JPH11326506A - Target tracking apparatus and display method for tracked target - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize the excellent visibility of display contents while the validity of the display contents is being maintained when a plurality of similar tracks exist in a target tracking apparatus by which the track of a target is estimated and displayed. SOLUTION: A hypothesis update part 34 which generates a plurality of hypotheses regarding the track of a target on the basis of observed data regarding the position of the target is installed. Contents of all the generated hypotheses are supplied to a display-track decision part 46. The display-track decision part 46 extracts an effective track out of the plurality of hypoteses so as to be supplied to a target display device 42. When a plurality of similar tracks exist in the hypotheses, the display-track decision part 46 selects, as an integrated track, the track whose validity is highest out of the plurality of similar tracks, and it excludes the other tracks from the tracks to be supplied to the target display device 42.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target tracking apparatus and a tracking target display method, and more particularly to a target movement such as a true value of a target position or a target speed from observation data on target position information obtained by a sensor or the like. The present invention relates to a target tracking device and a tracking target display method for estimating specifications and displaying the estimation result.

[0002]

2. Description of the Related Art Conventionally, as disclosed in, for example, Japanese Patent Application Laid-Open No. 8-271617, there is known a target tracking device for estimating the position and motion data of a target such as an aircraft and displaying the estimation result. Hereinafter, a target tracking algorithm used by the conventional target tracking device will be described with reference to FIG.

FIG. 6 shows a block diagram of the conventional target tracking apparatus 10 described above. The conventional target tracking device includes a target observation device 11. The target observation device 11 detects observation data relating to target position information, and supplies the observation data to the observation vector selection unit 12. The observation vector selection unit 12 selects an observation vector included in a target wake gate from all observation vectors supplied from the target observation device 11.

[0004] In the conventional target tracking device 10, information on the position and wake of the target is classified for each cluster. Each cluster includes a minimum data group to be processed as one unit when estimating a target position and motion parameters. The target tracking device 10 stores an in-system cluster table 13 that displays the status of all clusters existing inside the target tracking device 10.

[0005] Information on the observation vector selected by the observation vector selection unit 12 and information displayed on the in-system cluster table 13 are supplied to a cluster new / integration unit 14. The cluster new / integration unit 14 integrates the existing cluster, if necessary, based on the information,
In addition, a new cluster is created, and the results of those processes are reflected in the in-system cluster table 13.

The target tracking device 10 stores an intra-cluster observation vector table 16. The intra-cluster observation vector table 16 displays all observation vectors included in each cluster. Intra-cluster observation vector table 1
The update processing of No. 6 is executed by the cluster new establishment / integration unit 14.

[0007] The target tracking device 10 also stores an intra-cluster hypothesis situation data group 18. The intra-cluster hypothesis status data group 18 includes an intra-cluster hypothesis table 20 displaying all the hypotheses in the cluster, a hypothesis intra-track table 22 displaying all the tracks included in each hypothesis, and a Tracks in the cluster that show the relationship between all the tracks in, and the observation vectors that make up those tracks
-An observation vector table 24 is included.

The target tracking device 10 includes an in-gate decision matrix calculation unit 26. The information displayed in the intra-cluster observation vector table 16 is stored in the in-gate decision matrix calculation unit 26,
Further, information stored in the intra-cluster hypothesis situation data group 18 is supplied. In-gate decision matrix calculation unit 26
Calculates the in-gate decision matrix 28 based on the information.

The in-gate decision matrix 28 is a matrix for displaying the possibilities for all observation vectors included in the cluster. More specifically, the in-gate decision matrix 2
8 is set so that the elements of the matrix indicate the possibility that each observation vector is an erroneous signal, the possibility that it corresponds to a track that has been tracked, and the possibility that it corresponds to a new track. Matrix.

