is running on a straight course, the formula (1)
In the case where the racing body is running on a straight course while accelerating until it reaches a speed equal to or higher than the reference value after running, the uniform acceleration straight model of the equation (13) is used. In addition, when the race body reaches a speed equal to or higher than the reference value after running, and is running on a turning course, the constant speed turning model of Expression (14) is used. Which exercise mode the racetrack is in is determined from information on the position and speed of the racetrack contained in the smooth vector x ' (k-1).

After performing the above-described prediction processing, the observed value θ
^{* In} order to perform the smoothing process using _{k and i} , first, a correlation determination is made as to whether or not the acquired observation value is really valid data corresponding to the azimuth of the racetrack that is being tracked. The correlation determination processing has an effect of excluding extremely inaccurate observation values from the input to the tracking processing. Such inaccurate observations are caused, for example, by the receiver interfering with the direct waves of the radio waves transmitted from the racetrack and the indirect waves that arrive at the receiver after they are once reflected by other structures. Occurs when received.

In the correlation judgment processing, first, the prediction vector x ″ (k) obtained in the above-mentioned prediction processing is used, and the equation (26) is used.
, The predicted orientation θ ″ _{k, i} of the race object is calculated.

[0045]

[Equation 11]

Based on the magnitude of the difference between the actual observation value and the predicted orientation obtained above (referred to as a residual) θ ^* _{k, i−} θ ″ _k, i0, the observation value θ ^* _{k, i} According to equations (17) and (26), the residual θ ^* _{k, i−} θ ″ _{k, i} is
It is expressed as the following equation.

[0047]

(Equation 12)

Prediction vectorx "(K) and true valuex(K)
Assuming that the error is very small,
The first term can be approximated as in equation (28).
Where F_i(x "(K)) is as shown in equation (29).
And the function F in equation (16)_i(x(K)) gradientx "
(K).

[0049]

(Equation 13)

The above equation (27) is replaced by equation (28) and equation (2)
By using 3) and (19) _, the variance g _{k, i of} θ ^* _{k, i} −θ ″ _{k, i} can be calculated as follows.

[0051]

[Equation 14]

In the correlation determination process, the above variance g _{k, i} is used, and only when d is a parameter and the following equation (31) is satisfied, it is determined that the observed value θ ^* _{k, i} is valid.

[0053]

(Equation 15)

If the observation value θ ^* _{k, i} is determined to be valid by the above correlation determination processing, the following equations (32) to (34) are used according to the algorithm of the extended Kalman filter.
Is performed. Here, I is a 4 × 4 unit matrix.

[0055]

(Equation 16)

On the other hand, if it is determined that the observed value θ ^* _{k, i} is not valid, the smoothing process using the observed value is not performed, and the smoothed value and the smoothed error covariance matrix are calculated as shown in the following equation. Replace with prediction value and prediction error covariance matrix.

[0057]

[Equation 17]

The above is the content of the correlation judgment and the smoothing process using the observed value θ ^* _{k, i} . Incidentally, the correlation determination process described above, the smoothing process is how to proceed if the observed value only one receiver R _i at the sampling time t _k is obtained. Next, more generally, at sampling time t _k , M (where 1 ≦ M ≦ N) receivers detect radio waves from a racetrack and obtain an observed value, thereby performing correlation determination and smoothing processing. The method will be described.

At sampling time t _k , the receiver that has obtained the observation value is R _j (j = 1, 2,..., M), and the observation value is θ ^* _{k, j} (j = 1, 2,. ..., M). In this case, as described below, a correlation determination and a smoothing process are performed for each acquired observation value, and this process is repeatedly performed M times. In the following, the estimated value of the state vector obtained as a result of performing the smoothing processing up to the j-th observation value θ ^* _{k, j} is x ′ (k), and the error covariance matrix is P ′ _j (k ).

First, as an initial value when j = 0, a prediction vector and a prediction error covariance matrix are set as shown in equations (37) and (38).

[0061]

(Equation 18)

After the initial values are set, the following correlation judgment and smoothing processing are performed for j = 1, 2,. . . , M are sequentially and repeatedly executed. First, as a correlation process, whether the observed value θ ^* _{k, j} obtained by the receiver R _j and the estimated orientation θ ″ _{k, j} given by Expression (39) satisfy Expression (40) using d as a parameter. It is determined that the observed value θ ^* _{k, j} is valid only when Expression (40) is satisfied.

[0063]

[Equation 19]

When the observation value θ ^* _{k, j} is determined to be valid, the following equations (43) to (45) are executed.

[0065]

(Equation 20)

On the other hand, if it is determined that the observed value θ ^* _{k, j} is not valid, the smoothing process using this observed value is not performed, and the j-th estimated value and error covariance matrix To j
Replace with the 1st estimate and error covariance matrix.

