WO2017138119A1 - Target tracking device - Google Patents

Target tracking device

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Publication number
WO2017138119A1
WO2017138119A1 PCT/JP2016/053987 JP2016053987W WO2017138119A1 WO 2017138119 A1 WO2017138119 A1 WO 2017138119A1 JP 2016053987 W JP2016053987 W JP 2016053987W WO 2017138119 A1 WO2017138119 A1 WO 2017138119A1
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WO
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Patent type
Prior art keywords
track
turning
unit
target
fusion
Prior art date
Application number
PCT/JP2016/053987
Other languages
French (fr)
Japanese (ja)
Inventor
佑樹 高林
系 正義
和弘 青山
小幡 康
Original Assignee
三菱電機株式会社
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66Radar-tracking systems; Analogous systems where the wavelength or the kind of wave is irrelevant
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G9/00Traffic control systems for craft where the kind of craft is irrelevant or unspecified

Abstract

This target tracking device is provided with a turning determination unit (17) for determining whether a target is turning on the basis of time series data for a sensor observation value and a transmission determination unit (19) for determining whether to transmit a partial track estimated by a tracking processing unit (12) on the basis of the time difference between the time of the partial track estimated by the tracking processing unit (12) and the time of a combined track stored in a combined track storage unit (18) and the determination result of the turning determination unit (17). When the determination result of the transmission determination unit (19) indicates that the partial track is to be transmitted, a transmission and reception unit (20) transmits the partial track to other target tracking devices (1-M).

Description

Target tracking devices

The present invention relates to target tracking device for estimating a wake including information on the position of the target from the observed value of the sensor.

Estimating a wake indicating the position and speed at the target at the present time from the observed value of the sensor, via the network, while transmitting the wake to another target tracking device, network wake transmitted from another target tracking device includes a reception processing unit for receiving via, by fusing the transmitted trajectory from itself track and another target tracking device estimated, patent documents target tracking device is less to produce a highly accurate fusion track It is disclosed in 1.
In this target tracking device, in order to reduce the communication capacity of the network, to fuse the track itself are estimated fused track, it is determined whether the error of the fusion track can be largely reduced, the fusion track only if it is determined that the error can be greatly reduced, so that to send a wake itself are estimated to another target tracking device.

JP 2010-281782 JP

Since the conventional target tracking device is constructed as described above, by lowering the transmission frequency of track itself are estimated, it is possible to reduce the communication capacity of the network. However, when determining whether to transmit a wake itself are estimated, it does not take into account the state of motion of the target, even if the target is performing a turning motion, be thus lowering the transmission frequency of the track is there. When the target is performing a turning motion and thus lower the transmission frequency of track, a lack of data amount of track, there is a problem that the tracking accuracy of the target vehicle is turning is sometimes degraded It was.

The present invention has been made to solve the above problems, while ensuring the tracking accuracy of the target is turning, and to obtain a target tracking device capable of reducing the communication capacity.

Target tracking apparatus according to the present invention, the time-series data of observation value which indicates the position of the target output from the sensor, and the tracking processing unit for estimating the partial track containing information on the position of the target, the time-series data of observation value fusion from the determining turning decision unit whether the target is turning, the fusion track storage unit that stores a fusion track containing information on the position of the target, the time of the estimated partial track by the tracking processing unit and time difference between the time of the fusion track stored in the track storage unit, and a determination result of the turning decision unit, and determines the transmission determining unit whether to transmit the partial track estimated by the tracking processing unit, transmission If the determination result of the determination unit indicates that it will send a partial track, and a transceiver that sends the partial track to another target tracking device, receives a portion wake transmitted from another target tracking device provided, and track fusion portion is sent Using the transmission or reception portions track by Shin section, in which so as to update the fusion track stored in the fusion track storage unit.

According to the present invention and determining turning decision unit whether the target from the time-series data of observation value is rotating, it is stored in the time and the fusion track storage unit of the estimated partial track by the tracking processing unit and time difference between the time of the fusion track, and a determination result of the turning decision unit, and determining transmission determination unit is provided whether or not to transmit a partial track estimated by the tracking processing unit, receiving unit, the transmission determining unit If the determination result indicates that the transmitting portions wake, since it is configured to transmit the portion wake to another target tracking device, while ensuring the tracking accuracy of the target is turning, the communication capacity there is an effect that can be reduced.

Is a block diagram showing a target tracking apparatus according to a first embodiment of the present invention. It is a hardware configuration diagram of a target tracking apparatus according to a first embodiment of the present invention. It is a hardware configuration diagram of the computer when the target tracking device is realized by a software or firmware. Is a block diagram showing a turning decision unit 17 of the target tracking apparatus according to a first embodiment of the present invention. Is a block diagram illustrating the turning start determination processing unit 71 of the turning decision unit 17. Is a block diagram showing a turning termination determination processing unit 73 of the turning decision unit 17. It is a block diagram showing a turning level calculation processing section 75 of the turning decision unit 17. Is a block diagram showing a transmission determination unit 19 of the target tracking apparatus according to a first embodiment of the present invention. Is a flow chart illustrating processes of turning start determination processing unit 71. Is a flowchart showing the contents of the turning termination determination processing unit 73. Is a flowchart showing the contents of the threshold determination processing unit 73h. It is an explanatory diagram showing a transmission determining concept in the transmission determination unit 19. And time variation of the fusion track error in turning and before rotation is a conceptual diagram showing a transmission frequency portion wake. Temporal change of the fusion track error in turning and before rotation of the case of not using the transmission threshold is a conceptual diagram showing a transmission frequency portion wake. It is a block diagram showing a target tracking device according to a second embodiment of the present invention. It is a hardware configuration diagram of a target tracking device according to a second embodiment of the present invention. It is a block diagram showing a turning decision unit 17 of the target tracking device according to a second embodiment of the present invention. Is a block diagram illustrating the turning start determination processing unit 71 of the turning decision unit 17. Is a block diagram showing a turning termination determination processing unit 73 of the turning decision unit 17. Is a flowchart showing the processing contents of the flag updating unit 101. Is a flowchart showing the contents of the erroneous determination releasing process unit 103. Is a flowchart showing the contents of the turning termination determination processing unit 73. Is a flowchart showing the contents of the threshold determination processing unit 73h.

Hereinafter, in order to explain this invention in greater detail, the embodiments of the present invention will be described with reference to the accompanying drawings.

The first embodiment.
Figure 1 is a block diagram showing a target tracking device according to the first embodiment of the invention, FIG. 2 is a hardware configuration diagram of a target tracking apparatus according to a first embodiment of the present invention.
In Figure 1, M (M is an integer of 2 or more) stage of the target tracking device 1-1 ~ 1-M indicates an example that is connected to the network 2. Internal structure of the target tracking device 1-1 ~ 1-M are identical.
1 and 2, the sensor 11, for example, radar, optical camera, such as an infrared camera is assumed, the sensor 11 observes the position of the target to be observed, the sensor observation is an observation value at that position and outputs the value to the tracking processing unit 12.
In Figure 1, the target tracking device 1-1 ~ 1-M indicates an example that implements the sensor 11, the sensor 11 is provided on the outside of the target tracking device 1-1 ~ 1-M it may be.

Tracking processing unit 12 is a sensor track storage unit 13, the sensor tracking processing unit 14 includes a partial track storage unit 15 and the re-tracking processing unit 16, from the time series data of the sensor observations output from the sensor 11, targets of as part track containing information on the position, for example, carries out a process of estimating the partial track having a state vector including position and velocity at the target of the current.
Sensor track storage unit 13 is intended to be implemented by the storage processing circuit 41 in FIG. 2, for example, it stores a goal the correlated sensor observation value is estimated sensor track and the sensor observations by the sensor tracking processing unit 14.

Sensor tracking processing unit 14 is intended to be implemented by the sensor tracking processing circuit 42 in FIG. 2, for example, a position indicated sensor observation value output from the sensor 11, the sensor track stored in the sensor track storage unit 13 a position indicated by the implementing process of determining whether or not correlated.
The storage, when the sensor tracking processing unit 14 determines that the position indicated by the position sensor track indicated by the sensor observations are correlated, the sensor track storage unit 13 and the sensor observations as target the correlated sensor observations as well as to perform the process of outputting the target the correlated sensor observations to the re-tracking processing unit 16 and the turning decision unit 17.
Furthermore, the sensor tracking processing unit 14 has a state vector from its target the correlated sensor observations and past target the correlated sensor observations stored in the sensor track storage unit 13, such as the position and velocity at the target at the present time estimating a sensor track, the sensor track stored in the sensor track storage unit 13, and carries out a process of replacing the sensor track that the estimation.

Partial track storage unit 15 is intended to be implemented by the storage processing circuit 41 in FIG. 2, for example, stores a goal the correlated sensor observations are partial track and the sensor observations estimated by re-tracking processing unit 16 .
Re tracking processing unit 16 is intended to be implemented by the re-tracking processing circuit 43 in FIG. 2, for example, a position indicated by the target the correlated sensor observations output from the sensor tracking processing unit 14, stored in the partial track storage section 15 It has been the position indicated by the partial track has to practice the process of determining whether or not correlated.
Further, when the position is re-tracking processing unit 16 indicated by the position sensor track indicated by the target the correlated sensor observations output from the sensor tracking processing unit 14 is determined to be correlated, the goal the correlated sensor observations state of the stores in the partial track storage unit 15, from its target the correlated sensor observations and partial track storage unit past target the correlated sensor observations stored in 15, such as the position and velocity at the target at the present time It carries out a process of estimating the partial track having a vector.
Furthermore, the partial track is re-tracking processing unit 16 stored in the partial track storage unit 15, it is replaced with its estimated partial track, with respect to the estimated portion track, a determination result of the turning decision unit 17 target and turning flag showing the pivoting whether adds the turning level indicating the degree of goal pivot, and carries out a process of outputting the partial track with turning flag and the turning level to the transmission determining unit 19.

Turning decision unit 17 is intended to be realized by the turning decision processing circuit 44 in FIG. 2, for example, from the time series data of the target the correlated sensor observations output from the sensor tracking processing unit 14, whether the target is turning not or it determines, as the determination result, and carries out a process of outputting the turning flag showing the pivoting presence of target re tracking processing unit 16.
Fusion track storage unit 18 is intended to be implemented by the storage processing circuit 41 in FIG. 2, for example, as a fusion track containing information on the position of the target, and stores the fusion track estimated by the track fusion part 21.

Transmission determination unit 19 is intended to be implemented by the transmission determination process circuit 45 of FIG. 2, for example, storage time of turning flag and the partial track with pivot level outputted from the re-tracking processing section 16 and the fusion track storage unit 18 and time difference between has been that the time of the fusion track, and a turning flag that are assigned to that part wake, out the process of determining whether to transmit the partial track with its turning flag and the turning level.
At this time, the transmission determining unit 19, the turning flag is attached to that portion wake is than if shows that the target is not turning, better when shows that the target is turning , to increase the frequency to issue a determination result indicating that transmits the partial track with its turning flag and the turning level.

Transceiver 20 is intended to be realized by the transmission and reception processing circuit 46 in FIG. 2, for example, when the determination result of the transmission determining unit 19 indicates the effect of transmitting a part track with a turning flag and the turning level, the network 2 through, it transmits a part track with a turning flag and the turning level to another target tracking device 1-M, and carries out a process of outputting the partial track to track fusion part 21.
The transmitting and receiving unit 20 via the network 2, upon receiving the partial track transmitted from another target tracking device 1-M, and carries out a process of outputting the partial track to track fusion part 21.

Track fusion portion 21 is provided with a correlation determination unit 22 and the fusion tracking processing unit 23, using the partial track with turning flag and the turning level outputted from the transmitting and receiving unit 20, is stored in the fusion track storage unit 18 to implement the process of updating the fusion track.
Correlation determination unit 22 is intended to be implemented by the correlation determination processing circuit 47 in FIG. 2, for example, stored in the position and the fusion track storage unit 18 indicated by the turning flag and the partial track with pivot level output from the transceiver 20 showing that the fusion track is positioned to practice the process of determining whether or not correlated.
Fusion tracking processing unit 23 is intended to be realized by fusion tracking processing circuit 48 in FIG. 2, for example, when it is determined that the correlation by the correlation determination unit 22, turning flag and the turning level is output from the transceiver 20 from per part track fused track storage unit 18 in the stored fused track, estimates the fusion track having a state vector including position and velocity at the target at the present time, the fusion track stored in the fusion track storage unit 18 and it carries out a process of replacing the fusion track that the estimation.
Further, if the fusion tracking processing unit 23 is determined not to be correlated by the correlation determination unit 22, the fusion track storage unit 18 the part track with a turning flag and the turning level output from the transceiver 20 as a new fusion track to implement the process of recording to.

The display processing unit 24 is intended to be implemented by the display processing circuit 49 of FIG. 2, for example, a fusion tracking fusion track or estimated by the processing unit 23, turning flag it is determined to be correlated by the correlation determination unit 22, and such portions track with pivot levels to implement the process of displaying on a display or the like.