The in-gate decision matrix 28 is supplied to a wake correlation matrix calculation unit 30. The wake correlation matrix calculation unit 30 calculates a wake correlation matrix 32 based on the in-gate determination matrix 28. The wake correlation matrix 32 is the in-gate decision matrix 28
Similar to, each element of the matrix represents the probability of all observation vectors included in the cluster (the possibility of corresponding to a false signal,
(A possibility of corresponding to a track that has already been tracked and a possibility of corresponding to a new track).

By the way, the above-mentioned in-gate decision matrix 28
In, a plurality of possibilities may be displayed for one observation vector. Also, the in-gate decision matrix 28
In some cases, the possibility that a plurality of observation vectors correspond to the same track that has already been tracked may be displayed. in this way,
The in-gate decision matrix 28 may include a plurality of possibilities that cannot be satisfied at the same time, that is, a possibility of mutual contradiction.

On the other hand, the wake correlation matrix 32 is a matrix set based on the possibility indicated in the in-gate judgment matrix 28 so as not to include a plurality of mutually inconsistent possibilities. That is, the wake correlation matrix 32 is a matrix that represents one state that can be actually established without contradicting the possibility of being displayed in the in-gate determination matrix 28. The wake correlation matrix 32 that satisfies the above condition is one in-gate decision matrix 28
May be more than one. In this case, the wake correlation matrix calculation unit 30 calculates all the wake correlation matrices 32 that can be established.
Is calculated.

[0013] The wake correlation matrix 32 is supplied to a hypothesis updating unit 34. In the hypothesis updating unit 34, all existing hypotheses that existed before the current sampling are updated based on all the wake correlation matrices calculated at the time of the current sampling. The hypothesis updated by the hypothesis updating unit 34 is reflected in the storage content of the intra-cluster hypothesis status data group 18.

The information of the intra-cluster hypothesis situation data group 18 is supplied to a gate calculator 36. The gate calculation unit 36
Predicted target position range at the next observation vector input time for all tracks in the cluster, that is,
Calculate the gate. The gate calculated by the gate calculator 36 is transmitted to the observation vector selector 12.

The target tracking device 10 includes a hypothesis reducing unit 38. The hypothesis reducing unit 38 performs a predetermined process for reducing the number of hypotheses (hereinafter, referred to as a quasi-optimization process), that is, a process of regarding a plurality of trajectories having the same predetermined number of observation vectors in the past as the same trajectory. Be executed.

The target tracking device 10 further includes a wake determination unit 4.
0 and a target display device 42. Track determination unit 4
In the case where a plurality of hypotheses exist in the cluster, 0 performs the process of selecting one of the best hypotheses from among them and determining the number of targets and its wake. The track determined by the track determination unit 40 is displayed to the user via the display of the target display device 42.

As described above, according to the conventional target tracking device 10, a plurality of hypotheses regarding the wake are generated based on the observation data observed at each sampling time, and the highest reliability among the hypotheses is obtained. The track included in the object can be displayed to the user as the target track.

[0018]

However, according to the conventional target tracking device 10 described above, when only the most reliable hypothesis is adopted when determining the wake to be displayed to the user, a plurality of trajectories are determined. Despite having a hypothesis, a sequential deterministic process for narrowing the hypothesis to one at each sampling time is executed. In this case, when the display content of the track is repeatedly updated, and the hypothesis determined to have the highest reliability changes, the displayed track may change significantly.

As a method of avoiding the above-mentioned inconvenience, for example, a method of extracting a valid track from among the tracks included in them based on a plurality of hypotheses when determining the track to be displayed to the user is proposed. Conceivable. Hereinafter, this method is referred to as an effective track extraction method. According to the effective track extraction method, since a plurality of hypotheses are based, it is possible to prevent the track displayed to the user from suddenly changing with the update of the display content.

The plurality of hypotheses may include a plurality of similar tracks using the same observation data. FIG.
Two wakes employing the same observation data are shown. The two tracks shown in FIG. 7 use the same observation data after the observation data Z4,1. When these two tracks are both displayed on the display of the target display device 42, a situation occurs in which the two tracks are displayed twice after the observation data Z4,1. If two similar tracks are displayed twice as described above, the display may be complicated and the user may find it difficult to see the tracks.