[0067]

(Equation 21)

A series of processing of the above equations (39) to (47) is performed by j = 1, 2,. . . , M are repeatedly executed.
As a result, the finally obtained x ′ _M (k) and P ′ _M
The (k), equation (48), as a calculation result of, as shown in (49), smoothing the vector x at the sampling time t _k '(k) and error covariance matrix P' (k), the sampling time t _k Is completed.

[0069]

(Equation 22)

The above is the principle of the method for tracking a racing object in the present invention. Hereinafter, the operation of the apparatus shown in FIG. 1 will be described by taking as an example a case where radio waves having different frequencies are assigned to each race object as information for identifying each race object.

The transmitter 1 constantly transmits a radio wave of a unique frequency assigned to each racing body. The receiver 2 of each halon detects a radio wave transmitted from the transmitter 1 mounted on the race when the race enters the predetermined distance range. At this time, the transmission intensity of the transmitter 1 is adjusted so that the radio waves transmitted from the transmitter 1 can always be detected by two or more halons.

The radio wave detected by the receiver 2 is converted into a digital signal and transmitted to the identification processing unit 3. The identification processing unit 3 discriminates the signals into the signals for each of the racetracks through a band-pass filter corresponding to the frequency of each racetrack. Then, the discriminated signal of each race object is sent to the angle measurement processing unit 4, and the angle measurement processing unit 4 calculates the arrival direction of the signal radio wave for each race object.

The above-mentioned arrival direction is an observed value of the azimuth angle of each racetrack viewed from the position of Ha Long _, and corresponds to θ ^* _{k, i} in equation (17). All the azimuth observation values of the racetrack calculated by the angle measurement processing unit 4 of each halon are input to the tracking processing unit 5. In the tracking processing unit 5, based on the input of the azimuth angle of the racetrack, which is input from time to time, the smoothed vector of the equation (20), which is the estimated value of the position and speed of each of the racetracks, is used.
x ′ (k) is calculated.

As is apparent from the above, the first embodiment
According to the method, the identification information of the race object is extracted from the radio wave received by the receiver 2 and the race object related to the identification information is specified, while the race object of the race object is identified from the arrival direction of the radio wave received by the receiver 2. Since it was configured to measure the azimuth and track the position and speed of the racetrack based on the measurement result,
It is possible to recognize the traveling route of each racetrack and the speed on each route, and as a result, it is necessary to determine course obstruction of the racetrack and take courses (including speed analysis) to improve technology The effect that analysis can be performed is produced.

Embodiment 2 FIG. 2 is a configuration diagram showing a traveling route measuring apparatus according to Embodiment 2 of the present invention. In the drawing, the same reference numerals as those in FIG. 1 denote the same or corresponding parts, and a description thereof will be omitted. A transmitter / receiver (transmitter / receiver) 6 is provided at each of the halons disposed at predetermined intervals along the runway, and periodically transmits a radio wave including a start signal and receives the radio wave transmitted from the transponder 7. .., 7 are transponders (response means) mounted on the respective race vehicles and transmitting a radio wave including identification information of the race when receiving a radio wave including an activation signal.

Next, the operation will be described. Hereinafter, the operation of the apparatus shown in FIG. 2 will be described by taking as an example a case where radio waves of different frequencies are assigned to each race object as information for identifying each race object. When the race starts, the transceivers 6 of each halon transmit an activation signal at predetermined time intervals while synchronizing with each other. The starting signal has its transmission intensity adjusted so that the transponder 7 can receive the starting signal from at least one of the transceivers 6 regardless of the position of the racetrack in the running track. .

When the transponder 7 receives the start signal,
A radio wave of a unique frequency for each race object is transmitted as a response signal for a predetermined time. This response signal is received by the transceiver 6. At this time, the transmission intensity of the transponder 7 is set so that the radio wave of the response signal from the race object can be always detected by two or more halons. The radio wave detected by the transceiver 6 is converted into a digital signal and then transmitted to the identification processing unit 3. In the identification processing unit 3,
By passing through a band-pass filter corresponding to the frequency of each racing body, it is discriminated into signals for each racing body.

The discriminated signal of each race object is sent to the angle measurement processing section 4, and the angle measurement processing section 4 calculates the arrival direction of the signal radio wave for each race object. The arrival direction is an observed value of the azimuth angle of each race vehicle viewed from the Ha Long position, and is expressed by the following equation (1).
7) corresponds to θ ^* _{k, i} . All the azimuth angle observation values of the race object calculated by the angle measurement processing unit 4 of each halon are input to the tracking processing unit 5. The tracking processing unit 5 calculates the smoothed vector x ′ (k) of the equation (20), which is the estimated value of the instantaneous position and speed of each racetrack, based on the input azimuth angle observation results of the racetrack. ) Is calculated.