In Figure 1, the sensor 11 is a component of a target tracking device, the sensor track storage unit 13, the sensor tracking processing unit 14, partial track storage unit 15, re-tracking processing unit 16, the turning determination section 17, the fusion track storage unit 18, transmission determination unit 19, transceiver 20, each of the correlation determination unit 22, a fusion tracking processing unit 23 and the display processing unit 24, a dedicated hardware as shown in FIG. 2, i.e., the storage processing circuit 41, the sensor tracking processing circuit 42, re-tracking processing circuit 43, turning decision processing circuit 44, the transmission determination processing circuit 45, transmission and reception processing circuit 46, the correlation determination processing circuit 47, on the assumption that achieved by fusion tracking processing circuit 48 and the display processing circuit 49 there.
Here, the storage processing circuit 41, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), a non-volatile, such as EEPROM (Electrically Erasable Programmable Read Only Memory) or volatile semiconductor memory or a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile disc) corresponds.
The sensor tracking processing circuit 42, re-tracking processing circuit 43, turning decision processing circuit 44, the transmission determination processing circuit 45, transmission and reception processing circuit 46, the correlation determination processing circuit 47, a fusion tracking processing circuit 48 and the display processing circuit 49, for example, single circuit, the composite circuit, programmed with the processor, the parallel programmed by processor, ASIC (Application Specific Integrated circuit), FPGA (Field-programmable Gate Array), or a combination of these are true.

Further, not limited to those components of the target tracking device can be realized by dedicated hardware, target tracking device software, firmware, or may be one which is realized by a combination of software and firmware .
Software or firmware as a program stored in the memory of the computer. Computer means hardware that executes the program, for example, CPU (Central Processing Unit), a central processing unit, processor, computing device, a microprocessor, a microcomputer, a processor, a DSP (Digital Signal Processor) corresponds .
Figure 3 is a hardware configuration diagram of the computer when the target tracking device is realized by a software or firmware.
If the target tracking device is realized by a software or firmware, the sensor track storage unit 13, together constituting a part track storage unit 15 and the fusion track storage unit 18 in the memory 61 of the computer, the sensor tracking processing unit 14, re-tracking processing unit 16, the turning determination section 17, the transmission determining unit 19, transceiver 20, and stores a program for executing correlation determination unit 22, a processing procedure of fusion tracking processing unit 23 and the display processing unit 24 to the computer memory 61 , the processor 62 of the computer may be to execute a program stored in the memory 61.

Further, an example in which each of the components of FIG 2 target tracking device can be realized by dedicated hardware, in FIG. 3, the target tracking device is an example that is implemented by a software or firmware, the target some of the components is realized by dedicated hardware in the tracking device, or may be the remaining components are realized by a software or firmware.
For example, the sensor 11, the transceiver 20 and the display processing unit 24 is realized by dedicated hardware, the sensor track storage unit 13, the sensor tracking processing unit 14, partial track storage unit 15, re-tracking processing unit 16, the turning determination section 17 the fusion track storage unit 18, the transmission determining unit 19, it is possible to realize the correlation determining unit 22 and the fusion tracking processing unit 23 with such software and firmware. However, the combination of such as a dedicated hardware and software is optional.

Figure 4 is a block diagram showing a turning decision unit 17 of the target tracking apparatus according to a first embodiment of the present invention.
4, the turning start determination processing unit 71 and the target the correlated sensor observations output from the sensor tracking processing unit 14, turning flag database (hereinafter, "turning flag DB") 72 of the turning of the target stored in the by using the turning flag indicating the presence or absence, and carried the turning start determination process of determining the start of turning, and updates the turning flag stored in the turning flag DB 72.
Turning flag DB72 is a memory for storing the turning flag indicating the presence or absence of rotation of the target. The initial value of the turning flag stored in the turning flag DB72 shall show a "non-orbiting".
Turning termination determination processing section 73 and the target the correlated sensor observations output from the sensor tracking processing unit 14, by using the turning flag stored in the turning flag DB 72, the turning termination determination processing to determine the end of the turning was performed, it updates the turning flag stored in the turning flag DB 72.

The turning flag output processing unit 74 carries out a process of outputting the turning flag stored in the turning flag DB72 to pivot the level calculation unit 75 and the re-tracking processing unit 16.
Turning level calculation processing unit 75 is turning flag output from the turning flag output processing unit 74, if the shows that the target is turning, the target the correlated sensor observations output from the sensor tracking processing unit 14 calculates a turning level indicating the degree of goal pivot, and carries out a process of outputting the turning level to re-tracking processing unit 16.

Figure 5 is a block diagram illustrating the turning start determination processing unit 71 of the turning decision unit 17.
5, the turning start determination observations database (hereinafter, referred to as "turning start determination observations DB") 71a is accumulated target the correlated sensor observations of past Nth samples output from the sensor tracking processing unit 14 a memory that.
Speed ​​database (hereinafter, referred to as "speed DB") 71b is a memory for storing the smoothed velocity past Nth samples.
Turning start determination smooth track database (hereinafter, referred to as "turning start determining smoothing wake DB") 71c is a memory for storing a smooth track of past Nth samples.

When the initialization processing unit 71d is turning flag is stored in the turning flag DB72 is "turning", turning start determination observations DB71a, speed DB71b and turning start decision for smoothing track DB71c accumulated data, i.e., the target correlation finished sensor observations, delete the smoothed velocity and smooth track, and ends the turning start decision processing. On the other hand, if the turning flag stored in the turning flag DB72 is "orbiting" permits the implementation of subsequent turning start determination process.
The linear track estimation processing section 71e on the target motion state is assumed to be uniform linear motion, for example, by using a linear least squares method and Kalman filter, it is accumulated in the turning start determination observations DB71a past from the target the correlated sensor observations of Nth samples, calculates the smoothed position and smoothed velocity of the target, and carries out a process of calculating the smoothing position error covariance matrix and smoothed velocity error covariance matrix.
Further, linear track estimation processing unit 71e stores the calculated smoothed speed to the speed DB71b.

Speed ​​re-smoothing processing section 71f on the target motion state is assumed to be uniform linear motion, for example, by using a linear least squares method and Kalman filter, the last Nth samples stored in the speed DB71b smooth from the speed, implementing and re-smoothed velocity, which is a re-smoothed velocity, a process of calculating the re-smoothed velocity error variance matrix.
The speed re-smoothing processing section 71f than to carry out the processing for replacing a linear trajectory estimation processing unit re-smoothed velocity and re smoothed velocity error variance matrix speed terms of the calculated smoothed speed and error covariance matrix by 71e calculating a smoothed track, and stores the smooth track in the turning start determination smooth track DB71c.

N step prediction processing unit 71g from the stored electrical past Nth samples smooth track in the turning start determination smooth track DB71c, carries out a process of calculating a predicted trajectory having a state vector including position and velocity at the target at the present time .
Mahalanobis square distance calculation processing section 71h is a position indicated by the predicted trajectory calculated by the N step prediction processing unit 71 g, and a target the correlated sensor observations indicate position output from the sensor tracking processing unit 14, its predicted trajectory It carries out a process of calculating a Mahalanobis squared distance between the position indicated by the position and the target the correlated sensor observations indicated.

Time direction smoothing unit 71i carries out a process of smoothing in the time direction the Mahalanobis square distance calculated by the Mahalanobis square distance calculation processing section 71h.
Threshold determination processing unit 71j compares the time direction smoothing unit smoothing Mahalanobis squared distance and pre-set threshold in the time direction by 71i, if the Mahalanobis squared distance is greater than the threshold value, the turning is started it is determined that, set to "pivot" the turning flag stored in the turning flag DB 72, if the Mahalanobis squared distance is equal to or less than the threshold value, it is determined that the turning is not started, stored in turning flag DB 72 by carrying out the process of maintaining the turning flag of "non-orbiting" are.

6 is a block diagram showing a turning termination determination processing unit 73 of the turning decision unit 17.
6, the turning end decision observations database (hereinafter, referred to as "turning termination determination observations DB") 73a is accumulated target the correlated sensor observations of past Nth samples output from the sensor tracking processing unit 14 a memory that.
Turning termination determination smooth track database (hereinafter, referred to as "turning termination determination smooth track DB") 73b is a memory for storing a smooth track of past Nth samples.
When the initialization processing unit 73c is turning flag is stored in the turning flag DB72 is "orbiting" turning termination determination observations DB73a and turning end decision smooth track DB73b accumulated data, i.e., the target the correlated sensor remove the observed value and smooth track, and ends the pivot end determination processing. On the other hand, if the turning flag stored in the turning flag DB72 is "turning", to allow implementation of the subsequent pivoting end determination processing.

On the track estimation processing unit 73d were assumed target motion state is uniformly accelerated motion, for example, by using a linear least squares method and Kalman filter, the past accumulated in the turning end decision smooth track DB73b Nth sample from the distribution of the target the correlated sensor observations, as the target of the smoothing track, the target of the smoothing position, calculates the smoothed velocity and smooth acceleration, the process of calculating the smoothing position error covariance matrix and smoothed velocity error covariance matrix carry out.
Further, the trajectory estimation unit 73d stores the calculated smoothed track to the turning end decision smooth track DB73b.

N step prediction processing unit 73e from the stored electrical past Nth samples smooth track in the turning end decision smooth track DB73b, carries out a process of calculating a predicted trajectory having a state vector including position and velocity at the target at the present time .
Mahalanobis square distance calculation processing section 73f is the position indicated by the predicted trajectory calculated by the N step prediction processing unit 73e, and a target the correlated sensor observations indicate position output from the sensor tracking processing unit 14, its predicted trajectory It carries out a process of calculating a Mahalanobis squared distance between the position indicated by the position and the target the correlated sensor observations indicated.

Time direction smoothing unit 73g carries out a process of smoothing in the time direction the Mahalanobis square distance calculated by the Mahalanobis square distance calculation processing section 73f.
Threshold determination processing unit 73h compares the time direction smoothing unit smoothing Mahalanobis squared distance and pre-set threshold in the time direction by 73 g, if the Mahalanobis squared distance is below the threshold, turning is finished it is determined that there is set to "non-orbiting" the turning flag stored in the turning flag DB 72, is greater than the Mahalanobis squared distance threshold, it is determined that not finished turning, the turning flag DB 72 It carries out a process to maintain the turning flag of stored "turning".

Here, the threshold determination processing unit 73h is an example of comparing the Mahalanobis square distance and a threshold value which is smoothed in the time direction, the threshold determination processing unit 73h is a Mahalanobis squared distance smoothed at the current time, before calculating a difference value between the smoothed Mahalanobis squared distance at time, that the difference value becomes large than a threshold number of the negative, the turning may be determined to be terminated.
In this case, the difference value counter database for storing the number of times that the difference value is negative comprises a (hereinafter, referred to as "difference value counter DB") 73i, the number of threshold determination processing unit 73h is stored in the difference value counter DB73i Update.

Figure 7 is a block diagram showing a turning level calculation processing section 75 of the turning decision unit 17.
7, if the initialization processing unit 75a a turning flag turning flag is output from the output processing section 74 is "non-orbiting", turning level calculation observations database (hereinafter, "the turning level calculating observed value DB" referred to as) by striking target the correlated sensor observations stored in 75b, if the turning flag is "turning", for turning level calculation target the correlated sensor observations output from the sensor tracking processing unit 14 It carries out a process of storing the observations DB75b.
Turning level calculating observed value DB75b is a memory for storing the target the correlated sensor observations output from the sensor tracking processing unit 14.
Orbiting estimation processing unit 75c is on the assumption that the target state of motion is uniformly accelerated motion, for example, using a linear least squares method and Kalman filter, target correlation accumulated in the turning level calculating observed value DB75b requires calculated from sensor observations acceleration of the target, by converting the acceleration of the target to the pivot level, it carries out a process of outputting the turning level to re-tracking processing unit 16.

Figure 8 is a block diagram illustrating a transmission determination unit 19 of the target tracking apparatus according to a first embodiment of the present invention.
8, the parameter changing unit 81 in response to turning flag and the turning level is attached to the part track output from the re-tracking processing unit 16, changes the system noise parameter and the threshold for transmission determination for transmission decision processing is carried out.
Fusion track prediction unit 82 calculates the time difference between the time of the fusion track stored in time and the fusion track storage section 18 of the portion wake outputted from the re-tracking processing unit 16, the time difference and the parameter changing unit 81 using the system noise parameters that have been changed by, performing the process of calculating a prediction error covariance matrix for the transmission determination.

Determining the error calculation processing unit 83 and the prediction error covariance matrix for transmission is calculated decision by fusion track prediction processing unit 82, and the fusion track stored in the fusion track storage unit 18, the output from the re-tracking processing unit 16 and a portion trajectory, carries out a process of calculating a fusion track error, the updated fusion track error and fusion track error variance.
Wherein the fusion track error is the spectral norm of the error covariance matrix of the fusion track. Updated fusion track error is the spectral norm of the error covariance matrix of the fusion track after the update in partial track based on a prediction error covariance matrix for the transmission determination. Incidentally, the track error has been defined in the spectral norm of the error covariance matrix, may be a trace norm of the error covariance matrix, it may be determinant. The definition of the method of the norm is the user decide in advance.
The error covariance matrix may be in error covariance matrix of only the position components, it may be error covariance matrix of only the speed component. The error covariance matrix can either be defined by the orthogonal coordinates can also be defined in polar coordinates.