As described above, in the conventional target tracking device 10, the hypothesis reducing unit 38 performs the quasi-optimization process for the purpose of reducing the calculation load of the target tracking device 10. According to the quasi-optimization process, a target wake can be considered by focusing only on observation data after a certain time. For this reason, in the situation shown in FIG. 7, when the quasi-optimization process focusing on only the observation data after Z4,1 is executed, the two tracks shown in FIG. 7 are regarded as the same track.

When the trajectory to be displayed to the user is determined by the effective trajectory extraction method, a plurality of similar trajectories are regarded as the same trajectory as in the case of the sub-optimization processing, and one of them is displayed. According to this, it is possible to prevent a plurality of tracks from being displayed on the display in an overlapping manner. In this case, it is possible to realize display contents that are easy for the user to see, and to avoid execution of redundant drawing processing in the processing of the computer.

When one of the similar tracks is displayed as a representative in a situation where there are a plurality of similar tracks, the most appropriate one of the plurality of similar tracks is selected as a representative. Is desirable.

The present invention has been made in order to solve the above-described problems, and extracts and displays valid trajectories from a plurality of hypotheses. It is a first object of the present invention to provide a target tracking device capable of realizing appropriate display while ensuring good visibility by displaying only the most appropriate wake among them.

Further, the present invention extracts and displays valid trajectories from a plurality of hypotheses and, when there are a plurality of similar trajectories, displays only the most appropriate trajectory among them. Accordingly, it is a second object of the present invention to provide a tracking target display method capable of realizing appropriate display while ensuring good visibility.

[0026]

According to a first aspect of the present invention, there is provided a target tracking device, comprising: a plurality of hypothesis generating means for generating a plurality of hypotheses relating to a track of a target based on observation data relating to a position of the target; Integrated track group forming means for extracting a similar track from the tracks included in the hypothesis to form an integrated track group, and evaluation value calculating means for calculating the effectiveness evaluation value of each track included in the integrated track group Integrated track selecting means for selecting a track having the highest validity evaluation value from among a plurality of tracks included in the integrated track group as an integrated track; and a plurality of tracks included in the integrated track group as the integrated track. And a wake display means for displaying as a representative.

According to a second aspect of the present invention, there is provided a target tracking apparatus comprising:
The evaluation value calculation unit includes an adoption number counting unit that counts the number of hypotheses that adopt each track included in the integrated track group, and the count value of the adoption number counting unit is used as the validity evaluation value. It is characterized by the following.

According to a third aspect of the present invention, there is provided a target tracking device, comprising:
The evaluation value calculation unit includes a reliability calculation unit that calculates the reliability of each track included in the integrated track group,
The reliability is used as the effectiveness evaluation value.

According to a fourth aspect of the present invention, there is provided a target tracking apparatus comprising:
The evaluation value calculating means counts the number of hypotheses adopting each track included in the integrated track group, and a reliability count for calculating the reliability of each track included in the integrated track group. Calculating means, when the difference in reliability between a plurality of hypotheses employing respective tracks included in the integrated track group is equal to or less than a predetermined value, the count value of the adopted number counting means as the validity evaluation value, On the other hand, when a difference in reliability between a plurality of hypotheses that employ respective tracks included in the integrated track group exceeds a predetermined value, an effectiveness evaluation using the value calculated by the reliability calculation means as the effectiveness evaluation value Value selection means;
It is characterized by having.

According to a fifth aspect of the present invention, there is provided a target tracking device, comprising:
The reliability calculating means includes a cumulative value calculating means for calculating a cumulative value of reliability of a hypothesis adopting each track included in the integrated track group, and the calculated value of the cumulative value calculating means is used as the reliability of the track. Degree.