As is clear from the above, this embodiment 2
According to the present invention, the identification information of the racetrack is extracted from the radio waves received by the transceiver 6 that periodically transmits the radio waves including the start signal, and the racetrack related to the identification information is specified. The azimuth angle of the race object is measured from the arrival direction of the received radio wave, and the position and speed of the race object are tracked based on the measurement result. As a result, it is possible to recognize the speed, and as a result, it is possible to perform an analysis such as taking a course (including a speed analysis) for the purpose of determining path obstruction of a racetrack and improving a technique. In addition, answering machine 7
Can be limited only after the start of the race, so that there is an effect that the power consumption of the transponder 7 can be saved.

Embodiment 3 FIG. 3 is a configuration diagram showing a traveling route measuring device according to Embodiment 3 of the present invention. In the drawing, the same reference numerals as those in FIG. 2 denote the same or corresponding parts, and a description thereof will be omitted. A transceiver 8 is provided at each of the halons arranged at predetermined intervals along the runway, and periodically transmits a radio wave including identification information and receives a radio wave including a response signal transmitted from the transponder 9. (Transmission / reception means),
9 is a transponder (response means) which is attached to each of the race vehicles and transmits a radio wave including a response signal when receiving a radio wave including identification information of the race vehicle, and 10 is an arrival direction of the radio wave received by the transceiver 8. Is an angle measurement processing unit (measuring means) that measures the azimuth angle of the race object from.

Next, the operation will be described. When the race starts, the transmitter / receiver 8 sequentially and repeatedly transmits a pulse-like signal radio wave including the identification code of each race body while synchronizing with each other. That is, after transmitting the start signal including the identification information of the first race object, a start signal including the identification information of the second race object is transmitted after a predetermined time, and after a predetermined time, the start signal including the identification information of the second race object is further transmitted. For example, the start signal for each race object is transmitted in order, such as transmitting the start signal including the identification information of the three race objects. When the transmission of the activation signals including the identification information is completed for all the racetracks, the transmission is repeated from the first racetrack again. The start signal transmitted from the transceiver 8 is transmitted to the transponder 9 at any point in the traveling track.
The transmission intensity is adjusted so that can be received.

Next, the transponder 9 of each race object is set
Upon receiving the activation signal transmitted from, the identification information included in the activation signal is decoded, and only when the identification information is that of the race object, a response signal wave is returned. For example, the first
The response machine 9 of the race object returns a response signal only when receiving the activation signal including the identification information of the first race object. The transmission intensity of the transponder 9 is adjusted so that the radio waves transmitted from each transponder 9 can always be detected by two or more halons.

On the other hand, after transmitting / receiving the start signal, the transceiver 8 of each halon enters a standby state for receiving a radio wave from the race vehicle (the answering machine 9) corresponding to the identification information included in the start signal. enter. Thereafter, when the radio wave from the transponder 9 is received during the standby for a predetermined time, it is determined that this is a response signal from the race object (the transponder 9) corresponding to the identification information of the transmitted start signal. For example, after transmitting / receiving the start signal including the identification information of the first race object, the transceiver 8 enters a standby state for receiving a response signal from the first race object (the answering machine 9). It is determined that the response signal received during standby is from the first racetrack.

The radio wave detected by the transceiver 8 is
After being converted to digital signals, the signals are sent to the angle measurement processing unit 10.
You. In the angle measurement processing unit 10, the arrival direction of the signal wave of the race object
Is calculated. This arrival direction is determined by each competition viewed from the Ha Long position.
It is an observation value of the azimuth angle of the running body, and is θ in Expression (17).^* _{k, i}To
Equivalent to. The race calculated by the angle measuring unit 10 of each halon
All the azimuth observation values of the body are input to the tracking processing unit 5. Additional
In the tail processing unit 5, the input azimuth angle of the race
Based on the observation results of each moment, the position of each race
Smooth vector of equation (20) which is an estimated value of speedx '
(K) is calculated.

As is apparent from the above, the third embodiment
According to the configuration, the azimuth of the race object is measured from the arrival direction of the radio wave including the response signal received by the transceiver 8, and the position and speed of the race object are tracked based on the measurement result. , It is possible to recognize the running route of each racetrack and the speed on each route, and as a result, take courses (including speed analysis) for the purpose of determining path obstruction of racetracks and improving skills The effect of being able to perform the analysis of FIG. Further, since the transmission of the answering machine 9 can be limited only after the start of the race, the power consumption of the answering machine 9 can be saved, and as in the first and second embodiments,
Since the traveling route measuring device can be formed without providing the identification processing unit 3, there is an effect that the device configuration is simplified. Since the start signal is transmitted from the transceiver 8 of each halon, it is necessary to synchronize the transmission timing of each transceiver 8, but the transmission intensity of the start signal can be weakened.

Embodiment 4 FIG. 4 is a configuration diagram showing a traveling route measuring device according to Embodiment 4 of the present invention. In the drawing, the same reference numerals as those in FIG. 3 denote the same or corresponding parts, and a description thereof will be omitted. Reference numeral 11 denotes a start signal transmitter (transmitting means) for periodically transmitting a radio wave including identification information. Reference numeral 12 denotes a start signal transmitter which is attached to each of the race vehicles, and transmits a radio wave including a response signal when receiving a radio wave including the identification information of the race vehicle. A transponder (response means) 13 for transmitting the radio wave transmitted from the activation signal transmitter 11 and a receiver (reception means) for receiving the radio wave transmitted from the transponder 12.