Determination processing unit 84 fusion track error calculated by determining the error calculation processing unit 83, by using the updated fusion track error and fusion track error difference with a threshold value for transmission decision which is changed by the parameter changing unit 81 performs a process of determining whether to transmit the partial track output from the re-tracking processing unit 16.
At this time, the determination processing unit 84, the turning flag is attached to that portion wake is than if shows that the target is not turning, better when shows that the target is turning , to increase the frequency to issue a determination result to allow the transmission part track with its turning flag and the turning level.

Next, the operation will be described.
In the first embodiment, it is assumed example in which the target tracking device 1-1 ~ 1-M of the M stage is connected to the network 2. For processing of the target tracking device 1-1 ~ 1-M is the same, here, as a representative, the processing contents of the target tracking device 1-1.
Sensor 11 observes the position of the observed object target, outputs a sensor observation value is the observed value of the position in the tracking processing unit 12.

Sensor tracking processing unit 14 of the tracking processing unit 12, when the sensor 11 receives a sensor observations, for example, by executing a known correlation algorithm, such as GNN (Global Nearest Neighbor), the position indicated by the sensor observations determines whether the position and are correlated indicated sensor track stored in the sensor track storage unit 13.
That is, the sensor tracking processing unit 14 determines the sensor observations output from the sensor 11, whether or not that is observing the position of the target in accordance with the sensor track that is estimated in the past.

Sensor tracking processing unit 14, a position indicated by the sensor observations, the position indicated by the sensor track stored in the sensor track storage unit 13 correlates, be associated with the sensor observations with the sensor track If it is determined that it outputs the sensor observations stores the sensor track storage unit 13 as a target the correlated sensor observations, that goal the correlated sensor observations to the re-tracking processing unit 16 and the turning decision unit 17.
The sensor tracking processing unit 14, for example, by executing a known tracking algorithms such as Kalman filter, its target the correlated sensor observation value and the sensor track storage unit in the past stored in the 13 target the correlated sensor observations from estimates the sensor track with a state vector including position and velocity at the target of the current.
Sensor tracking processing unit 14, when estimating the sensor track, the sensor track stored in the sensor track storage unit 13, by replacing its estimated sensor track, the sensor track stored in the sensor track storage unit 13 Update.

Turning decision unit 17 receives the target the correlated sensor observations from the sensor tracking processing unit 14, from the time-series data of the target the correlated sensor observations, it is determined whether the target is turning, the determination result as a turning flag showing the pivoting presence of the target, and outputs the turning level indicating the degree of goal pivoted re tracking processing unit 16.
It will be specifically described below determination process of turning by the turning decision unit 17.

Turning start determination processing unit 71 of the turning decision unit 17 receives the target the correlated sensor observations from the sensor tracking processing unit 14, and the target the correlated sensor observations, the turning flag stored in the turning flag DB72 used, to implement the turning start determination process of determining the start of turning, and updates the turning flag stored in the turning flag DB 72.
Figure 9 is a flow chart illustrating processes of turning start determination processing unit 71.
Hereinafter, with reference to FIG. 9, specifically explains a procedure of turning start determination processing unit 71.

The turning start determination observations DB71a of turning start determination processing unit 71, target the correlated sensor observations output from the sensor tracking processing unit 14 is recorded, to the turning start determination observations DB71a the past Nth samples target the correlated sensor observations of are accumulated.
Initializing unit 71d performs an initialization process of turning start determination process (step ST1 in FIG. 9).
In other words, the initialization processing unit 71d, when turning flag stored in the turning flag DB72 is "turning" is the accumulated data of the turning start determination observations DB71a, speed DB71b and turning start determination smooth track DB71c target the correlated sensor observations, delete the smoothed velocity and smooth track, and ends the turning start decision processing.
Initializing unit 71d, when turning flag stored in the turning flag DB72 is "orbiting" permits the implementation of subsequent turning start determination process. That is, to allow linear track estimation processing unit 71e, the rate re-smoothing processing section 71f, N step prediction processing unit 71 g, Mahalanobis squared distance calculation processing section 71h, the operation of the time direction smoothing unit 71i and the threshold determination processing unit 71j.

Linear track estimation processing unit 71e, the number of target the correlated sensor observations accumulated in the turning start determination observations DB71a is, if it is Nth sample more (step ST2: YES), of a straight track estimation processing implementation (step ST3).
That is, linear track estimation processing unit 71e is over the target motion state is assumed to be uniform linear motion, for example, using a linear least squares method and Kalman filter, it is accumulated in the turning start determination observations DB71a and that the target the correlated sensor observations of past Nth samples, calculates the smoothed position and smoothed velocity of the target, the linear track estimation processing of calculating the smoothed position error covariance matrix and smoothed velocity error covariance matrix carry out.
For example, X of the position of the target rectangular coordinate system, Y, As defined Z, by a linear least-squares method, calculates a smoothed position and smoothed velocity for each axis.
Hereinafter, an example of X-axis, concretely explaining the calculation processing of the linear track estimation processing unit 71e.

Linear track estimation processing unit 71e, as shown in the following equation (1) to (5), and calculates smoothed position p hat x with respect to the X-axis, and k, smoothed velocity p dot hat x with respect to the X-axis, and k .
Here, on the relationship between the electronic filing, in the text of the specification, because it can not be denoted by the symbol on top of the character "^", p hat x, are expressed as k. Similarly, because it can not be denoted by the symbol of the "," and "^" on top of the letter, p dot hat x, are expressed as k.

Figure JPOXMLDOC01-appb-I000001

Figure JPOXMLDOC01-appb-I000002

Figure JPOXMLDOC01-appb-I000003

Figure JPOXMLDOC01-appb-I000004

Figure JPOXMLDOC01-appb-I000005


Figure JPOXMLDOC01-appb-I000006
In the formula (1) to (5), each sampling time t k (k = 1, 2, · · ·) in the data of the k sensor 11 of subscript, upper superscript k of characters sampling time t k It shows a set of data of up to. T denotes the transpose of a vector or matrix.
Linear track estimation processing unit 71e also the Y-axis and Z-axis, calculates a smoothed position and smoothed velocity in the same manner as above. Linear track estimation processing unit 71e stores the calculated smoothed speed to the speed DB71b.

Further, linear track estimation processing unit 71e, when defining the position of the target orthogonal coordinate system X, Y, with Z, as shown in equation (6) to (10) below, smoothed position vector p hat k, smoothed velocity vector p dots hat k, smoothed position error covariance matrix P pos, k, smoothed velocity error covariance matrix P vel, define the k.

Figure JPOXMLDOC01-appb-I000007

Figure JPOXMLDOC01-appb-I000008

Figure JPOXMLDOC01-appb-I000009

Figure JPOXMLDOC01-appb-I000010
Here, A [i, j] denotes the i-th row j-th column element of the matrix A. Also, diag [a b c] means a matrix with elements a, b, and c on the diagonal.
In the case straight track estimation processing unit 71e, the number of target the correlated sensor observations accumulated in the turning start determination observations DB71a is less than Nth sample (Step ST2: in the case of NO), the straight track estimation processing not performed. In this case, the process proceeds to step ST11.

Speed ​​re-smoothing processing section 71f, the linear track estimation processing unit 71e is the carrying out linear track estimation processing, implementing speed re-smoothing process (step ST4).
That is, the rate re-smoothing processing section 71f is on the target motion state is assumed to be uniform linear motion, for example, using a linear least squares method and Kalman filter, the past accumulated in the speed DB71b Nth sample from minute smoothed velocity, performed the re-smoothed velocity, which is a re-smoothed velocity, the speed re-smoothing process of calculating the re-smoothed velocity error variance matrix.
The speed re-smoothing processing section 71f may be performed any processing for replacing the speed terms of smooth speed and error covariance matrix calculated by the linear track estimation processing unit 71e re smoothed velocity and re smoothed velocity error variance matrix in calculating the smooth track, and stores the smooth track in the turning start determination smooth track DB71c.
Hereinafter, an example of X-axis, concretely explaining the calculation process of the speed re-smoothing processing unit 71f.

Speed re-smoothing processing section 71f, as shown in equation (10) to (14) below, re smoothed velocity V hat x by a linear least-squares method with respect to the X axis, k and Re smoothed velocity error covariance matrix P xV , to calculate the k.

Figure JPOXMLDOC01-appb-I000011

Figure JPOXMLDOC01-appb-I000012

Figure JPOXMLDOC01-appb-I000013

Figure JPOXMLDOC01-appb-I000014

Figure JPOXMLDOC01-appb-I000015

Speed ​​re-smoothing processing unit 71f also the Y-axis and Z-axis, to calculate the re-smoothed velocity and re smoothed velocity error variance matrix in the same manner as above. However, instead of the equation (12) for the Y axis, using the equation (15) below, the Z axis will be used in place of the equation (12), Equation (16) below.

Figure JPOXMLDOC01-appb-I000016

Figure JPOXMLDOC01-appb-I000017

Figure JPOXMLDOC01-appb-I000018

Speed re-smoothing processing section 71f, the linear track estimation processing unit 71e smoothed velocity p dots hat x are calculated by, k and smoothed velocity error covariance matrix P vel, the speed terms of k, re smoothed velocity V hat x, k and re-smoothed velocity error covariance matrix P xV, replaced by k, a smooth track x hat k at the sampling time t k after replacing calculated by the following equation (17), the error covariance matrix P k of the following It is calculated by the equation (18).

Figure JPOXMLDOC01-appb-I000019

Figure JPOXMLDOC01-appb-I000020


Figure JPOXMLDOC01-appb-I000021
If subscript is the y Y-axis direction, subscript means the Z-axis direction if z.

N step prediction processing section 71g is the speed re-smoothing processing unit 71f to practice the speed re-smoothing process, as shown in equation (19) below, in a smooth track stored in the turning start determination smooth track DB71c in a comparison between the time t b of the oldest smooth track, the time t k-Np + 1 before N p samples (step ST5).

Figure JPOXMLDOC01-appb-I000022
N step prediction processing unit 71g, the time t b of the oldest smooth track is, if N p samples before time t k-Np + 1 and the same time or N p samples before time t k-Np + older time than 1 (step ST5: YES), of the turning start decision smoothing track DB71c past Nth samples that have been stored in the smoothing track, N step prediction that calculates a predicted trajectory having a state vector including position and velocity at the target at the present time process implementing (step ST6).
For example, according to uniform linear motion model to calculate the prediction vector with interpolation outside straight line from the N p samples before the smoothing track stored in the turning start determination smooth track DB71c.

Ie, N step prediction processing unit 71g, as shown in equation (20) to (23) below, the predicted vector x hat k with interpolation straight out from the N p samples before the smoothing track at the sampling time t k | k- calculates a np, the prediction error covariance matrix P k | calculates the k-np.

Figure JPOXMLDOC01-appb-I000023

Figure JPOXMLDOC01-appb-I000024

Figure JPOXMLDOC01-appb-I000025

Figure JPOXMLDOC01-appb-I000026

Figure JPOXMLDOC01-appb-I000027

If it contains the acceleration term to N p samples smoothing vector and error covariance matrix of the prior smooth track, remove only the terms of the position and velocity, carrying out the above process.
Incidentally, N step prediction processing section 71g, among smooth track stored in the turning start determination smooth track DB71c, time t b of the oldest smooth track is, N p samples before time t k-Np + 1 newer If the time (step ST5: in the case of nO), the order N p samples before smoothing track is not stored in the turning start determination smooth track DB71c, not performed N step prediction processing. In this case, the process proceeds to step ST11.

Mahalanobis square distance calculation processing section 71h, when N steps prediction processing section 71g to practice the N step prediction processing, the position indicated by the predicted trajectory calculated by the N step prediction processing section 71g, is outputted from the sensor tracking processing unit 14 and a position indicated by the target the correlated sensor observation value, and calculates the Mahalanobis squared distance between the position indicated by the position and the target the correlated sensor observations indicated by the predicted trajectory (step ST7).
That is, the Mahalanobis square distance calculation processing section 71h, as shown in equation (24) below, the predicted vector x hat k predicted trajectory in the latest sampling time t k | a k-Np, the output from the sensor tracking processing unit 14 calculating the residual r k and the position z k indicated by the target the correlated sensor observations.

Figure JPOXMLDOC01-appb-I000028

Figure JPOXMLDOC01-appb-I000029

Figure JPOXMLDOC01-appb-I000030

In the formula (25), z x, k is the position in the X-axis indicated by the sensor observation value at the sampling time t k, z y, k is the position in the Y-axis indicated by the sensor observation value at the sampling time t k, z z , k is the position in the Z-axis indicated by the sensor observation value at the sampling time t k.
Mahalanobis square distance calculation processing section 71h, as shown in the following equation (27) calculates the residual covariance matrix S k, using the residual covariance matrix S k, the following equation (28) as shown, calculates Mahalanobis squared distance epsilon v a (k).

Figure JPOXMLDOC01-appb-I000031

Figure JPOXMLDOC01-appb-I000032

Time direction smoothing unit 71i, when the Mahalanobis square distance calculation processing section 71h calculates the Mahalanobis squared distance ε v (k), implementing the time direction smoothing process for smoothing the Mahalanobis squared distance ε v (k) in the time direction (step ST8).
That is, the time direction smoothing unit 71i, as shown in the following equation (29), it smoothes the Mahalanobis squared distance epsilon v (k) in the time direction.

Figure JPOXMLDOC01-appb-I000033

Figure JPOXMLDOC01-appb-I000034
In the formula (29), ε av (k ) is the time direction smoothing value at the sampling time t k, alpha is a coefficient that is set in advance.