According to a sixth aspect of the present invention, there is provided a tracking target display method, comprising: a hypothesis generation step of generating a plurality of hypotheses relating to a wake of a target based on observation data relating to a position of the target; and a trajectory included in the plurality of hypotheses. An integrated track group forming step of extracting a similar track from among the integrated track groups to form an integrated track group; an evaluation value calculating step of calculating an effectiveness evaluation value of each track included in the integrated track group; An integrated track selection step of selecting a track having the highest validity evaluation value from among a plurality of tracks included in the group as an integrated track, and displaying the integrated track as a representative of the plurality of tracks included in the integrated track group Track display step,
It is characterized by having.

According to a seventh aspect of the present invention, in the tracking target display method, the evaluation value calculating step includes an adopted number counting step of counting the number of hypotheses adopting each track included in the integrated track group. It is characterized in that a count value in the employed number counting step is set as the effectiveness evaluation value.

[0033] In the tracking target display method according to claim 8 of the present invention, the evaluation value calculating step includes a reliability calculating step of calculating the reliability of each track included in the integrated track group. Is used as the effectiveness evaluation value.

According to a ninth aspect of the present invention, in the tracking target display method, the evaluation value calculating step counts the number of hypotheses that adopt the respective tracks included in the integrated track group. A reliability calculating step of calculating the reliability of each track included in the integrated track group, and a difference in reliability between a plurality of hypotheses employing the respective tracks included in the integrated track group is equal to or less than a predetermined value. The count value of the adopted number counting step is used as the validity evaluation value.On the other hand, when the difference in the reliability between a plurality of hypotheses that adopt the respective tracks included in the integrated track group exceeds a predetermined value, the reliability is evaluated. And selecting an effectiveness evaluation value using the calculated value of the degree calculation step as the effectiveness evaluation value.

According to a tenth aspect of the present invention, in the tracking target display method, the reliability calculating step calculates a cumulative value of reliability of a hypothesis that adopts each track included in the integrated track group. A step of calculating the cumulative value in the cumulative value calculation step as the reliability of the track.

[0036]

Embodiments of the present invention will be described below with reference to the drawings. In the drawings, common elements are denoted by the same reference numerals, and redundant description is omitted or simplified.

Embodiment 1 FIG. 1 shows a block diagram of a target tracking device 44 according to the first embodiment of the present invention. In the target tracking device 44 of the present embodiment, the target observation device 11,
Observation vector selection unit 12, cluster new integration unit 14, in-gate decision matrix calculation unit 26, wake correlation matrix calculation unit 30,
The hypothesis updating unit 34, the gate calculation unit 36, the hypothesis reduction unit 38, and the target display device 42 function in the same manner as the conventional target tracking device 44.

In the target tracking device 44 of the present embodiment, the intra-system cluster table 13, the intra-cluster observation vector table 16, and the intra-cluster hypothesis situation data group 18
Stores the same information as in the case of the conventional target tracking device 44. Further, in the target tracking device 44, the in-gate judgment matrix 28 and the wake correlation matrix 32 are matrices calculated according to the same rules as in the case of the conventional target tracking device 10.

The target tracking device 44 of the present embodiment includes a display track determination unit 46. The display track determination unit 46 performs a process of determining a track to be displayed on the target display device 42 based on the information of the intra-cluster hypothesis situation data group 18. In the target tracking device 42, the display track determination unit 46 extracts a valid track from a plurality of hypotheses stored in the intra-cluster hypothesis status data group 18 and sets the track as a target track.
The feature is that when there are a plurality of similar tracks in a plurality of hypotheses, the most appropriate one is extracted as a target track.

FIG. 2 shows a flowchart of a series of processes executed in the display track determination section 46 to realize the above functions. The routine shown in FIG. 2 is started each time the updating of the hypothesis corresponding to each sampling time ends. When the routine shown in FIG. 2 is started, first, the process of step 48 is executed.

In step 48, a plurality of tracks that are considered to be similar are extracted based on the information in the intra-cluster track-observation vector table 24. Hereinafter, the group of wakes extracted by the process of step 48 will be referred to as an integrated wake group.

In step 50, "1" is assigned to the track number k specifying the track to be processed in the current processing cycle.
Is set.