Next, the operation will be described. When the race is started, the activation signal transmitter 11 sequentially and repeatedly transmits a pulse-shaped signal radio wave including identification information of each race body. That is, as shown in FIG. 7, first, the start signal 21 including the identification information of the first race object is transmitted, and after a predetermined time interval, the start signal 21 including the identification information of the second race object is next transmitted. 2
2 and then, at predetermined time intervals, an activation signal for each racetrack is transmitted in order, such as transmitting an activation signal 23 including identification information of the third racetrack. When transmission has been completed for all the racetracks, transmission is repeated from the first racetrack again. Note that the activation signal transmitter 11 is installed, for example, near the center of the racetrack, and the transmission intensity is adjusted so that the transponder 12 can receive the signal at any point in the running track.

Upon receiving the start signal transmitted from the start signal transmitter 11, the transponder 12 of each race object decodes the identification information included in the start signal, and only when this is for the race object concerned. Returns the response signal radio wave. In the case of FIG. 7, the transponder of the first race object receives the response signal 2 only when receiving the activation signal 21 including the identification information of the first race object.
Reply 4 The transmission intensity of the transponder 12 is adjusted so that the radio waves transmitted from the race object (the transponder 12) can always be detected by two or more halons.

On the other hand, upon receiving the activation signal transmitted from the activation signal transmitter 11, the receiver 13 of each halon decodes the identification information included in the activation signal, and transmits the radio wave from the race vehicle corresponding to the identification information. Into a standby state to receive Thereafter, when a radio wave is received from the transponder 12 during the standby for a predetermined time, it is determined that this is a response signal from the race object corresponding to the decoded identification information. In the case of FIG. 7, the receiver 13 receives the activation signal 21 including the identification information of the first race object transmitted from the activation signal transmitter 11,
By decoding this, the first race object (response machine 12)
Enters a standby state for receiving a response signal from the first racetrack, and determines that the response signal 24 received during the standby is from the first racetrack.

The radio wave detected by the receiver 13 is
After being converted to digital signals, the signals are sent to the angle measurement processing unit 10.
You. In the angle measurement processing unit 10, the arrival direction of the signal wave of the race object
Is calculated. This arrival direction is determined by each competition viewed from the Ha Long position.
It is an observation value of the azimuth angle of the running body, and is θ in Expression (17).^* _{k, i}To
Equivalent to. The race calculated by the angle measuring unit 10 of each halon
All the azimuth observation values of the body are input to the tracking processing unit 5. Additional
In the tail processing unit 5, the input azimuth angle of the race
Based on the observation results of each moment, the position of each race
Smooth vector of equation (20) which is an estimated value of speedx '
(K) is calculated.

As is clear from the above, this embodiment 4
According to the configuration, the azimuth of the race object is measured from the arrival direction of the radio wave including the response signal received by the receiver 13, and the position and speed of the race object are tracked based on the measurement result. , It is possible to recognize the running route of each racetrack and the speed on each route, and as a result, take courses (including speed analysis) for the purpose of determining path obstruction of racetracks and improving skills The effect of being able to perform the analysis of FIG. Further, since the transmission of the transponder 12 can be limited only after the start of the race, the power consumption of the transponder 12 can be saved, and the identification processing unit 3 is provided as in the first and second embodiments. Since the traveling route measuring device can be formed without using the device, there is an effect that the device configuration is simplified. Since the start signal is transmitted from the start signal transmitter 11 provided at one place in the racetrack, a predetermined transmission intensity is required, but there is no need to synchronize the transmission timing, and the device configuration is further simplified. Has the effect

Embodiment 5 FIG. 5 is a block diagram showing a tracking processing unit of a traveling route measuring apparatus according to Embodiment 5 of the present invention. In the figure, reference numeral 21 denotes an initial value for setting an initial value of a smooth vector and a smooth error covariance matrix of a racetrack A setter (initial value setting means), 22 is a smoothing vector memory (smoothing vector storage means) for storing the calculated value of the smoothed vector, and 23 is a smoothing error memory for storing the calculated value of the smoothed error covariance matrix. A variance matrix memory (smoothing error covariance matrix storage means), 24 is a running state determiner (running state determining means) which determines the running state of the racetrack based on the value of the smoothed vector read from the smoothed vector memory 22, 25 Is a constant velocity straight model predictor for performing prediction processing using a constant velocity straight model (constant velocity straight model prediction processing means), and 26 is a constant velocity turn performing prediction processing using a constant velocity turn model A predictor for Dell (prediction processing means for constant velocity turning model), 27 is a predictor for constant acceleration straight model (prediction processing means for constant acceleration straight model) which performs prediction processing using a constant acceleration straight traveling model, and 28 is measurement A correlation determiner (correlation determination processing means) for determining whether the azimuth angle observation value input from the angle processing unit 4 is valid data for tracking processing, 29 is a azimuth angle input from the angle measurement processing unit 4. This is a smoother (smoothing processing means) that performs a smoothing process using the observed value.