Threshold determination processing unit 71j, when the time direction smoothing unit 71i smoothes Mahalanobis squared distance epsilon v (k) is in the time direction, as shown in equation (31) below, Mahalanobis square smoothed in the time direction a distance in which the time direction smoothing value ε av (k), is compared with the threshold value Th Turnbgn a preconfigured (step ST9).

Figure JPOXMLDOC01-appb-I000035
Threshold determination processing unit 71j is greater than the time direction smoothing value epsilon av (k) is the threshold value Th Turnbgn, if the expression (31) is satisfied (step ST9: YES), of determining that the turning is started Te is set to "pivot" the turning flag stored in the turning flag DB 72 (step ST10).
Threshold determination processing unit 71j, the time direction smoothing value epsilon av (k) is equal to or less than the threshold value Th Turnbgn, if the expression (31) is not satisfied (step ST9: in the case of NO), the judgment and the turning is not started to maintain the turning flag of stored in the turning flag DB 72 "non-orbiting" (step ST11).
Threshold determination processing unit 71j is useful when the straight track estimation processing by linear track estimation processing unit 71e is not performed, even if the N step prediction processing by the N step prediction processing unit 71g is not performed, is stored in the turning flag DB 72 " maintaining the turning flag of non-orbiting "(step ST11).

Turning termination determination processing unit 73 of the turning decision unit 17 receives the target the correlated sensor observations from the sensor tracking processing unit 14, and the target the correlated sensor observations, the turning flag stored in the turning flag DB72 used, to implement the turning end determination process of determining completion of the turning, and updates the turning flag stored in the turning flag DB 72.
Figure 10 is a flowchart showing the contents of the turning termination determination processing unit 73.
Hereinafter, with reference to FIG. 10, specifically explains a procedure of turning termination determination processing unit 73.

The turning end determination processing unit 73 turning termination determination observations DB73a of the target the correlated sensor observations output from the sensor tracking processing unit 14 is recorded, the turning termination determination observations DB73a the past Nth samples target the correlated sensor observations of are accumulated.
Initializing unit 73c performs the initialization process of the turning end determination process (step ST21 in FIG. 10).
That is, the target correlation initializing unit 73c, when the turning flag stored in the turning flag DB72 is "orbiting" is the accumulation data of the turning end decision observations DB73a and turning end decision smooth track DB73b It finished sensor observations and remove the smooth track, and ends the pivot end determination processing.
Initializing unit 73c, when the turning flag stored in the turning flag DB72 is "turning", to allow implementation of the subsequent pivoting end determination processing. That is, to allow the track estimation processing unit 73d, N step prediction processing unit 73e, Mahalanobis squared distance calculation processing section 73f, an operation of the time direction smoothing unit 73g and the threshold determination processing unit 73h.

The trajectory estimation processing unit 73d, the number of target the correlated sensor observations accumulated in the end of the turn determination observations DB73a is, if it is Nth sample more (step ST22: YES), of carrying out the trajectory estimation process (step ST23).
That is, the trajectory estimation processing unit 73d, on the target motion state is assumed to be uniformly accelerated motion, for example, by using a linear least squares method and Kalman filter, are accumulated in the turning end decision smooth track DB calculated from the target the correlated sensor observations of past Nth samples, as the target of the smoothing track, the target of the smoothing position, calculates the smoothed velocity and smooth acceleration, the smooth position error covariance matrix and smoothed velocity error covariance matrix implementing the trajectory estimation process that.
For example, to define the position of the target orthogonal coordinate system X, Y, with Z, by a linear least squares method, the target of the smoothing position with respect to each axis, calculates a smoothed velocity and smooth acceleration.
Hereinafter, an example of X-axis, concretely explaining the calculation processing of the track estimation processing section 73d.

The trajectory estimation processing unit 73d, as shown in equation (32) to (34) and the following formula (4) (5), smoothing the position p hat x with respect to the X-axis, and k, smoothed velocity p dot hat with respect to the X-axis calculating x, and k, smooth acceleration p-to-dot hat x with respect to the X-axis, and k.
Here, on the relationship between the electronic filing, in the text of the specification, because it can not be denoted by the symbol of the "..." on top of the character on top of the "^" character, p-to-dot hat x, of k It is expressed as.

Figure JPOXMLDOC01-appb-I000036

Figure JPOXMLDOC01-appb-I000037

Figure JPOXMLDOC01-appb-I000038

Figure JPOXMLDOC01-appb-I000039

Track estimation processing unit 73d also the Y-axis and Z-axis, smooth position the same procedure as above, to calculate a smoothed velocity and smooth acceleration.
Track estimation processing section 73d is smooth position, and stores it in the pivoting end decision smooth track DB73b smooth speed and smooth acceleration as smooth track.

Further, the trajectory estimation processing unit 73d, when defining the position of the target orthogonal coordinate system X, Y, with Z, as shown in the above equation (6) to (9), a smoothing position vector p hat k, smooth velocity vector p dots hat k, smoothed position error covariance matrix P pos, k, smoothed velocity error covariance matrix P vel, define the k.
Incidentally, the trajectory estimation processing unit 73d, the number of target the correlated sensor observations accumulated in the end of the turn determination observations DB73a is is less than Nth sample (step ST22: in the case of NO), the trajectory estimation process not carried out. In this case, the process proceeds to step ST30.

N step prediction processing unit 73e, when the track estimation processing unit 73d to implement a trajectory estimation process, as shown in equation (35) below, in a smooth track stored in the pivot end decision smooth track DB73b, compares the time t b of the oldest smooth track, the time t k-Np + 1 before N p samples (step ST24).

Figure JPOXMLDOC01-appb-I000040
N step prediction processing unit 73e, the time t b of the oldest smooth track is, if N p samples before time t k-Np + 1 and the same time or N p samples before time t k-Np + older time than 1 (step ST24: YES), of the turning termination determination smooth track DB73b past Nth samples that have been stored in the smoothing track, N step prediction that calculates a predicted trajectory having a state vector including position and velocity at the target at the present time process implementing (step ST25).

N step prediction processing of the N steps prediction processing unit 73e are the same as the N step prediction processing of the N steps prediction processing section 71g shown in FIG. 5, a detailed description thereof will be omitted.
Incidentally, N step prediction processing section 73e is in the smooth track stored in the pivot end decision smooth track DB73b, time t b of the oldest smooth track is, N p samples before time t k-Np + 1 newer If the time (step ST24: in the case of nO), the order N p samples before smoothing track is not stored in the pivot end decision smooth track DB73b, not performed N step prediction processing. In this case, the process proceeds to step ST30.

Mahalanobis square distance calculation processing section 73f, when N steps prediction processing unit 73e to practice the N step prediction processing, the position indicated by the predicted trajectory calculated by the N step prediction processing unit 73e, which is output from the sensor tracking processing unit 14 and a position indicated by the target the correlated sensor observation value, and calculates the Mahalanobis squared distance between the position indicated by the position and the target the correlated sensor observations indicated by the predicted trajectory (step ST26).
Calculation of Mahalanobis squared distance in Mahalanobis squared distance calculation processing section 73f is the same as the process for calculating the Mahalanobis squared distance in Mahalanobis squared distance calculation processing section 71h shown in FIG. 5, a detailed description thereof will be omitted.

Time direction smoothing unit 73g, when the Mahalanobis square distance calculation processing section 73f calculates the Mahalanobis squared distance ε v (k), implementing the time direction smoothing process for smoothing the Mahalanobis squared distance ε v (k) in the time direction (step ST27).
For smoothing the Mahalanobis squared distance ε v (k) in the time direction smoothing unit 73g is similar to the smoothing process Mahalanobis squared distance ε v (k) in the time direction smoothing unit 71i illustrated in FIG. 5, a detailed description thereof will be omitted.

Threshold determination processing unit 73h, if the time direction smoothing unit 73g is smoothed Mahalanobis squared distance epsilon v (k) is in the time direction, as shown in equation (36) below, Mahalanobis square smoothed in the time direction a distance in which the time direction smoothing value ε av (k), is compared with the threshold value Th Turnend a preconfigured (step ST28).

Figure JPOXMLDOC01-appb-I000041
Threshold determination processing unit 73h, the time becomes the directional smoothness value epsilon av (k) is equal to or less than the threshold value Th Turnend, if the expression (36) is satisfied (step ST28: YES), of determining that the turning is completed Te, the turning flag stored in the turning flag DB72 is set to "non-orbiting" (step ST29).
Threshold determination processing unit 73h is greater than the time direction smoothing value epsilon av (k) is the threshold value Th Turnbgn, if the expression (36) is not satisfied (step ST28: in the case of NO), the determining that the turning is not completed Te, is stored in the turning flag DB72 to maintain the turning flag of "turning" (step ST30).
Threshold determination processing unit 73h is useful when the trajectory estimation process by the trajectory estimation unit 73d is not performed, even if the N step prediction processing by the N step prediction processing section 73e has not been performed, is stored in the turning flag DB 72 "turning" to maintain the turning flag (step ST30).

Here, the threshold determination processing unit 73h is an example of comparing the Mahalanobis square distance and a threshold value which is smoothed in the time direction, the threshold determination processing unit 73h is time direction smoothing value at the current time t k ε av (k ) and, before the time t k-1 calculates a difference value [Delta] [epsilon] av (k) of the time direction smoothing value ε av (k-1) in, the difference value [Delta] [epsilon] av (k) a threshold number of times that is negative Th becomes more than cnt, turning may be determined to be terminated.
Figure 11 is a flowchart showing the contents of the threshold determination processing unit 73h. Hereinafter, with reference to FIG. 11, specifically explains a procedure of the threshold determination processing unit 73h.

For each threshold determination processing unit 73h has the time direction smoothing unit 73g calculates the av (k) time direction smoothing value ε of the current time t k, as shown in the following equation (37), at the current time t k a time direction smoothing value ε av (k), calculates the difference value [Delta] [epsilon] av (k) of the previous time t k-1 in the time direction smoothing value ε av (k-1) (step ST31 in FIG. 11).

Figure JPOXMLDOC01-appb-I000042
Threshold determination processing unit 73h, when calculating a difference value [Delta] [epsilon] av (k), if the difference value [Delta] [epsilon] av (k) is negative (step ST32: YES), of the count stored in the difference value counter DB37i implementing the increment processing for increasing the value C by 1 (step ST33). The count value C is for indicating the number of times that the difference value [Delta] [epsilon] av (k) is negative, the initial value of the count value C stored in the difference value counter DB37i is 0.
Threshold determination processing unit 73h, if the difference value [Delta] [epsilon] av (k) is 0 or higher (step ST32: in the case of NO), the maintaining the count value C stored in the difference value counter DB37i (step ST34).

Next, the threshold determination processing unit 73h, as shown in the following equation (38), compares the threshold Th cnt set in advance the number of times C that is recorded in the difference value counter DB37i (step ST35).
C> Th cnt (38)
Threshold determination processing unit 73h may be greater than the number C is the threshold value Th cnt stored in the difference value counter DB37i, if the expression (38) is satisfied (step ST35: YES), of the turning is completed determination to the turning flag stored in the turning flag DB72 is set to "non-orbiting" (step ST36).
The threshold determination processing unit 73h may count C stored in the difference value counter DB37i is equal to or less than the threshold value Th cnt, if the expression (38) is not satisfied (step ST35: in the case of NO), the storage in the turning flag DB72 It is to maintain the turning flag of "turning" is (step ST37).
Threshold determination processing unit 73h is set to "non-orbiting" the turning flag stored in the turning flag DB 72, is initialized to 0 the number of times C that is recorded in the difference value counter DB37i.

Turning turning flag output processor 74 of the determination unit 17, when the operation of turning the start determination processing unit 71 or the turning termination determination processing unit 73 is completed, the turning flag stored in the turning flag DB72 turning level calculating section 75 and and it outputs the re-tracking processing unit 16.
Turning level calculation processing section 75 of the turning decision unit 17 receives the turning flag from turning flag output processing unit 74, in which case turning flag is "turning", the target the correlated sensor output from the sensor tracking processing unit 14 from observations, calculate a turning level indicating the degree of goal turning, and outputs the turning level to re-tracking processing unit 16.
Will be specifically explains a procedure of turning level calculation processing unit 75.

Initializing unit 75a of the pivot level calculation processing unit 75, the turning if the flag output processing unit 74 is turning flag is "non-orbiting" output from, been the target correlation accumulated in the turning level calculating observed value DB75b to remove the sensor observations.
Initializing unit 75a, if turning turning flag is output from the flag output unit 74 "turning", the sensor tracking processing unit 14 turning level calculating observed value the outputted target the correlated sensor observations from DB75b and stores it in.

Orbiting estimation processing unit 75c of the pivot level calculation processing unit 75, on the target motion state is assumed to be uniformly accelerated motion, for example, using a linear least squares method and Kalman filter, turning level calculation observations from the target the correlated sensor observations stored in DB75b, X-axis in the orthogonal coordinate system, calculates the acceleration of the target with respect to the Y axis and the Z-axis.
Orbiting estimation processing unit 75c is, X-axis, calculating the acceleration of the target with respect to Y-axis and Z-axis, as in the following equation (39), calculates the magnitude a hat of the acceleration.