In step 52, the count value Ck of the employed number counter is reset to "0". The track counter is a counter for counting the number of hypotheses in which the track with track number k is adopted.

In step 54, "1" is assigned to the hypothesis number m specifying the hypothesis to be processed in the current processing cycle.
Is set.

In step 56, it is determined whether or not the hypothesis with the hypothesis number m includes the wake with the wake number k. As a result, when it is determined that the wake of the wake number k is included in the hypothesis of the hypothesis number m, the process of step 58 is executed next. On the other hand, if it is determined that the above condition is not satisfied, step 58 is jumped, and then step 6
0 is executed.

In step 58, a process for incrementing the count value Ck of the employed number counter is executed. According to the above process, the number of hypotheses that adopt the track with track number k is properly counted in the adoption number counter.

At step 60, it is determined whether or not the total number of hypotheses registered at present is larger than the hypothesis number m of the hypothesis that has been processed in the current processing cycle.
When it is determined that the above condition is satisfied, it can be determined that there is a hypothesis that has not yet been processed. In this case, the process of step 62 is executed next.

At step 62, a process for incrementing the hypothesis number m is executed. When the process of step 62 is completed, the process of step 56 is executed again. Thereafter, until the total number of hypotheses is determined to be not greater than the hypothesis number m in the above-mentioned step 60, the above-mentioned steps 56 to 62 are sequentially exchanged while changing the hypotheses to be processed.
Is performed.

By repeating the above processing, the above-described step 56 is performed for all the hypotheses registered at present.
Is performed, it is determined in step 60 that the total number of hypotheses is not larger than the hypothesis number m. In this case, the process of step 64 is executed after step 60.

In step 64, it is determined whether or not the total number of tracks currently registered is larger than the track number k of the track to be processed in the current processing cycle.
When it is determined that the above condition is satisfied, it can be determined that there is a wake that has not yet been processed. In this case, the process of step 66 is executed next.

In step 66, a process of incrementing the track number k is executed. When the process of step 66 is completed, the process of step 52 is executed again. Thereafter, until it is determined in step 64 that the total number of tracks is not large compared to the track number k, the tracks to be processed are sequentially exchanged while the steps 52 to 66 are sequentially changed.
Is performed.

By repeating the above-described processing, the above-described step 52 is performed for all currently registered tracks.
When the processes of to 62 are executed, it is determined in step 64 that the total number of wakes is not larger than the wake number k. In this case, the process of step 68 is executed after step 64.

In step 68, the track having the largest count value Ck of the adoption counter, that is, the track adopted in the largest number of hypotheses, is selected as the integrated track representing the integrated track group.

In step 70, the integrated track group other than the integrated track is deleted from the display track table stored in the display track determination unit 46.

In step 72, a process of outputting the contents of the display wake table to the target display device 42 as a result of the target tracking process is executed. When the above process ends, a series of processes illustrated in FIG. 2 ends.

FIG. 3 shows an example of a chart showing the relationship between two tracks forming the same integrated track group and a hypothesis that employs those tracks. In the situation illustrated in FIG. 3, wake 1 is included in the hypothesis of hypothesis number 1. On the other hand, wake 2
Are included in the hypotheses of hypothesis numbers 2 to 4. In the case shown in FIG. 3, each of the four hypotheses has equal reliability.

When a plurality of tracks are included in a plurality of hypotheses having the same reliability, the tracks included in more hypotheses are
It can be determined that the wake has higher reality than other wakes. Therefore, when the relationship shown in FIG. 3 is established, it is considered that the wake 2 has higher reality than the wake 1.

When the relationship shown in FIG. 3 is established, the wake 2 is selected as the integrated wake according to the series of processes shown in FIG. Therefore, in this case, only the track 2 is displayed on the display of the target display device 42 as a representative of those two tracks. As described above, according to the target tracking device 44 of the present embodiment, when extracting and displaying valid trajectories from a plurality of hypotheses, when there are a plurality of similar trajectories, the most appropriate Such tracks, that is, tracks included in more hypotheses, can be displayed on the display as a representative of the integrated track group. Therefore, according to the target tracking device 44 of the present embodiment, it is possible to appropriately display a proper wake to the user while securing good visibility.