Next, the operation will be described. In the following, the operation of the tracking process for a single race object is described,
The actual tracking processing unit of the present invention realizes tracking of a plurality of racetracks by executing the following processing for each racetrack.

The starting time of the race is set to the initial sampling time t.
_The initial value setting unit 21 sets the initial value x ' (0) of the smooth vector x' (k) and the smooth error covariance matrix P in the smooth vector memory 22 and the smooth error covariance matrix memory 23, respectively. The tracking process is started by setting the initial value P '(0) of' (k). Here, as the initial value of the smoothing vector x ' (0), the starting position of the racing object obtained in advance as the initial position of the racing object is set, and the x, y components are set as the initial speed of the racing object. Set both to zero.

Thereafter, every time a new observation value is input from any of the angle measurement processing units 4 corresponding to each halon, the tracking processing is executed with the sampling time advanced by one. At the same sampling time, observation values may be input from a plurality of halon angle measurement processing units 4. Hereinafter, the processing procedure at the sampling time t _k.

When the observation value is input, first, the running state determiner 24 reads the smoothed vector x ' (k-1) one sample before from the smoothed vector memory 22, and reads the smoothed error covariance matrix. After reading the smoothed error covariance matrix P ′ (k−1) one sample before from the memory 23, the data at the sampling time and the smoothed vector x ′ (k
Based on the position and speed data included in -1), the running state of the racetrack is represented by a constant acceleration straight model, a constant speed straight model,
It is determined which of the motion models of the uniform acceleration straight-line model is in the state. First, a predetermined time has elapsed since the start, the speed of the racetrack calculated by the equation (50) has reached a predetermined size, and the position of the racetrack (x ′ _k−1 , y ′)
_{If k-1} ) exists in the area of the straight course, for example, as shown at 31 in FIG. 8, it is determined that the racetrack is in the running state of the constant-speed straight-forward model, and the smoothed vector read from the memory is read. x ′ (k−1) and the smooth error covariance matrix P ′
(K-1) is sent to the constant velocity straight-line model predictor 25.

A predetermined time has elapsed since the start of the race,
The speed of the racetrack calculated by equation (50) has reached a predetermined size, and the position of the racetrack ( _x'k-1 , _y'k-1 )
However, for example, as shown at 32 in FIG. 8, when it is within the area of the turning course, it is determined that the racing object is in the running state of the constant speed turning model, and the smoothed vector x ′ (k −1) and the smoothed error covariance matrix P ′ (k−
1) is sent to the constant velocity turning model predictor 26. Also,
Before the predetermined time has elapsed since the start, and the equation (50)
If the speed of the racetrack calculated in step (a) does not reach the predetermined size, it is determined that the racetrack is in the running state of the constant acceleration straight-running model, and the smooth vector read from the memory is determined.
x ′ (k−1) and the smooth error covariance matrix P ′ (k−
1) is sent to the constant acceleration model predictor 27.

[0098]

(Equation 23)

Next, a description will be given of the processing in the predictor 25 for a constant velocity straight model, the predictor 26 for a constant velocity turning model, and the predictor 27 for a constant acceleration straight model. These predictors operate only when the result of the determination by the traveling state determiner 24 is the traveling state of the constant velocity straight model, the traveling state of the constant velocity turning model, and the traveling state of the constant acceleration straight traveling model, respectively.

First, in the predictor 25 for a straight-forward model,
As shown in Expression (12), Φ _S (k) in Expression (3) is set in the state transition matrix Φ (k), and the acceleration vector a
After setting a zero vector to (k), using a preset covariance matrix of driving noise Q (k), equation (24)
And the prediction vector x ″ (k) and the prediction error covariance matrix P ″ (k) are calculated based on the equation (25). In the predictor for constant velocity turning model 26, first, the traveling state determiner 2
The position (x ′ _k−1 , y ′ _k−1 ) of the racetrack included in the smooth vector x ′ (k−1) input from _{No. 4} and the turning radius R _turn of the turning course obtained as advance information in advance are By using this, the turning angular velocity ω _k in equation (10) is calculated, and equation (14) is used.
As shown in FIG. 7, after setting Φ _M (k) in the equation (9) as the state transition matrix Φ (k), and setting a zero vector as the acceleration vector a (k), Using the covariance matrix Q (k), a prediction vector x ″ (k) and a prediction error covariance matrix P ″ (k) are calculated based on Expressions (24) and (25).