Figure JPOXMLDOC01-appb-I000043

Figure JPOXMLDOC01-appb-I000044

Orbiting estimation processing unit 75c, when calculating the size of a hat of the acceleration, and converting the magnitude a hat acceleration to the swing level, and outputs the turning level to re-tracking processing unit 16.
Magnitude a hat and the turning level of the acceleration is related in direct proportion, as the size of a hat of the acceleration increases, it is assumed that the turning level is high.

The partial track storage unit 15 of the tracking processing unit 12 has previously or partial track estimated by the re-tracking processing unit 16, among the target the correlated sensor observations output from the sensor tracking processing unit 14, and that portion wake target the correlated sensor observation value correlation was found is stored.
Partial track is time basically position, the state vector of the speed, is what is composed of the error covariance matrix of the state vector, the target number and identifies the target to the other, the identification sensors 11 identification number such as a sensor number that is assigned.
The identification number may, for example, target class identified number, type is the identification number of the aircraft, such as aircraft or satellites, or the like number as information indicating whether an ally whether the enemy is considered.
The state vector of the partial track may be a state vector including position of the sensor observations, may be in the state vector including position and velocity may be a state vector including up acceleration.

Re tracking processing unit 16 of the tracking processing unit 12 receives the target the correlated sensor observations from the sensor tracking processing unit 14, for example, by executing a known correlation algorithm, such as GNN, the goal the correlated sensor observations determining a position indicated by the, whether the position indicated by the partial track stored in the partial track storage unit 15 are correlated.
In other words, re-tracking processing unit 16, whether the target the correlated sensor observations output from the sensor tracking processing unit 14, in which is observing the position of the target of partial track which is estimated in the past the judges.

Re tracking processing unit 16, the position indicated by the target the correlated sensor observations, the position indicated by the partial track stored in the partial track storage unit 15 has a correlation, the target the correlated sensor observations If it is determined that it can be associated with partial track, and stores the target the correlated sensor observations to the partial track storage unit 15.
Further, re-tracking processing unit 16, for example, by executing a known tracking algorithms such as Kalman filter, its target the correlated sensor observations and partial track storage unit 15 a past target the correlated sensor observations stored in the from, it estimates the partial track having a state vector, including position and speed at the target of the current.
In this case, re-tracking processing unit 16 may execute the tracking algorithm using a Kalman filter that corresponds to the turning flag output from the turning decision unit 17.
For example, re-tracking processing unit 16, if turning flag is output from the turning decision unit 17 is "non-orbiting" calculates the state vectors including position and velocity by the Kalman filter based on the Constant Velocity Model, its pivot if the flag is "turning" position by the Kalman filter based on constant acceleration motion model may be calculated state vectors including velocity and acceleration.

Re tracking processing unit 16, when estimating a partial track, a partial track stored in the partial track storage unit 15, is replaced with its estimated partial track, with respect to the estimated portion track, the turning decision unit 17 adding the outputted turning flag and the turning level, and outputs the partial track with turning flag and the turning level to the transmission determining unit 19.
Re tracking processing unit 16, when the position indicated by the target the correlated sensor observations output from the sensor tracking processing unit 14, a position indicated by the partial track stored in the partial track storage unit 15 is not correlated, partial track with turning flag and the turning level is not output to the transmission determination unit 19.

Transmission determination unit 19, when the re-tracking processing unit 16 receives a part track with a turning flag and the turning level, and time of the position indicated by the partial track, the position indicated by the fusion track stored in the fusion track storage unit 18 and time difference between the time, from the turning flag and the turning level are assigned to the portions wake, determines whether to transmit the partial track.
At this time, the transmission determining unit 19, than when that part turning flag is attached to the track is "non-orbiting", towards the case of the "turning" is a part track with its turning flag and the turning level to increase the frequency to issue a determination result indicating that transmission.
Also, the higher the swivel level which is attached to that portion wake, to increase the frequency to issue a determination result indicating that transmits the partial track with its turning flag and the turning level.
Transmission determination unit 19 determines that transmits the partial track, after outputting the partial track the transceiver 20, and deletes the partial track stored in the partial track storage unit 15.
It will be specifically described below transmission determination processing part track by the transmission determination unit 19.

Parameter changing unit 81 of the transmission determination unit 19, in response to turning flag and the turning level is attached to the output portion trajectory from the re-tracking processing unit 16, as well as change the system noise parameter for transmitting the determination, transmitting the threshold , it changes the threshold value for the transmission determination of such differences threshold and transmission suspension threshold. The initial value of the threshold for transmission decision is assumed to be preset by the user.
System noise parameter for transmitting the determination is a parameter for compensating the motion error when motion of a target deviates from the motion model is assumed, that the system noise parameters is increased, the error of which will be described later fusion track the rate of increase is increased.
Parameter changing processing section 81, as compared with the case turning flag is attached to that portion wake is "orbiting", better if it is "turning", the system noise parameters is increased, the system noise parameters change.
The parameter changing section 81, if that part turning flag is attached to the track is "turning", the higher the swivel level which is attached to that portion wake, as the system noise parameters is increased, to change the system noise parameters.

Fusion track prediction processing unit 82 of the transmission determination unit 19, and time of the turning flag and the partial track with pivot level outputted from the re-tracking processing unit 16, and the time of fusion track stored in the fusion track storage unit 18 to calculate the time difference.
That is, the fusion track prediction processing unit 82, as shown in the following equation (40), and the turning flag and the partial track with pivot level outputted from the re-tracking processing unit 16 time t k (S), the fusion track calculating a time difference [Delta] t k between the time of the fusion track in the storage unit 18 is stored t m-1 (F).

Figure JPOXMLDOC01-appb-I000045
In the formula (40), t k (S) denotes the current sampling time, the superscript (S) is a variable indicating involving partial track output from the re-tracking processing unit 16.
Also, t m-1 (F) shows a time at which the fusion track is estimated by fusing tracking processing unit 23, the superscript (F) is a variable indicating involved in the fusion track.

Fusion track prediction processing unit 82, the time t k partial track (S), calculating the time difference [Delta] T k between the time of the fusion track t m-1 (F), the equation (41) to (44) below as shown, using the system noise parameters that have been changed by the time difference [Delta] t k and the parameter changing unit 81, the prediction error covariance matrix P p for transmitting judgment at time t k partial track (S), m (F ) is calculated.

Figure JPOXMLDOC01-appb-I000046

Figure JPOXMLDOC01-appb-I000047

Figure JPOXMLDOC01-appb-I000048

Figure JPOXMLDOC01-appb-I000049
Here, [Phi k is the state transition matrix, Q (F) the system noise parameters in the system noise covariance matrix, q x (F) is the X-axis changed by the parameter changing section 81, q y (F) parameters system noise parameters in the Y-axis changed by the change processing unit 81, q z (F) is a system noise parameters in the Z-axis changed by the parameter changing section 81.
Further, a P s, m-1 (F ) is the error covariance matrix of the fusion track.

Determining the error calculation processing unit 83, the fusion track prediction unit 82 calculates the prediction error covariance matrix P p for transmission determination, m and (F), the prediction error covariance matrix P p for the transmission judgment, m and (F), and calculates a fusion track stored in the fusion track storage unit 18, and an output portion trajectory from the re-tracking processing unit 16, the fusion track error, the updated fusion track error and fusion track error variance .
Here, FIG. 12 is an explanatory diagram showing a transmission determining concept in the transmission determination unit 19.
12, the fusion track error indicates an error of the previous fusion track to be fused with the output portion trajectory from the re-tracking processing unit 16, updated fusion track error output from the re-tracking processing unit 16 portion It shows the error of the fusion track after being fused to track.
In addition, fusion track error difference shows the difference obtained by subtracting the updated fusion track error from the fusion track error.

Determination processing unit 84, determining the error calculation processing unit 83 fusion track error, calculating the updated fusion track error and fusion track error difference, the fusion track error, and updated fusion track error and fusion track error variance, parameter determining changed data threshold by changing processing section 81, by using the difference threshold value and the transmission suspension threshold, whether to transmit the partial track with turning flag and the turning level output from the re-tracking processing unit 16.
That is, the determination processing unit 84, determines which case the fusion track error variance is greater than the difference threshold value, a reduced contribution of the fusion track error due to fusing portions track output from the re-tracking processing section 16 and the fusion track is large and, determination result indicating that transmits the partial track, i.e., the transmission determination flag for "transmit", and outputs the partial track with turning flag and the turning level to the transceiver unit 20, the partial track storage section 15 It deletes the partial track stored.
Determination processing unit 84, if: the fusion track error difference is a difference threshold value, determines that the reduced contribution of the fusion track error due to fusing that part track fusion track is small, to hold the transmission of the partial track determination result indicating effect, i.e., it outputs the transmission determination flag of "transmission suspension" and a portion wake with turning flag and the turning level to the transceiver unit 20.

Determination processing unit 84 determines that the case fusion track error is greater than the transmission threshold, because the error of the fusion track is large, regardless of the fusion track error difference, it is necessary to fuse the fusion track the partial track and, determination result indicating that transmits the partial track, i.e., the transmission determination flag for "transmit", and outputs the partial track with turning flag and the turning level to the transceiver unit 20, the partial track storage section 15 It deletes the partial track stored.
Determination processing unit 84, when the fusion track error is less than transmit threshold, if the fusion track error difference is less difference threshold, determines that there is no need to fuse the fusion track the partial track, of the portion wake determination result indicating to suspend the transmission, i.e., outputs the transmission determination flag of "transmission suspension" and a portion wake with turning flag and the turning level to the transceiver unit 20. However, in this case the fusion track error variance is greater than the difference threshold, it may be a transmission determination flag of "transmission" to output to the transceiver 20.

Figure 13 is a conceptual diagram showing temporal change of the fusion track error in turning and before rotation, and a transmission frequency of the partial track.
If the target is not turning, for system noise parameter for transmitting the determination by the parameter changing unit 81 is kept low, the time direction the rate of increase of the fusion track error is small, until the fusion track error is greater than the transmit threshold It takes a lot of time to. Therefore, when the turning flag is "non-orbiting" transmission frequency part track is low.
On the other hand, when the target begins to pivot, turning flag is "turning", and the parameter changing unit 81 increases the system noise parameter for transmitting the determination, since the time direction the rate of increase of the fusion track error increases, short fusion track error is to exceed the transmission threshold. Therefore, when the turning flag is "turning", it becomes a high transmission frequency portion wake.
FIG. 13 shows an example in which transmission threshold is fixed. Therefore, if the target is turning, and the fusion track error increases the frequency above the transmission threshold, sometimes communication load on the network 2 becomes too large.
Parameter changing processing section 81, for communication load on the network 2 is prevented too large, the turning flag is "turning", and in increasing the system noise parameter for transmitting the determination to enhance together also transmit threshold it may be. However, too high a transmission threshold, it becomes impossible to increase the transmission frequency of the partial track, it is necessary to consider the balance of the system noise parameters and transmit threshold.

To avoid the situation where communication load on the network 2 becomes too large, without using the transmission threshold, it may perform transmission determination part track.
Figure 14 is a conceptual diagram showing temporal change of the fusion track error in turning and before rotation of the case of not using a transmission threshold, the transmission frequency of the partial track.
In Figure 14, determination processing section 84, the fusion track error differences only if is greater than the difference threshold, the determination result indicating that transmits the partial track, i.e., outputs the transmission determination flag of "transmission" to the transceiver 20 It shows an example of.
In the example of FIG. 14, by the parameter changing unit 81 increases the system noise parameter for transmitting the determination, even if a large time direction increasing rate of the fusion track error determination result indicating that transmits the partial track because can not be obtained, it is possible to avoid the situation where communication load on the network 2 becomes too large.

Transceiver 20 includes a transmission determination flag of "transmission" from the transmission determination unit 19, when receiving the portion wake with turning flag and the turning level, via the network 2, the other part track with a turning flag and the turning level It transmits to the target tracking device 1-M of the transmitting and receiving unit 20 and outputs the partial track to track fusion unit 21 receives the transmission determination flag of "transmission suspension" from the transmission determination unit 19, another target tracking device transmission process part track for 1-M, does not perform output processing section track for track fusion part 21.
Transceiver unit 20 via the network 2, upon receiving the partial track transmitted from another target tracking device 1-M, and outputs the partial track to track fusion part 21.

Correlation determining unit 22 of the track fusion portion 21 receives the partial track with turning flag and the turning level from the transceiver 20, for example, by executing a known correlation algorithm, such as GNN, the position indicated by the partial track determines a position indicated by the fusion track stored in the fusion track storage unit 18 whether or not the correlation.
Fusion tracking processing unit 23 of the track fusion unit 21, if it is determined that the correlation by the correlation determination unit 22, from the fusion track stored output portions track from the transceiver 20 to the fusion track storage unit 18 estimates the fusion track having a state vector, including position and speed at the target of the current.

That is, the fusion tracking processing unit 23, as shown by the following equation (45) - (49), calculates the fusion track estimate vectors x hat s, m to (F).

Figure JPOXMLDOC01-appb-I000050

Figure JPOXMLDOC01-appb-I000051

Figure JPOXMLDOC01-appb-I000052

Figure JPOXMLDOC01-appb-I000053

Figure JPOXMLDOC01-appb-I000054

Figure JPOXMLDOC01-appb-I000055

Figure JPOXMLDOC01-appb-I000056

Here, fusion tracking processing unit 23, when using a Kalman filter based on the Constant Velocity Model, system noise covariance matrix Q (F) is defined by the following equation (50) (51).