Second Embodiment Next, a second embodiment of the present invention will be described with reference to FIGS. The target tracking device according to the present embodiment is realized by causing the display track determination unit 46 to execute a series of processes shown in FIG. 4 instead of the series of processes shown in FIG. 2 in the system configuration shown in FIG. Is done.

FIG. 4 is a flowchart showing a series of processes executed by the display track determining unit 46 to determine the track to be displayed to the user in the target tracking device according to the second embodiment of the present invention. The routine shown in FIG. 4 is started every time the updating of the hypothesis corresponding to each sampling time ends, similarly to the routine shown in FIG. Note that among the steps shown in FIG. 4, those that execute the same processing as the steps shown in FIG. 2 are given the same reference numerals, and descriptions thereof will be omitted or simplified.

In the series of processing shown in FIG. 4, the processing of step 74 is executed following the processing of steps 48 and 50. In step 74, a process of resetting the reliability θk of the track with the track number k to “0” is executed.

In the series of processing shown in FIG.
If it is determined in step 56 that the track with track number k is included in the hypothesis with hypothesis number m, the process of step 76 is executed. In step 76, the reliability θk of the track having the track number k is calculated. In this step 76, specifically, the latest reliability θk calculated before the previous processing cycle includes the hypothesis (hypothesis number m) determined to include the track of track number k in the current processing cycle. By adding the reliability Xm, a process of updating the reliability θk of the track with the track number k is executed.

The processing in step 76 is performed in step 60
Are repeated until the above condition is satisfied, that is, until the desired processing is executed for all the hypotheses. As a result, when the desired processing is completed for all the hypotheses, the reliability of the track having track number k represented by the following equation 1 is obtained.
k is calculated. In the equation 1, M is the track number k.
Is the total number of hypotheses including the wake of Xi (i = 1,2, ...
M) is the confidence of those hypotheses.

[0064]

(Equation 1)

In the series of processing shown in FIG. 4, in step 64, the total number of tracks is not larger than the track number k of the track to be processed, that is, the desired processing is performed for all tracks. After it is determined that the process has been completed, the process of step 78 is performed.

At step 78, the track having the highest reliability θk is selected as the integrated track representing the integrated track group. Thereafter, by executing the processing of steps 70 and 72, the integrated track is output to the target display device 42, and then a series of the current processing ends.

FIG. 5 shows an example of a chart showing the relationship between two tracks constituting the same integrated track group and a hypothesis adopting those tracks. In the situation illustrated in FIG. 5, wake 1 is included in the hypothesis of hypothesis number 1. The hypothesis of hypothesis number 1 has a reliability of 0.1. On the other hand, track 2 is included in the hypotheses of hypothesis numbers 2 to 4. The hypotheses of hypothesis numbers 2 to 4 each have a reliability of 0.01.

When a plurality of tracks are included in a plurality of hypotheses having different reliability, the track included in the hypothesis having a higher reliability has higher reality than other tracks. Can be determined. Therefore, when the relationship shown in FIG. 5 is established, it is considered that the track 1 has higher reality than the track 2.

When the relationship shown in FIG. 5 is established, according to the series of processes shown in FIG.
Calculated as 0.03. On the other hand, the reliability θ2 of the track 2 is calculated as 0.1. As a result, according to the series of processes shown in FIG.
Only track 1 is displayed as a representative of the two tracks.

As described above, according to the system of the present embodiment, when a valid wake is extracted from a plurality of hypotheses and displayed on the target display device 44, a similar wake is extracted from a plurality of trajectories having reliability. The most appropriate track among them, that is, the track determined to be the most reliable, can be displayed on the display as a representative of the integrated track group. Therefore, according to the target tracking device 44 of the present embodiment, an appropriate wake can be appropriately displayed to the user while ensuring good visibility.