Further, the constant-acceleration straight-motion model predictor 27
Is expressed in the state transition matrix Φ (k) as shown in Expression (13).
Φ in equation (3)_S(K) is set and the acceleration vector
aConstant vector fixed to (k)αSet and preset
Using the obtained driving noise covariance matrix Q (k), equation (2)
4) and equation (25),x "
(K) and a prediction error covariance matrix P ″ (k).
Where the constant acceleration vectorαAs shown in FIG.
A person who follows a straight course just after starting
Constant vector with direction (the direction is the same as the direction of progress of the racetrack)
Torr shall be set. Forecast for constant velocity straight model
Device 25, constant speed turning model predictor 26,
Prediction vector calculated by Dell predictor 27x "
(K), the prediction error covariance matrix P ″ (k) is
8

Next, the correlation judgment unit 28 and the smoothing unit 29
Will be described. Below, sampling time
Are the observed values θ from the M (1 ≦ M ≦ N) angle measurement processing units 4
^* _{k, j}(J = 1, 2,..., M) is input
You. Prediction vectorx "(K) and the prediction error covariance matrix P ″
When (k) is input, the correlation determiner 28 calculates the equation (3)
7) According to (38),x _j 'Initial value of (k)x _j '
Predicted vector at (0)x "(K) and P '(k)
Of the prediction error covariance matrix P ″ (k) to the initial value P ′ (0) of
Set. Thereafter, the correlation judgment unit 28 and the smoothing unit 29
While exchanging data with each other, a series of
Processing is j = 1, 2,. . . , M repeatedly
You.

In the correlation judgment unit 28, the estimation is made by the equation (39).
Orientation θ ”_{k, j} Is calculated, and F is calculated by equation (42)._j(x
_j-1 '(K)), and the residual is calculated by equation (41).
θ^* _{k, j}−θ ”_{k, j} Dispersion g_{k, j}After calculating
Obtained value θ using the specified threshold value d^* _{k, j}
Is determined whether or not satisfies Expression (40). Equation (40)
Is satisfied, Cor = 1 is set as the determination result data.
If the value is not set and Expression (40) is not satisfied, the determination is made.
Cor = 0 is set as result data.x _j-1 '
(K), P_j-1′ (K) and the calculated F_j(x _j-1 '
(K)), g_{k, j}, And the observation θ^* _{k, j}And set above
The judgment result data is sent to the smoother 29.

In the smoother 29, when the above-mentioned judgment result data input from the correlation judgment unit 28 is Cor = 1,
Expressions (43) to (45) are used, and when the determination result data is Cor = 0, Expressions (46) and (4)
Calculate x _j ′ (k) and P _j ′ (k) using 7). The calculation results of x _j ′ (k) and P _j ′ (k) are j = M
Except in the case of (1), the value is again sent to the correlation determiner 28, the value of j is updated by one, and the above series of processing is executed again.

The above series of processing is performed by j = 1, 2,. . . , M
X _M ′ (k) obtained as a result of repeatedly executing
P _M '(k) has the formula (48), as in (49), smoothing the vector x at the sampling time t _k' as a calculation result of (k), error covariance matrix P '(k), respectively, The data are stored in the smoothed vector memory 22 and the smoothed error covariance matrix memory 23. The processing described above is repeatedly executed at each sampling time until the tracking of the race object is completed.

As is clear from the above, the fifth embodiment
According to the above, the running state determining means for determining the running state of the racetrack based on the calculated value of the smooth vector held in the smooth vector storage means, and the constant speed straight ahead performing a prediction process using a constant speed straight ahead model Prediction processing means for a model, prediction processing means for a constant velocity turning model for performing prediction processing using a constant velocity turning model, and prediction processing means for a constant acceleration straight traveling model for performing prediction processing using a constant acceleration straight traveling model Correlation determination processing means for determining whether the azimuth angle measured by the measurement means is valid data for tracking processing, and smoothing processing means for performing smoothing processing using the azimuth angle measured by the measurement means Is provided so that the position and speed of the racetrack can be tracked with high accuracy from the observation result of the azimuth angle of the racetrack viewed from each halon.

[0107]

As described above, according to the present invention, the identification information of the racetrack is extracted from the radio wave received by the reception means, and the racetrack according to the identification information is specified, while the racetrack is received by the reception means. The azimuth angle of the racetrack is measured from the direction of arrival of the received radio wave, and the position and speed of the racetrack are tracked based on the measurement results. As a result, it is possible to determine a course obstruction of a racetrack and to analyze a course (including speed analysis) for the purpose of improving technology.

According to the present invention, the identification information of the race object is extracted from the radio wave received by the transmission / reception means for periodically transmitting the radio wave including the start signal, and the race object related to the identification information is specified. The azimuth of the race object is measured from the arrival direction of the radio wave received by the transmission / reception means, and the position and speed of the race object are tracked based on the measurement result. As a result, it is possible to recognize the speed on the route, and as a result, it is possible to perform an analysis such as taking a course (including speed analysis) for the purpose of judging a path obstruction of a racetrack and improving a technique. is there. Further, since the transmission of the response means can be limited only after the start of the race, there is an effect that the power consumption of the response means can be reduced.