Figure JPOXMLDOC01-appb-I000057

Figure JPOXMLDOC01-appb-I000058
Further, by defining a state vector of the target in three-dimensional orthogonal coordinate system, D in equation (50) is defined as the following equation (52).

Figure JPOXMLDOC01-appb-I000059
In the formula (52), q x is the system noise parameters in the X-axis set in advance by fusion tracking processing unit 23, q y system noise parameters in the Y-axis which is set in advance by fusion tracking processing unit 23, q z is a system noise parameters in the Z-axis which is set in advance by fusion tracking processing unit 23.
Turning system noise parameter q x, q y, q z is better was larger in accordance with the turning degree of the target, in order to improve the tracking accuracy of the fusion track, by fusion tracking processing unit 23, which is added to the partial track or it may be one that is set according to the level. That is, as the degree of pivoting of the target indicated by the turning level is high, the system noise parameters q x, q y, may be one q z is set to a large value.

Fusion tracking processing unit 23, when estimating the fusion track, the fusion track stored in the fusion track storage unit 18, and carries out a process of replacing the fusion track that the estimation.
Fusion tracking processing unit 23, if it is determined not to be correlated by the correlation determination unit 22, the fusion track stored in the fusion track storage unit 18 is determined to be in the memory track state, portions the fusion track without updating in track, a partial track output from the transceiver unit 20 as a new fusion track is recorded in the fusion track storage unit 18.

The display processing unit 24, the fusion track or estimated by the fusion tracking processing unit 23, and a determination portion trajectory correlated with the fusion track is taken to be displayed on the display by the correlation determination unit 22.

As can be seen from the above description, according to the first embodiment, when the series data and determines turning decision unit 17 whether the target is turning, estimated moiety by tracking processing unit 12 of the sensor observations and time difference between the time of the fusion track stored time track and the fusion track storage unit 18, and a determination result of the turning decision unit 17, whether to transmit the partial track estimated by the tracking processing unit 12 and a transmission determination unit 19 is provided is determined, the transceiver 20 is transmitting, when the determination result of the transmission determining unit 19 indicates the effect of sending the partial wake, that part wake to another target tracking device 1-M and then, it is, while ensuring the tracking accuracy of the target is turning, the effect capable of reducing the communication capacity.
That is, according to the first embodiment, when the target is turning, by increasing the transmission frequency of the partial track, it is possible to increase the target tracking accuracy. On the other hand, if the target is not turning, by lowering the transmission frequency of the partial track, it is possible to reduce the communication capacity.

The second embodiment.
In the second embodiment, by using the turning flag attached to the output portion track from the transceiver 20, the flag integrating unit that updates the turning flag attached to the fusion track stored in the fusion track storage unit 18 for it has target tracking apparatus comprising a will be described.

Figure 15 is a block diagram showing a target tracking apparatus according to the second embodiment of the present invention, FIG 16 is a hardware configuration diagram of a target tracking device according to a second embodiment of the present invention.
15 and 16, the same reference numerals as in FIG. 1 and FIG. 2 is omitted because the same or corresponding parts.
Flag integrating unit 91 is realized by a semiconductor integrated circuit or a flag integrating processing circuit 50 which is composed of such one-chip microcomputer implements a CPU, for example. Flag integrating unit 91 by using the turning flag attached to the part track outputted from the transmitting and receiving unit 20 performs a process of updating the turning flag attached to the fusion track stored in the fusion track storage unit 18.

In Figure 15, the sensor 11 is a component of a target tracking device, the sensor track storage unit 13, the sensor tracking processing unit 14, partial track storage unit 15, re-tracking processing unit 16, the turning determination section 17, the fusion track storage unit 18, transmission determination unit 19, transceiver 20, each of the correlation determination unit 22, a fusion tracking processing unit 23, the display processing unit 24 and the flag integrating unit 91 is a dedicated hardware as shown in FIG. 16, i.e., the storage processing circuit 41 , the sensor tracking processing circuit 42, re-tracking processing circuit 43, turning decision processing circuit 44, the transmission determination processing circuit 45, transmission and reception processing circuit 46, the correlation determination processing circuit 47, a fusion tracking processing circuit 48, the display processing circuit 49 and flag integration process It is assumed to be implemented in the circuit 50.

Components of the target tracking device is not limited to being implemented in dedicated hardware, target tracking device software, firmware, or may be one which is realized by a combination of software and firmware.
If the target tracking device is realized by a software or firmware, the sensor track storage unit 13, a partial track storage unit 15 and the fusion track storage unit 18 together constitute on the memory 61 shown in FIG. 3, the sensor tracking processing unit 14, re tracking processing unit 16, the turning determination section 17, the fusion track storage unit 18, the transmission determining unit 19, transceiver 20, the correlation determination unit 22, a fusion tracking processing unit 23, a processing procedure of the display processing unit 24 and the flag integrating unit 91 the program to be executed by the computer and stored in the memory 61 shown in FIG. 3, the processor 62 shown in FIG. 3 may be to execute a program stored in the memory 61.

Further, an example in which each of the components of FIG. 15 in the target tracking device can be realized by dedicated hardware, in FIG. 16, the target tracking device is an example that is implemented by a software or firmware, the target some of the components is realized by dedicated hardware in the tracking device, or may be the remaining components are realized by a software or firmware.
For example, the sensor 11, the transceiver 20 and the display processing unit 24 is realized by dedicated hardware, the sensor track storage unit 13, the sensor tracking processing unit 14, partial track storage unit 15, re-tracking processing unit 16, the turning determination section 17 the fusion track storage unit 18, the transmission determining unit 19, it is possible to realize the correlation determination unit 22, a fusion tracking processing unit 23 and the flag integrating unit 91 in such software or firmware. However, the combination of such as a dedicated hardware and software is optional.

Figure 17 is a diagrammatic view showing the turning decision unit 17 of the target tracking device according to a second embodiment of the present invention, the description thereof is omitted in FIG. 17, because FIG. 4 designate the same or corresponding parts.
Flag update processing unit 101 is a turning flag is stored in the turning flag DB72 is "turning", and, if the fusion track turning flag in the storage unit 18 is attached to the fusion track stored is "turning" , without changing the "turning" of the turning flag, and outputs the turning flag to the turning start determination processing unit 71 and the misjudgment release processing section 103, turning flag is stored in the turning flag DB72 is "turning" There, and, if the turning flag attached to the fusion track is "non-orbiting", change in its turning flag "orbiting", its turning flag turning start determination processing unit 71 and the misjudgment release processing and it carries out a process of outputting the section 103.
Further, the flag update processing unit 101 if turning flag is stored in the turning flag DB72 is "orbiting" the without changing the "non-orbiting" the turning flag, its turning flag turning start determination processing unit and it carries out a process of outputting the 71 and misjudgment release processing section 103.

Turning start time database by (hereinafter, "turning start time DB" hereinafter) 102 is a threshold determination unit 71j of the pivot start determination processing unit 71, as the turning start time the determined time and the first pivot is started is a memory to memory.

Erroneous determination releasing process unit 103 by using the turning flag attached to the fusion track stored in the fusion track storage unit 18, and carries out a process of correcting the turning flag stored in the turning flag DB 72.
That is, erroneous determination canceling unit 103 and the observation time of the target the correlated sensor observations output from the sensor tracking processing unit 14, a difference time is the time difference between the turning start time stored in the turning start time DB102 and it carries out a process of calculation.
Further, erroneous determination cancellation processing unit 103 is a turning flag output from the flag update processing unit 101 is "turning", and the fusion track turning flag in the storage unit 18 is attached to the fusion track stored is "turning "If it is, its turning flag" without changing the turning ", and carries out a process of outputting the turning flag turning flag DB 72, the turning level calculation processing unit 75 and the re-tracking processing unit 16.
Further, erroneous determination cancellation processing unit 103 is a turning flag output from the flag update processing unit 101 is "turning" is its turning flag attached to the fusion track is "non-orbiting", and its difference time is less than pre-set releasing threshold, the process of outputting unchanged "turning" of the turning flag, the turning flag turning flag DB 72, the turning level calculation processing unit 75 and the re-tracking processing unit 16 to implement.
Misjudgment release processing section 103 is a turning flag output from the flag update processing unit 101 is "turning" is its turning flag attached to the fusion track is "non-orbiting", and the difference time in advance If it is set for release threshold or more, conducted by changing the its turning flag "orbiting" the process of the turning flag to turning flag DB 72, and outputs the turning level calculation unit 75 and the re-tracking processing unit 16 to.
Also, if the erroneous determination canceling unit 103 turning flag output from the flag update processing unit 101 is "non-orbiting", without changing the "non-orbiting" the turning flag, turning flag and the turning flag DB72 , and it carries out a process of outputting to the swing level calculation unit 75 and the re-tracking processing unit 16.

Figure 18 is a diagrammatic view showing the turning start determination processing unit 71 of the turning decision unit 17, in FIG. 18, a description will be 5 designate the same or corresponding parts.
Components of the turning start decision processing unit 71 shown in FIG. 18 is similar to the component of the turning start decision processing unit 71 shown in FIG. 5, the initialization processing unit 71d of the orbiting start determination processing unit 71 shown in FIG. 18 turning flag turning flag is input data, whereas a turning flag output from the flag updating unit 101, an input data initializing unit 71d of the orbiting start determination processing unit 71 shown in FIG. 5 of the but it is different in that a turning flag stored in the turning flag DB 72.
The threshold determination processing unit output destination of 71j of the swing start determination processing unit 71 shown in FIG. 18, turning flag DB72 well include turning start time DB 102, re-tracking processing unit 16 and the turning level calculation processing unit 75 also in point is different from the threshold determination unit 71j of the pivot start determination processing unit 71 shown in FIG.

Figure 19 is a diagrammatic view showing the turning termination determination processing unit 73 of the turning decision unit 17, in FIG. 19, the description the same reference numerals and 6 designate the same or corresponding parts.
Turning end decision fusion track database (hereinafter, referred to as "turning end decision fusion wake DB") 73j is a memory for storing the fusion track.
When turning flag initializing unit 73k is attached to the fusion track stored in the fusion track storage unit 18 is "non-orbiting", delete the smooth track stored in the pivot end decision fusion track DB73j Te, to end the turning end determination process.
Also, the initialization processing unit 73k, if its turning flag attached to the fusion track is "turning", and stores the fusion track on the turning end decision fusion track DB73j, the implementation of the subsequent pivoting end determination process allow.

N step prediction processing unit 73l is in a fusion track stored in the pivot end decision fusion track DB73j, and time of the oldest fusion track, fusion track stored in the fusion track storage unit 18 by the correlation determination unit 22 and a case the time difference between the time of the determination portion track correlation is taken is preset threshold or more, fused track of past Nth samples stored in the pivot end decision fusion track DB73j , it carries out a process of calculating a predicted trajectory having a state vector including position and velocity at the target of the current.
Mahalanobis square distance calculation processing unit 73m includes a predicted trajectory calculated by the N step prediction processing unit 73l, determined portions and correlated with the fusion track stored in the fusion track storage unit 18 is taken by the correlation determination unit 22 and a track, and carries out a process of calculating a Mahalanobis squared distance between the prediction vector and the moiety track constituting the prediction wake.

Next, the operation will be described.
Except flag integrating unit 91 and the turning decision unit 17, generally is the same as in the first embodiment, in the second embodiment will be mainly described processing contents of the flag integrating unit 91 and the turning decision unit 17.
Flag integrating unit 91 receives the partial track with turning flag and the turning level from the transceiver 20, with the turning flag attached to the that portion wake, with the fusion track stored in the fusion track storage unit 18 to update and are turning flag.
In the second embodiment, the turning flag attached to the fusion track is referred to as "integrated turning flag". Integrated turning flag is a common turning flag between all target tracking devices that are connected to the same network 2, a flag indicating the same turning decision result in all the target tracking device.
Will be specifically described below update process integrated turning flag by flag integrating unit 91.

Flag integrating unit 91 receives the partial track marked with turning flag from transceiver 20 "turning", attached to the fusion track stored in the fusion track storage unit 18 integrated turning flag of "non-orbiting" to update the integrated turning flag of "turning".
Flag integrating unit 91, trust the turning flag outputted from the transmitting and receiving unit 20, thereafter, even under partial track marked with turning flag from transceiver 20 "orbiting" the fusion track to maintain the integrity turning flag of which "pivot" with.
Integrated turning timing flag is changed to "non-orbiting" is limited by the turning termination determination processing unit 73 to be described later, the turning is determined to be the end timing.

Further, the flag integrating unit 91 calculates an integrated turning level indicating the degree of goal pivot is added to the fusion track stored the integrated swivel level fusion track storage unit 18.
It will be specifically described an example of calculation of an integrated turning level.
Flag integrating unit 91, each receiving a partial track from the transceiver 20, if the turning flag is "turning" which are attached to that part track, it records the turning level that is attached to the portion wake.
Flag integrating unit 91, at fixed intervals, with a recorded pivot level, it calculates an integrated turning level. For example, in a recorded pivot level, to the greatest pivot level the degree of goal pivot may be integrated pivot level, the average value of the recorded swivel levels may be integrated turning level.
Incidentally, the turning level recorded by the flag integrating unit 91, for example, integrated turning flag by turning termination determination processing section 73 is assumed to be erased at the timing is updated to "non-orbiting".

