WO2019030800A1 - Dispositif de suivi de cible - Google Patents

Dispositif de suivi de cible Download PDF

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Publication number
WO2019030800A1
WO2019030800A1 PCT/JP2017/028590 JP2017028590W WO2019030800A1 WO 2019030800 A1 WO2019030800 A1 WO 2019030800A1 JP 2017028590 W JP2017028590 W JP 2017028590W WO 2019030800 A1 WO2019030800 A1 WO 2019030800A1
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unit
target tracking
target
value
observation
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PCT/JP2017/028590
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English (en)
Japanese (ja)
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将成 中村
哲太郎 山田
小幡　康
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三菱電機株式会社
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Priority to JP2019531835A priority Critical patent/JP6641534B2/ja
Priority to PCT/JP2017/028590 priority patent/WO2019030800A1/fr
Publication of WO2019030800A1 publication Critical patent/WO2019030800A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S13/00—Systems 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
    • G01S13/66—Radar-tracking systems; Analogous systems

Definitions

  • the present invention relates to a target tracking device that tracks a plurality of targets.
  • Patent Document 1 Conventionally, as a technique for coping with such a problem, for example, there is one shown in Patent Document 1.
  • the angle measurement is performed by the MUSIC method. Since the target number is required to measure in the MUSIC method, the target number is generally estimated using the eigenvalues of the correlation matrix.
  • the observation value may degenerate if the target number is incorrectly estimated. Therefore, in the technique described in Patent Document 1, the observation value can be obtained by giving the target number estimated using the track to the MUSIC method. To prevent the degeneracy of
  • Patent Document 1 it is premised that the correlation of incoming waves is low, and when the correlation between incoming waves is high, it is difficult to avoid degeneration of observed values.
  • the present invention has been made to solve such a problem, and it is an object of the present invention to provide a target tracking device capable of avoiding degeneration of observed values even when the correlation between incoming waves is high.
  • the target tracking device includes a sensor processing unit that acquires observation signals of a plurality of targets, an observation value extraction unit that generates observation values from the observation signals acquired by the sensor processing unit, and an observation value extraction unit
  • a multi-target tracking processing unit that obtains position specification estimates of a plurality of targets using the set position estimation method using the acquired observation values, and determines presence / absence of degeneration of the observation from the position specification estimates; When it is determined by the multi-target tracking processing unit that there is a degeneracy of the observed values, the position specification of the multiple targets using the position estimation method in which the target estimation is performed based on the multi-target predicted values for one observed value.
  • the degeneracy cancellation unit is provided with a degeneracy cancellation unit for obtaining an estimated value, and when the multi-target tracking processing unit determines that there is degeneracy of the observation value, the degeneracy cancellation unit determines the track of the correlation hypothesis determined to be degeneracy of the observation value. To be updated with the estimated position specification That.
  • the target tracking device is a position estimation method that performs target estimation based on predicted values of multiple targets with respect to one observed value when the multiple targets tracking processing unit determines that the observed values are degenerated.
  • the multi-target tracking processing unit updates the track determined to have degeneration of the observed value with the position specification estimated value obtained by the degeneration cancellation unit. It is intended to Thereby, even when the correlation between the arriving waves is high and degeneration of the observed value occurs, the influence can be avoided.
  • FIG. 1 is a block diagram showing a target tracking device according to the present embodiment.
  • the target tracking device includes a sensor processing unit 10, an observation value extraction unit 20, and a tracking processing unit 30.
  • the sensor processing unit 10 is a processing unit that acquires a target observation signal, and includes a receiving antenna unit 11 and a receiving circuit 12.
  • the receiving antenna unit 11 is an antenna for receiving radio waves from a target, and includes a plurality of antennas for performing super resolution angle measurement.
  • the receiving circuit 12 is a circuit that converts an analog signal from the receiving antenna unit 11 into a digital signal and outputs the digital signal.
  • the observation value extraction unit 20 is a processing unit that generates an observation value from the observation signal output from the reception circuit 12.