According to the present invention, the azimuth of the race object is measured from the arrival direction of the radio wave including the response signal received by the transmission / reception means, and the position and speed of the race object are determined based on the measurement result of the measurement means. The system is configured to track, so that it is possible to recognize the running route of each racetrack and the speed on each route, and as a result, it is necessary to determine course obstruction of the racetrack and take courses to improve technology (Including velocity analysis)
And the like. In addition, since the transmission of the response means can be limited only after the start of the race, the power consumption of the response means can be reduced, and the traveling route measuring device can be formed without providing the specifying means. There is an effect that the configuration is simplified. Since the starting signal is transmitted from the transmitting and receiving means of each halon, it is necessary to synchronize the transmitting timing of each transmitting and receiving means, but there is also an effect that the transmitting intensity of the starting signal can be weakened.

According to the present invention, the azimuth of the race object is measured from the arrival direction of the radio wave including the response signal received by the receiving means, and the position and speed of the race object are tracked based on the measurement result. In this way, it is possible to recognize the running route of each racetrack and the speed on each route, and as a result, take a course (speed analysis , Etc.) can be performed. In addition, since the transmission of the response means can be limited only after the start of the race, the power consumption of the response means can be reduced, and the traveling route measuring device can be formed without providing the specifying means. There is an effect that the configuration is simplified. Since the start signal is transmitted from the transmission means provided at one place in the racetrack, a predetermined transmission intensity is required, but there is no need to synchronize the transmission timing, and the device configuration is further simplified. There is

According to the present invention, the running state determining means for determining the running state of the racetrack based on the calculated value of the smoothed vector held in the smoothed vector storage means, and the predicting process using the constant speed straight ahead model Constant velocity straight-line model prediction processing means for performing prediction processing, a constant velocity rotation model prediction processing means for performing prediction processing using a constant velocity rotation model, and a constant acceleration linear movement model for performing prediction processing using a constant acceleration straight-line model Prediction processing means, correlation determination processing means for determining whether the azimuth angle measured by the measurement means is valid data for tracking processing, and smoothing processing using the azimuth angle measured by the measurement means. And the smoothing processing means for performing the following processing, so that the position and speed of the racetrack can be tracked with high accuracy from the observation result of the azimuth angle of the racetrack viewed from each halon. A.

According to the present invention, the starting position of the race object is set in advance as the initial position of the race object, while a zero value is set as the initial speed of the race object. There is an effect that the position and speed of the racetrack can be tracked from time to time with high accuracy from the beginning of tracking without the need for time to converge.

According to the present invention, when the racing body is running on the straight course after reaching the speed equal to or higher than the reference value, it is determined that the running state is the constant-speed straight-ahead model, and the racing body is equal to or higher than the reference value. When traveling on the turning course after reaching the speed, it is determined that it is in the running state of the constant speed turning model, and when the racing body is running on the straight course before reaching the speed above the reference value, Since it is configured to determine that the vehicle is in the running state of the uniform acceleration model, it is possible to appropriately determine the running state of the racetrack and perform a tracking process suitable for each running state. This has the effect of realizing tracking accuracy.

According to the present invention, the angular velocity of the turn is calculated based on the estimated value of the speed included in the smooth vector of the racetrack and the turning radius of the turning course, and the prediction process is executed according to the constant speed turning model. With this configuration, there is an effect that a motion model suitable for the size of the turning course of the racetrack is set, and tracking can be performed with high accuracy even during turning.

According to the present invention, the constant acceleration vector in the same direction as the running direction of the racetrack is set along the straight course as the acceleration of the racetrack. Therefore, the acceleration of the straight course immediately after the start of the racetrack is set. There is an effect that a motion model adapted to the direction is set, and tracking can be performed with high accuracy even during acceleration immediately after running.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating a traveling route measurement device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram illustrating a traveling route measurement device according to a second embodiment of the present invention.

FIG. 3 is a configuration diagram illustrating a traveling route measurement device according to a third embodiment of the present invention.

FIG. 4 is a configuration diagram illustrating a traveling route measurement device according to a fourth embodiment of the present invention.

FIG. 5 is a configuration diagram illustrating a tracking processing unit of a traveling route measurement device according to a fifth embodiment of the present invention.

FIG. 6 is an explanatory diagram showing a definition of an azimuth angle of a race object viewed from a receiver.

FIG. 7 is an explanatory diagram showing signal transmission / reception timings in the traveling route measurement device according to the fourth embodiment of the present invention.

FIG. 8 is an explanatory diagram illustrating regions of a straight course and a turning course.