Turning decision unit 17 receives the target the correlated sensor observations from the sensor tracking processing unit 14, from the time-series data of the target the correlated sensor observations, it is determined whether the target is turning, the determination result as a turning flag showing the pivoting presence of the target, and outputs the turning level indicating the degree of goal pivoted re tracking processing unit 16.
Most of the turning of the determination processing by the turning decision unit 17 is the same as in the first embodiment, it will be mainly described hereinafter which differ from those of the first embodiment.

Flag update processing unit 101 of the turning decision unit 17 receives the target the correlated sensor observations from the sensor tracking processing unit 14, at the timing that has received the target the correlated sensor observations, swiveling stored in turning flag DB72 It carries out a process of updating the flag.
Figure 20 is a flow chart showing the processing content of the flag updating unit 101.
Hereinafter, with reference to FIG. 20, for explaining the processing contents of the flag updating unit 101.

Flag update processing unit 101 at the timing of receiving the target the correlated sensor observations from the sensor tracking processing unit 14, a turning flag stored in the turning flag DB 72, the fusion track stored in the fusion track storage unit 18 It acquires the integrated turning flag marked with.
If the flag updating unit 101 determines whether or not the acquired turning flag is "turning" (step ST41), the turning flag is "non-orbiting" (step ST41: in the case of NO), the the without changing the "non-orbiting" the turning flag, and outputs the turning flag to the turning start determination processing unit 71 and the misjudgment release processing section 103 (step ST42).
Flag update processing unit 101, when the turning flag is "turning" (step ST41: If the YES), (step ST43) and determines whether or not the obtained integrated turning flag is "non-orbiting".
Flag update processing unit 101, if the integrated turning flag is "non-orbiting" (step ST43: YES), of the turning flag is changed to "non-orbiting", turning start determination processing unit that turning flag outputs 71 and misjudgment release processing section 103 (step ST44).
If the flag update processing unit 101 is its integrated turning flag is "turning" (step ST43: in the case of NO), the its without changing the "turning" of the turning flag, its turning flag turning start determination processing unit 71 and output to the erroneous determination release processing section 103 (step ST45).

Turning start determination processing unit 71 of the turning decision unit 17, as in the first embodiment, it is determined whether the turning is started.
However, in the second embodiment, the initialization processing unit 71d of the orbiting start determination processing unit 71, in that it performs initialization processing of the turning start decision processing in accordance with turning flag output from the flag updating unit 101, It differs from the first embodiment.
Time The threshold determination processing unit 71j of the pivot start determination processing unit 71, as in the first embodiment, but outputs the turning flag set in turning flag DB 72, it is determined that the first pivot is started the record in turning start time DB102 as a turning start time.

Misjudgment release processing unit 103 receives the turning flag from the flag updating unit 101 performs an erroneous determination release processing.
Figure 21 is a flowchart showing the contents of the erroneous determination releasing process unit 103.
Hereinafter, with reference to FIG. 21, detailed explanation of the misjudgment release processing misjudgment releasing process unit 103.

First, erroneous determination release processing section 103, as shown in the following equation (53), an observation time t a goal the correlated sensor observations output from the sensor tracking processing unit 14, is stored in the turning start time DB102 and a time difference between the turning start time t s is differential time calculating the Δt a-s (step ST51).
Δt a-s = t a -t s (53)
Incidentally, observation time t a goal the correlated sensor observations is the time at which target the correlated sensor observations is output from the sensor tracking processing unit 14.

Misjudgment release processing section 103 determines, when calculating the difference time Delta] t a-s, turning flag output from the flag updating unit 101 whether or not the "turning" (step ST52).
If erroneous determination release processing section 103, the turning flag is "non-orbiting" (step ST52: in the case of NO), the unchanged "non-orbiting" the turning flag, turning flag DB72 its turning flag, and it outputs the turning level calculation unit 75 and the re-tracking processing unit 16 (step ST53).
Misjudgment release processing section 103, when the turning flag is "turning" (step ST52: YES), of integrated turning flag is "non-orbiting attached to the fusion track stored in the fusion track storage unit 18 It determines a whether "(step ST54).

If erroneous determination release processing section 103, the integrated turning flag is "turning" (step ST54: in the case of NO), the unchanged "turning" of the turning flag, the turning flag to turning flag DB 72, the turning and outputs to the level calculation unit 75 and the re-tracking processing unit 16 (step ST55).
Misjudgment release processing section 103, when the integrated turning flag is "non-orbiting" (step ST54: YES), of at previously calculated difference time Delta] t a-s is released threshold or set in advance determines whether a (step ST56).

Misjudgment release processing section 103, if the difference time Delta] t a-s is greater than or releasing threshold (step ST56: YES), of the turning flag is changed to "non-orbiting", turning the turning flag flag DB 72, and outputs the turning level calculation unit 75 and the re-tracking processing unit 16 (step ST57).
If erroneous determination canceling unit 103, the difference time Delta] t a-s is less than the release threshold (step ST56: in the case of NO), the unchanged "turning" of the turning flag, turning the turning flag flag DB 72, and outputs the turning level calculation unit 75 and the re-tracking processing unit 16 (step ST55).

Turning termination determination processing unit 73 of the turning decision unit 17 may implement the turning end determination process of determining completion of the turning, and updates the integrated turning flag attached to the fusion track stored in the fusion track storage unit 18 .
Figure 22 is a flow chart showing the processing content of the orbiting end determination processing unit 73.
Hereinafter, with reference to FIG. 22, specifically explains a procedure of turning termination determination processing unit 73.
Initializing unit 73k of the pivot end determining unit 73 obtains the fusion track stored in the fusion track storage unit 18, whether the integrated turning flag attached to the fusion track is "turning" It is determined (step ST61).
Initializing unit 73k, if its turning flag is "non-orbiting" (step ST61: in the case of NO), the delete the fusion track stored in the pivot end decision fusion track DB73j, turning termination determination processing the ends (step ST62).
Initializing unit 73k, if its turning flag is "turning" (step ST61: YES), of storing the acquired fused track to the turning end decision fusion track DB73j (step ST63), after allow the implementation of the turning end determination processing. That is, to allow N step prediction processing unit 73l, Mahalanobis squared distance calculation processing section 73f, an operation of the time direction smoothing unit 73g and the threshold determination processing unit 73h.

N step prediction processing unit 73l, when initializing unit 73k stores the fusion track on the turning end decision fusion track DB73j, in fusion track stored in the pivot end decision fusion track DB73j, oldest fusion track and time t b, the time difference between the time t k of the determined portions track correlation fusion track stored in the fusion track storage unit 18 is taken by the correlation determination unit 22 (t k (S) - t b) is calculated.
N step prediction processing unit 73l, when calculating the time difference (t k (S) -t b), as shown in equation (54) below, the time difference (t k (S) -t b) pre determining whether a threshold TH_PRE_TIME than that set in (step ST64).
(T k (S) -t b ) ≧ TH_PRE_TIME (54)

N step prediction processing unit 73l, the time difference (t k (S) -t b) is less than the threshold TH_PRE_TIME, if the expression (54) is not satisfied (step ST64: in the case of NO), the the turning termination determination processing to the end.
N step prediction processing unit 73l is In that time difference (t k (S) -t b) the threshold TH_PRE_TIME above, if the expression (54) is satisfied (step ST64: YES), of the following formula (55 as shown in), to calculate a past time T tnt going back from the time t k of the determined partial track that closely correlate (S) by the threshold TH_PRE_TIME by the correlation determination unit 22.

Figure JPOXMLDOC01-appb-I000060

Then, N step prediction processing unit 73l from the fusion track stored in pivot end decision fusion track DB73j, to predict until time t k partial track (S), such as the position and velocity at the target at the present time It calculates a predicted trajectory having a state vector (step ST65).
Further, N step prediction processing unit 73l, as shown in the following equation (56), from the fusion track stored in the pivot end decision fusion track DB73j, closest fusion track on a past time T tnt Search time t jm.

Figure JPOXMLDOC01-appb-I000061
Further, N step prediction processing unit 73l, as shown in equation (57) below, calculates the outer挿時between ΔT from the time t jm to time t k (S) portions track.

Figure JPOXMLDOC01-appb-I000062

N step prediction processing unit 73l, when calculating the outer 挿時 between [Delta] T, with its outer 挿時 between [Delta] T, the prediction vector constituting the prediction trajectory, and calculates the prediction error covariance matrix.
Processing for calculating the prediction error covariance matrix and the predicted vector, as well as the N step prediction processing section 71g of the turning start decision processing unit 71 is calculated according to equation (20) to (23).

Mahalanobis square distance calculation processing unit 73m, when N steps prediction processing unit 73l calculates the prediction vector and the prediction error covariance matrix forming the predictive track, and the prediction vector and the prediction error covariance matrix, the correlation by the correlation determination unit 22 and a determination portion track and is taken to calculate the Mahalanobis squared distance between the prediction vector and the moiety track constituting the prediction track (step ST66).
It will be specifically described below a process for calculating the Mahalanobis squared distance by the Mahalanobis squared distance calculation processing unit 73m.
And if partial track is the state vector consisting of position and velocity, it will be described separately in the case the state vector consists only of position.

[When the partial track is the state vector consisting of position and velocity]
Mahalanobis square distance calculation processing unit 73m, as shown in the following equation (58), and the predicted vector for the fusion track at the current time point t k calculated by the N step prediction processing unit 73l, the position and velocity vector of the partial track to calculate the residual r k.

Figure JPOXMLDOC01-appb-I000063

Figure JPOXMLDOC01-appb-I000064

Next, the Mahalanobis square distance calculation processing unit 73m, as shown in equation (59) (60) below, using the residual r k, calculates Mahalanobis squared distance epsilon v a (k).

Figure JPOXMLDOC01-appb-I000065

Figure JPOXMLDOC01-appb-I000066

Figure JPOXMLDOC01-appb-I000067

[If the state vector consists only of position]
Mahalanobis square distance calculation processing unit 73m, as shown in the following equation (61), the predicted position vector of the fusion track at the current time point t k calculated by the N step prediction processing unit 73l, and the position vector of the partial track to calculate the residual r k.

Figure JPOXMLDOC01-appb-I000068
Next, the Mahalanobis square distance calculation processing unit 73m, as shown in the following equation (62) (63) calculates the residual covariance matrix S k, as shown in equation (60), the residual r k using the residual covariance matrix S k and calculates Mahalanobis squared distance epsilon v a (k).

Figure JPOXMLDOC01-appb-I000069

Figure JPOXMLDOC01-appb-I000070

Time direction smoothing unit 73g, when the Mahalanobis square distance calculation processing unit 73m calculates the Mahalanobis squared distance ε v (k), implementing the time direction smoothing process for smoothing the Mahalanobis squared distance ε v (k) in the time direction (step ST67).
For smoothing the Mahalanobis squared distance ε v (k) in the time direction smoothing unit 73g is similar to the smoothing process Mahalanobis squared distance ε v (k) in the time direction smoothing unit 71i illustrated in FIG. 5, a detailed description thereof will be omitted.

Threshold determination processing unit 73h, if the time direction smoothing unit 73g is smoothed Mahalanobis squared distance epsilon v (k) is in the time direction, as shown in equation (36) above, Mahalanobis square smoothed in the time direction distance a is time direction smoothing value ε av (k), to implement the threshold determination process for comparing the threshold value Th Turnend a preconfigured (step ST 68).
Threshold determination processing unit 73h, the time becomes the directional smoothness value epsilon av (k) is equal to or less than the threshold value Th Turnend, if the expression (36) is satisfied, it is determined that the turning is completed, the fusion track storage unit 18 integrated turning flag is attached to the fusion track stored is set to "non-orbiting".
Threshold determination processing unit 73h is greater than the time direction smoothing value epsilon av (k) is the threshold value Th Turnbgn, if the expression (36) is not satisfied, the turning is determined not to be finished, integrated turning of the "turning" to maintain the flag.

Here, the threshold determination processing unit 73h is an example of comparing the Mahalanobis square distance and a threshold value which is smoothed in the time direction, the threshold determination processing unit 73h is time direction smoothing value at the current time t k ε av (k ) and, before the time t k-1 calculates a difference value [Delta] [epsilon] av (k) of the time direction smoothing value ε av (k-1) in, the difference value [Delta] [epsilon] av (k) a threshold number of times that is negative Th becomes more than cnt, turning may be determined to be terminated.
Figure 23 is a flowchart showing the contents of the threshold determination processing unit 73h. Hereinafter, with reference to FIG. 23, specifically explains a procedure of the threshold determination processing unit 73h.

For each threshold determination processing unit 73h has the time direction smoothing unit 73g calculates the av (k) time direction smoothing value ε of the current time t k, as shown in the above equation (37), at the current time t k time direction smoothing value ε av (k), calculates the difference value [Delta] [epsilon] av (k) of the previous time t time direction smoothing value of the k-1 ε av (k- 1) ( step ST71).
Threshold determination processing unit 73h, when calculating a difference value [Delta] [epsilon] av (k), if the difference value [Delta] [epsilon] av (k) is negative (step ST72: YES), of the count stored in the difference value counter DB37i implementing the increment processing for increasing the value C by 1 (step ST73). The count value C is for indicating the number of times that the difference value [Delta] [epsilon] av (k) is negative, the initial value of the count value C stored in the difference value counter DB37i is 0.
Threshold determination processing unit 73h, if the difference value [Delta] [epsilon] av (k) is 0 or higher (step ST72: in the case of NO), the maintaining the count value C stored in the difference value counter DB37i (step ST74).