In the above embodiment, the validity of the tracks included in the integrated track group is determined by the number of hypotheses adopting each track (Embodiment 1) and the reliability of each track (implementation). However, the present invention is not limited to this. That is, a method of determining the validity of a wake based on the number of hypotheses that adopt the wake is particularly effective when the difference in reliability between the hypotheses is small. On the other hand, a method of judging the validity of a wake based on its reliability is particularly effective when there is a large difference in reliability between hypotheses.

For this reason, the effectiveness of the wake may be evaluated by combining these two determination methods. Specifically, if there is a difference in the reliability exceeding a predetermined value between a plurality of hypotheses that adopt the track, the effectiveness of the track is evaluated based on the number of hypotheses that adopt the track, If the difference in the reliability between the hypotheses is equal to or smaller than a predetermined value, the validity of the track may be evaluated based on the reliability of the track.

[0073]

Since the present invention is configured as described above, it has the following effects. Claim 1
According to the invention described in the sixth aspect, since an effective wake is extracted from a plurality of hypotheses and used as a target wake, an appropriate display can be performed for a user. Further, according to the present invention, when there are a plurality of similar tracks, only the track having the highest validity among them is displayed, thereby realizing excellent visibility while maintaining the validity of the displayed contents. can do.

According to the second or seventh aspect of the present invention, the validity of a track included in the integrated track group can be evaluated based on the number of hypotheses that adopt the track. If the track is highly effective, it is adopted in a number of hypotheses. Therefore, according to the method of the present invention, it is possible to accurately evaluate the validity of each track included in the integrated track group.

According to the third or eighth aspect of the present invention, the effectiveness of the tracks included in the integrated track group can be evaluated based on the reliability of the tracks. If the wake is highly effective, it has a high degree of confidence. Therefore, according to the method of the present invention, it is possible to accurately evaluate the validity of each track included in the integrated track group.

According to the fourth or ninth aspect of the present invention, when there is no large difference between the reliability of a plurality of hypotheses employing the tracks included in the integrated track group, the effectiveness of the track is determined by using the track. Is evaluated based on the number of hypotheses to be made. When there is no large difference in the reliability between the hypotheses, the validity of the wake can be accurately evaluated by the above method. Further, according to the present invention, if there is a large difference in the reliability of a plurality of hypotheses that employ the tracks included in the integrated track group, the validity of the tracks,
It can be evaluated based on the reliability of the wake. When there is a large difference in the reliability between the hypotheses, the validity of the wake can be accurately determined by the above method. Therefore, according to the present invention, the validity of a wake can always be accurately evaluated regardless of the degree of reliability between hypotheses.

According to the fifth or tenth aspect of the present invention,
The reliability of a track can be calculated as a cumulative value of the reliability of a hypothesis that adopts the track. According to the above-described method, the reliability of the track becomes higher as the track is more frequently adopted in a hypothesis having a higher reliability. Therefore, according to the present invention, it is possible to calculate an appropriate reliability for each track.

[Brief description of the drawings]

FIG. 1 is a block diagram of a target tracking device according to Embodiments 1 and 2 of the present invention.

FIG. 2 is a flowchart showing the contents of a series of processes executed in a display track determination unit provided in the target tracking device according to the first embodiment of the present invention.

FIG. 3 is a table illustrating an example of a relationship between two wakes to be processed in the target tracking device according to the first embodiment of the present invention and a hypothesis including the wakes;

FIG. 4 is a flowchart showing the contents of a series of processes executed in a display track determination unit provided in the target tracking device according to the second embodiment of the present invention.

FIG. 5 is a chart showing an example of a relationship between two tracks to be processed in a target tracking device according to a second embodiment of the present invention and hypotheses including the two tracks.

FIG. 6 is a block diagram of a conventional target tracking device.

FIG. 7 is a diagram illustrating two wakes employing the same observation data.

[Explanation of symbols]

12 Observation vector selection unit, 14 New cluster
Integrator, 26 In-gate decision matrix calculator, 30
Track correlation matrix calculator, 34 hypothesis updater, 10
Intra-cluster hypothesis status data group, 44 target tracker, 46 display track determination unit.