  • the tracking processing unit 30 includes a multi-target tracking processing unit 40 and a degeneration cancellation unit 50.
  • the multi-target tracking processing unit 40 is a processing unit that manages position specification estimated values of a plurality of targets using the observation values obtained by the observation value extraction unit 20, and includes a correlation hypothesis generation unit 41 and an observation value degeneracy determination unit 42. , A correlation hypothesis evaluation unit 43, a track update unit 44, a correlation hypothesis storage unit 45, and a track determination unit 46.
  • the correlation hypothesis generation unit 41 is a processing unit that generates a new correlation hypothesis based on the observation value from the observation value extraction unit 20 and the correlation hypothesis from the correlation hypothesis storage unit 45.
  • the observed value degeneracy determination unit 42 determines whether or not the observed value is degenerated in the correlation hypothesis generated by the correlation hypothesis generation unit 41, and associates the determined correlation hypothesis with the determination result of the correlation hypothesis. It is a processing unit that outputs.
  • the correlation hypothesis evaluation unit 43 acquires the correlation hypothesis from the observation value degeneration determination unit 42 or the correlation hypothesis update unit 52 of the degeneration cancellation unit 50, evaluates the likelihood of the correlation hypothesis, and updates the evaluation value included in the correlation hypothesis And a processing unit that outputs a correlation hypothesis in which the evaluation value is updated.
  • the track update unit 44 is a processing unit that acquires the correlation hypothesis from the correlation hypothesis evaluation unit 43, and updates each track included in the correlation hypothesis using correlated observation values.
  • the correlation hypothesis storage unit 45 is a storage unit for storing all correlation hypotheses output from the track update unit 44.
  • the track determination unit 46 is a processing unit that outputs the track included in the correlation hypothesis having the highest evaluation value among all the correlation hypotheses output from the track update unit 44 as a target track.
  • the degeneracy elimination unit 50 is a processing unit that obtains an observation value without degeneracy as a position specification estimated value using a position estimation method that performs target estimation on one observation value based on multi-target prediction values, A super resolution angle measuring unit 51 and a correlation hypothesis updating unit 52 are provided.
  • the super-resolution angle measurement unit 51 receives the correlation hypothesis and acquires a digital signal from the reception circuit 12 and the digital signal Super-resolution angle measurement, which is a position estimation method that performs target estimation based on predicted values of multiple targets for one observation value, using a track including signals and correlation hypotheses, the super-resolution angle measurement results and observation
  • This processing unit outputs the correlation hypothesis from the value degeneration determination unit 42.
  • the correlation hypothesis updating unit 52 generates a correlation hypothesis by replacing the observation value included in the correlation hypothesis acquired from the super-resolution angle measuring unit 51 with the observation value calculated from the angle measurement result acquired from the super-resolution angle measuring unit 51 It is a processing unit that outputs the generated correlation hypothesis to the multi-target tracking processing unit 40.
  • FIG. 2 is a diagram showing a hardware configuration for realizing the observation value extraction unit 20 and the tracking processing unit 30 in the target tracking device of the present embodiment.
  • the observation value extraction unit 20 and the tracking processing unit 30 in the target tracking device are configured of a processor 101, a memory 102, an input / output I / F (input / output interface) 103, a storage 104, and a bus 105.
  • the processor 101 is a processor for realizing the observation value extracting unit 20 and the tracking processing unit 30 by executing programs corresponding to the functions of the observation value extracting unit 20 and the tracking processing unit 30.
  • the memory 102 is a storage unit such as a program memory for storing various programs and a ROM and a RAM used as a work memory used when the processor 101 performs data processing.
  • the input / output I / F 103 is a communication interface for performing input / output with the outside such as inputting an observation signal from the sensor processing unit 10 or outputting the processing result of the multi-target tracking processing unit 40 to the outside.
  • the storage 104 is a storage device for storing various data and programs corresponding to the functions of the observation value extraction unit 20 and the tracking processing unit 30.