Next, the threshold determination processing unit 73h, as shown in the above equation (38), compares the threshold Th cnt set in advance the number of times C that is recorded in the difference value counter DB37i (step ST75).
Threshold determination processing unit 73h may be greater than the number C is the threshold value Th cnt stored in the difference value counter DB37i, if the expression (38) is satisfied (step ST75: YES), of the turning is completed determination to the integrated turning flag is attached to the fusion track stored in the fusion track storage unit 18 is set to "non-orbiting" (step ST76).
The threshold determination processing unit 73h may count C stored in the difference value counter DB37i is equal to or less than the threshold value Th cnt, if the expression (38) is not satisfied (step ST75: in the case of NO), the integration of the "turning" maintaining the turning flag (step ST77).
Threshold determination processing unit 73h is set to the integrated turning flag to "non-orbiting", is initialized to 0 the number of times C that is recorded in the difference value counter DB37i.

Turning level calculation processing section 75 of the turning decision unit 17, if the turning flag stored in the turning flag DB72 is "turning", as in the first embodiment, output from the sensor tracking processing unit 14 target from the correlated sensor observation value, it calculates a turning level indicating the degree of goal turning, and outputs the turning level to re-tracking processing unit 16.

Re tracking processing unit 16 of the tracking processing unit 12 receives the target the correlated sensor observations from the sensor tracking processing unit 14, as in the first embodiment, the position indicated by the target the correlated sensor observations, partial It determines whether the position and are correlated indicated partial track stored in the track storage unit 15.
Re tracking processing unit 16, the position indicated by the target the correlated sensor observations, the position indicated by the partial track stored in the partial track storage unit 15 has a correlation, the target the correlated sensor observations If it is determined that can be associated with partial track, as in the first embodiment, and stores the target the correlated sensor observations to the partial track storage unit 15.
Further, re-tracking processing unit 16, as in the first embodiment, from its target the correlated sensor observations and partial track storage unit past target the correlated sensor observations stored in 15, the target current estimating a partial track having a state vector, including position and speed in.
Re tracking processing unit 16, when estimating a partial track, a partial track stored in the partial track storage unit 15, is replaced with its estimated partial track, with respect to the estimated portion track, the turning decision unit 17 adding the outputted turning flag and the turning level, and outputs the partial track with turning flag and the turning level to the transmission determining unit 19.

Transmission determination unit 19, when the re-tracking processing unit 16 receives a part track with a turning flag and the turning level, as in the first embodiment, and the time position indicated by the partial wake, the fusion track storage unit 18 from the time difference between the time positions fusion track stored is shown, the turning flag and the turning level are assigned to the portions wake, it determines whether to transmit the partial track.
At this time, the transmission determining unit 19, than when that part turning flag is attached to the track is "non-orbiting", towards the case of the "turning" is part track with its turning flag and the turning level to increase the frequency to issue a determination result to allow the transmission.
Further, as the pivoting levels are assigned to that part track is high, to increase the frequency to issue a determination result to allow the transmission of the turning flag and the partial track with pivot level.

Here, the transmission determining unit 19, if turning flag are assigned to the partial track is "turning", as in the first embodiment, by increasing the system noise parameters of formula (42), partial track it is assumed that to increase the frequency to issue a determination result indicating that transmits, if integrated turning flag is "turning" attached to the fusion track stored in the fusion track storage unit 18 than when the integrated turning flag is "non-orbiting" by increasing the system noise parameters of formula (42), it may be more frequently to issue a determination result indicating that transmits the partial track.
Further, here, the transmission determining unit 19, the higher the swivel levels are assigned to the partial track, as in the first embodiment, by increasing the system noise parameters of formula (42), the turning flag and assuming that to increase the frequency to issue a determination result indicating that transmits the partial track with pivot level is but integration pivot level attached to the fusion track stored in the fusion track storage unit 18 high enough, by increasing the system noise parameters of formula (42), it may be more frequently to issue a determination result indicating that transmits the partial track with its turning flag and the turning level

As it can be seen from the above description, according to the second embodiment, as in the first embodiment, while ensuring the tracking accuracy of the target is turning, the effect capable of reducing the communication capacity.
That is, according to the second embodiment, when the target is turning, by increasing the transmission frequency of the partial track, it is possible to increase the target tracking accuracy. On the other hand, if the target is not turning, by lowering the transmission frequency of the partial track, it is possible to reduce the communication capacity.

Further, according to the second embodiment, flag integrating unit 91, using the turning flag attached to the output portion track from the transceiver 20, with the fusion track stored in the fusion track storage unit 18 since it is configured to be have integrated turning flag to update the accuracy of the turning flag attached to the output portion track from the transceiver 20, even if not so high, in the transmission frequency according to the presence or absence of rotation of the target an effect that can transmit the partial track.
Further, even when the "turning" of the turning flag attached to the output portion track the transceiver 20 is incorrect, it is possible to transmit without being affected by the error, the partial track in the proper transmission frequency an effect.

Incidentally, the present invention is within the scope of the invention, it is possible to omit any component deformation or in each of the embodiments of any of the components of a free combination, or each of the embodiments, the respective embodiments .

Target tracking apparatus according to the present invention is suitable for use to estimate the position of the target from the observed value of the sensor.

1-1 ~ 1-M target tracking apparatus, 2 network, 11 sensors, 12 tracking processing unit, 13 sensor track storage unit, 14 sensor tracking processing unit, 15 parts track storage unit, 16 re-tracking processing unit 17 turning decision unit , 18 fusion track storage unit, 19 transmission determination unit, 20 receiving unit, 21 track fusion portion, 22 correlation determining unit, 23 fusing tracking processing unit, 24 display processing unit, 41 storage processing circuit, 42 sensor tracking processing circuit, 43 re tracking processing circuit, 44 turning decision processing circuit 45 transmits the determination processing circuit 46 receiving processing circuit, 47 correlation determining processing circuit, 48 a fusion tracking processing circuit, 49 display processing circuit, 50 flag integrating processing circuit, 61 a memory, 62 processor, 71 turning start determination processing unit, 71a turning start determination observations DB, 71b speed DB, 71c turning start determination smooth track DB, 71d initial Processor, 71e linear track estimation processing unit, 71f speed re-smoothing processing unit, 71 g N Step prediction processing unit, 71h Mahalanobis squared distance calculation processing unit, 71i time direction smoothing unit, 71j threshold determination processing unit 72 turning flag DB, 73 turning termination determination processing section, 73a turning termination determination observations DB, 73b pivot end decision smooth track DB, 73c initializing unit, 73d trajectory estimation processor, 73e N step prediction processing unit, 73f Mahalanobis squared distance calculation process parts, 73 g temporal smoothing processing unit, 73h threshold determination processing unit, 73i difference value counter DB, 73j turning end decision fusion track DB, 73k initializing unit, 73l N step prediction processing unit, 73m Mahalanobis squared distance calculation processing section , 74 turning flag output processing unit, 75 pivot level calculation processing unit, 75a initializes Processing section, 75b pivot level calculating observed value DB, 75c orbiting estimation processor 81 parameter changing processing section 82 fusion track prediction processing unit, 83 determining the error calculation processing unit, 84 determination unit, 91 flag integrating unit, 101 flag update processing unit, 102 pivot start time DB, 103 misjudgment release processing section.

Claims (13)

  1. From the time series data of observation value which indicates the position of the target output from the sensor, and the tracking processing unit for estimating the partial track containing information on the position of the target,
    Wherein the time determining whether or not turning decision unit the target from series data is turning observations,
    A fusion track storage unit that stores a fusion track containing information on the position of the target,
    And time difference between the time of the fusion track stored in time and the fusion track storage unit of the estimated partial track by the tracking processing unit, and a determination result of said turning decision unit, estimated by the tracking processing unit and determining the transmission determining unit whether to transmit the partial track,
    If the determination result of the transmission determination unit indicates that it will send a partial track, the partial track is transmitted to another target tracking device, receiving unit for receiving the transmitted portion trajectory from another target tracking device When,
    Using the transmission or reception portion trajectory by the transceiver unit, target tracking device that includes a track fusion unit for updating the fusion track stored in the fusion track storage unit.
  2. The tracking processing unit,
    A sensor track storage unit for storing the sensor track and the observed value indicating a position of the target, including information on the position of the target,
    Determines whether a position indicated by the sensor track stored as the position indicated by the observed value output from the sensor to the sensor track storage unit are correlated, the position indicated by the observed value output from the sensor and if the correlation with the position indicated by the sensor track is stores the observation value output from the sensor to the sensor track storage unit, the observed value and the sensor track storage unit observed values ​​stored in from, said estimating the sensor track that contains the information of the position of the target, the sensor track sensor track stored in the storage unit replaced with a sensor track with the estimated sensor tracking processing unit,
    A portion wake including information on the position of the target, a partial track storage unit that stores the observation value indicating a position of the target,
    A position indicated by the observations that have been determined to be correlated with the position indicated by the sensor track by the sensor tracking processing unit, and the position indicated by the partial track stored in the partial track storage unit whether correlated determine, if the position indicated by the position and the partial track of the observed value indicated correlated stores the observations in the partial track storage unit, the observed value and the partial track storage unit in the storage from an observation value is to estimate the partial track containing information on the position of said target, said portion of the partial track stored in the track storage unit and a re-tracking processing unit for replacing the partial track with the estimated target tracking apparatus according to claim 1, wherein the are.
  3. The turning decision unit, the estimated position of the target from the time-series data of observation value, converts the difference between that are observed indicating position output from the said estimated position sensor Mahalanobis squared distance, target tracking apparatus according to claim 1, wherein the determining whether the target is turning from the Mahalanobis square distance.
  4. The turning decision unit is to estimate the position of the target from the time series data of the observations, as well as in terms of the difference between that are observed indicating position output from the said estimated position sensor Mahalanobis squared distance smoothes the Mahalanobis squared distance in the time direction, by comparing the Mahalanobis square distance and a threshold value obtained by smoothing the time direction, according to claim 1, characterized in that determining whether the target is turning target tracking device according.
  5. The transmission determination unit, than when it is determined that the target is not turning by the turning decision unit found the following when the target by the turning decision unit is determined to be turning, and transmits the partial track target tracking apparatus according to claim 1, wherein the more frequently issue a determination result indicating the fact.
  6. The turning decision unit, when determining that the target is turning, to calculate the degree of time-series data of the turning of the target of the observations,
    The transmission determination unit, the pivot greater the degree of the calculated turning by the determination unit, a target tracking apparatus according to claim 5, wherein increasing the frequency to issue a determination result indicating that transmits the partial track .
  7. The track fusion portion, as the degree of turning calculated by the turning decision unit is large, the target according to claim 6, characterized in that to set the system noise parameters to a large value to be used for updating the fusion track tracking device.
  8. The track fusion part,
    A correlation determination unit determines whether the position indicated by the fusion track stored in said fusion track storage unit and sent or received portion track position indicated are correlated by the transceiver unit,
    If the it is determined to be correlated by the correlation determination unit, wherein the partial track is the position shown and the position of the indicating fusion track is to estimate the fusion track containing information on the position of the target, the fusion track storage unit fusion track stored executes processing for replacing the fusion track that the estimated, the case where it is determined not to be correlated by the correlation determination unit, a portion wake transmitted or received by the transceiver unit as a fusion track target tracking apparatus according to claim 1, characterized in that it comprises a fusion tracking processing unit for recording the fusion track storage unit.
  9. The tracking processing unit adds the turning flag indicating the determination result of the turning decision unit to the estimated partial track, and outputs the partial track with the turning flag,
    The transceiver unit, when the transmission determining unit of the determination result indicates that the transmitting portions track, and transmits the partial track with the turning flag to another target tracking device, transmitted from another target tracking device It receives the partial track with turning flag that is,
    The fusion track storage unit stores the fusion track with the turning flag,
    Using the turning flag attached to the transmission or reception portion trajectory by the transmitting and receiving unit, further comprising a flag integrating unit that updates the turning flag attached to the fusion track stored in said fusion track storage unit target tracking apparatus according to claim 1, wherein.
  10. Whether the turning decision unit, turning flag attached to the fusion track stored in said fusion track storage unit, if the shows that the said target is not turning, the target has started turning target tracking apparatus according to claim 9, wherein the performing the turning start determination process determines.
  11. The turning decision unit decides the fusion track stored in said fusion track storage unit, from the difference between the transmitted or received portion trajectory by the transmitting and receiving unit, whether the target has completed the pivot target tracking apparatus according to claim 9, wherein the performing the pivoting end determination processing.
  12. The turning decision unit includes a turning flag attached to the fusion track stored in said fusion track storage unit, and a turning flag attached to the transmission or reception portion trajectory by the transceiver unit, wherein the target turning target tracking apparatus according to claim 9, wherein the performing the pivoting end determination process of determining whether to exit.
  13. The turning decision unit uses the turning flag attached to the fusion track stored in said fusion track storage unit, characterized in that to correct the judgment result when turning where it is determined from the time series data of the observation value target tracking apparatus according to claim 9, wherein.
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