FIG. 9 is a configuration diagram showing a conventional lane traveling speed measuring device.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 transmitter (transmitting means), 2, 13 receiver (receiving means), 3 identification processing section (identifying means), 4, 10 angle measurement processing section (measuring means), 5 tracking processing section (tracking means), 6,
8 Transceiver (Transceiver), 7, 9, 12 Responder (Response), 11 Start signal transmitter (Transmit), 21
Initial value setter (initial value setting means), 22 Smooth vector memory (smooth vector storage means), 23 Smooth error covariance matrix memory (smooth error covariance matrix storage means), 2
4 traveling state determiner (traveling state determining means), 25 constant velocity straight-running model predictor (constant velocity straight-running model prediction processing means), 26 constant velocity turning model predictor (constant speed turning model prediction processing means), 27: a constant acceleration straight-line model predictor (equal acceleration straight-line model prediction processing means), 28 a correlation determination processor (correlation determination processing means), 29 a smoother (smoothing processing means).

Claims (9)

[Claims] 1. A transmitting means mounted on a racing body for transmitting a radio wave including identification information of the racing body, a receiving means for receiving a radio wave transmitted from the transmitting means, and a radio wave received by the receiving means Extracting the identification information of the racing object from the, and identifying means for identifying the racing object according to the identification information, measuring means for measuring the azimuth angle of the racing object from the arrival direction of the radio wave received by the receiving means, A traveling route measurement device comprising: a tracking unit that tracks a position and a speed of a racetrack based on a measurement result of the measurement unit. 2. A response means mounted on a race object and transmitting a radio wave including identification information of the race object when receiving a radio wave including a start signal, and transmitting a radio wave including a start signal periodically while receiving the radio wave including the start signal. Transmitting / receiving means for receiving a radio wave transmitted from the means, identification means for extracting a racetrack from the radio wave received by the transmitting / receiving means, and specifying the racetrack according to the identification information; A travel route measuring device comprising: a measuring means for measuring an azimuth angle of the race object from an arrival direction of the received radio wave; and a tracking means for tracking a position and a speed of the race object based on the measurement result of the measuring means. 3. A response means mounted on a racing body and transmitting a radio wave including a response signal when receiving a radio wave including identification information of the racing body, and periodically transmitting a radio wave including the identification information while receiving the radio wave including the identification information. Transmitting and receiving means for receiving the radio wave transmitted from the means, measuring means for measuring the azimuth of the race object from the arrival direction of the radio wave received by the transmitting and receiving means, and A traveling route measuring device comprising: a tracking means for tracking a position and a speed. 4. A transmitting means for periodically transmitting a radio wave including identification information, a response means mounted on a racing body and transmitting a radio wave including a response signal when receiving a radio wave including the identification information of the racing body; Receiving means for receiving the radio wave transmitted from the transmitting means and receiving the radio wave transmitted from the responding means; and an azimuth angle of the race object based on an arrival direction of the radio wave including the response signal received by the receiving means. A traveling route measuring device comprising: a measuring means for measuring the distance; and a tracking means for tracking the position and the speed of the racetrack based on the measurement result of the measuring means. 5. A tracking means comprising: an initial value setting means for setting an initial value of a smooth vector and a smooth error covariance matrix of a racetrack; a smooth vector storage means for holding a calculated value of a smooth vector; A smoothing error covariance matrix storing means for holding the calculated value of the variance matrix, a running state determining means for determining the running state of the racetrack based on the calculated value of the smoothed vector held in the smoothed vector storing means, etc. A prediction processing means for a constant-velocity straight-forward model that performs prediction processing using a fast-straight-traveling model, a prediction processing means for a constant-speed rotation model that performs prediction processing using a constant-speed turning model, and a constant-acceleration straight-forward model. Prediction processing means for a constant acceleration straight-forward model for performing prediction processing, correlation determination processing means for determining whether or not the azimuth angle measured by the measurement means is valid data for tracking processing; The running route measurement of a racetrack according to any one of claims 1 to 4, further comprising a smoothing processing means for performing a smoothing process using the azimuth angle measured by the step. apparatus. 6. The initial value setting means sets the starting position of the racetrack in advance as the initial position of the racetrack, and sets a zero value as the initial speed of the racetrack.
The traveling route measuring device according to the above. 7. The running state determination means determines that the running body is in a running state of a constant speed straight-ahead model when the running body is running on a straight course after reaching a speed equal to or higher than the reference value, and the running body is determined to be the reference value. When traveling on a turning course after reaching the above speed, it is determined that the vehicle is in the running state of the constant speed turning model, and when the racing body is running on the straight course before reaching the speed above the reference value 6. The travel route measuring device according to claim 5, wherein it is determined that the vehicle is in a traveling state of a straight acceleration model. 8. A constant speed turning model prediction processing means calculates a turning angular speed based on an estimated value of a speed included in a smooth vector of a racetrack and a turning radius of a turning course, and predicts according to a constant speed turning model. The travel route measuring device according to claim 5, wherein the process is executed. 9. The prediction processing means for a constant acceleration straight-running model,
6. The travel route measuring device according to claim 5, wherein a constant acceleration vector in the same direction as the traveling direction of the racing object is set along the straight course as the acceleration of the racing object.