Claims (10)

[Claims] 1. A hypothesis generating means for generating a plurality of hypotheses regarding a wake of a target based on observation data on a position of a target, and extracting a similar wake from the wakes included in the plurality of hypotheses to obtain an integrated wake. Integrated track group forming means for forming a group; evaluation value calculating means for calculating the validity evaluation value of each track included in the integrated track group; and the validity of a plurality of tracks included in the integrated track group Integrated track selection means for selecting a track having the highest evaluation value as an integrated track; and track display means for displaying the integrated track as a representative of a plurality of tracks included in the integrated track group. Target tracking device. 2. The evaluation value calculating means includes an adopted number counting means for counting the number of hypotheses adopting respective tracks included in the integrated track group, and the evaluation value calculated by the adopted number counting means is used as the validity. 2. The target tracking device according to claim 1, wherein the target tracking device is an evaluation value. 3. The evaluation value calculation means includes reliability calculation means for calculating reliability of each track included in the integrated track group, and the reliability is used as the validity evaluation value. The target tracking device according to claim 1, wherein 4. An evaluation value calculating means for counting the number of hypotheses adopting respective tracks included in the integrated track group, and a reliability of each track included in the integrated track group. A reliability calculating means for calculating the number of adopted tracks when the difference in reliability between a plurality of hypotheses employing respective tracks included in the integrated track group is equal to or less than a predetermined value. A reliability evaluation value, and when the difference in reliability between a plurality of hypotheses that employ respective tracks included in the integrated track group exceeds a predetermined value, the calculated value of the reliability calculation means is used as the validity evaluation value. 2. The target tracking apparatus according to claim 1, further comprising: an effectiveness evaluation value selecting unit. 5. The cumulative value calculating means includes a cumulative value calculating means for calculating a cumulative value of reliability of a hypothesis adopting each track included in the integrated track group. 5. The target tracking device according to claim 3, wherein the following is the reliability of the wake. 6. A hypothesis generation step of generating a plurality of hypotheses about a wake of a target based on observation data on a position of the target, and extracting a similar wake from the wakes included in the plurality of hypotheses to obtain an integrated wake. An integrated track group forming step of forming a group; an evaluation value calculating step of calculating an effectiveness evaluation value of each track included in the integrated track group; and the validity of a plurality of tracks included in the integrated track group An integrated track selection step of selecting a track having the highest evaluation value as an integrated track; and a track display step of displaying the integrated track as a representative of a plurality of tracks included in the integrated track group. Tracking target display method. 7. The evaluation value calculating step includes an adoption number counting step of counting the number of hypotheses that adopt each of the tracks included in the integrated track group. 7. The tracking target display method according to claim 6, wherein the tracking target display method is an evaluation value. 8. The evaluation value calculating step includes a reliability calculating step of calculating the reliability of each track included in the integrated track group, wherein the reliability is used as the validity evaluation value. 7. The tracking target display method according to claim 6, wherein: 9. The evaluation value calculating step, wherein an adopted number counting step of counting the number of hypotheses adopting respective tracks included in the integrated track group, a reliability of each track included in the integrated track group, A reliability calculation step of calculating the number of employments, and when the difference in reliability between a plurality of hypotheses adopting the respective tracks included in the integrated track group is equal to or less than a predetermined value, the count value of the adoption number counting step is set to the validity. Sex evaluation value,
On the other hand, when the difference in reliability between a plurality of hypotheses that employ the respective tracks included in the integrated track group exceeds a predetermined value, an effectiveness evaluation using the calculated value of the reliability calculation step as the effectiveness evaluation value The tracking target display method according to claim 6, further comprising: a value selecting step. 10. The reliability calculating step includes a cumulative value calculating step of calculating a cumulative value of reliability of a hypothesis adopting each track included in the integrated track group, and calculating the cumulative value of the cumulative value calculating step. 10. The tracking target display method according to claim 8, wherein is the reliability of the wake.