  • the bus 105 is a communication path for connecting the processor 101 to the storage 104 to one another.
  • the processing performed by the observation value extraction unit 20 and the tracking processing unit 30 in FIG. 1 is performed by the processor 101 developing the program stored in the storage 104 on the memory 102 and executing the program.
  • the digital signal output from the reception circuit 12 of the sensor processing unit 10 is stored in the memory 102 or the storage 104 via the input / output I / F 103. Further, the processing result of the tracking processing unit 30 is stored in the storage 104 as necessary, and is output to the outside via the input / output I / F 103.
  • the receiving antenna unit 11 receives a radio wave signal output from a target for use in communication and the like, and outputs an analog signal corresponding to the received radio wave signal.
  • the receiving circuit 12 converts an analog signal acquired from the receiving antenna unit 11 into a digital signal, and outputs the digital signal to the observed value extracting unit 20 and the super-resolution angle measuring unit 51 of the degeneration eliminating unit 50.
  • the observation value extraction unit 20 calculates an angle measurement value using the digital signal input from the reception circuit 12 and outputs the estimated position of the target on the coordinate.
  • the estimated position is hereinafter referred to as the observed value.
  • the observation values are represented by vectors.
  • FIG. 3 is a flowchart showing processing of the tracking processing unit 30 according to the first embodiment of the present invention.
  • FIG. 3 shows the process flow at time k.
  • the correlation hypothesis generation unit 41 acquires all correlation hypotheses at time k-1 from the correlation hypothesis storage unit 45. Also, the observation value extraction unit 20 acquires an observation value at time k.
  • the correlation hypothesis comprises the track, the observed value, and the evaluation value of the correlation hypothesis.
  • a track is an estimate of the position and velocity of a target at each time, and is represented using a vector.
  • each input correlation hypothesis is called a parent correlation hypothesis.
  • the correlation hypothesis generation unit 41 performs the following processing for each parent correlation hypothesis.
  • the track is extracted from a certain parent correlation hypothesis, and the observation value input from the observation value extraction unit 20 is assigned to each track.
  • the observation value input from the observation value extraction unit 20 is assigned to each track.
  • N new correlation hypotheses are generated using evaluation values of each assignment method and the parent correlation hypothesis. This correlation hypothesis is called a child correlation hypothesis.
  • the processing of the following steps ST2 to ST6 is performed for each of the correlation hypotheses output from the correlation hypothesis generation unit 41.
  • the observed value degeneracy determination unit 42 determines whether or not the observed value is degenerated in the correlation hypothesis acquired from the correlation hypothesis generation unit 41, and outputs the determined correlation hypothesis and the determination result of the correlation hypothesis in association with each other. (Step ST2). For example, when the same observation value is assigned to a plurality of tracks, the determination result that the observation value is degenerated is output (step ST2-with degeneration). Otherwise, the determination result that the observed value is not degenerated is output (step ST2-no degeneration).
  • the super-resolution angle measurement unit 51 in the degeneration cancellation unit 50 acquires the correlation hypothesis from the observed value degeneration determination unit 42, when the determination result output from the observed value degeneration determination unit 42 indicates degeneration of the observed value, A digital signal is obtained from the receiving circuit 12.
  • the super-resolution angle measurement unit 51 performs super-resolution angle measurement using the acquired digital signal and the track included in the acquired correlation hypothesis, and outputs the measurement result and the correlation hypothesis input from the observed value degeneration determination unit 42. (Step ST3).
  • the likelihood function of azimuth is expressed as follows, for example.
  • the measurement by the maximum likelihood method is performed by searching the azimuth angle vector ⁇ k so as to maximize the likelihood function.
  • a search method for example, there is an EM (Expectation Maximization) algorithm.
  • FIG. 4 shows the case where the number of tracks included in the correlation hypothesis is 2 (track 401, track 402), and in this figure, for the sake of explanation, it is assumed that the target exists in two dimensions of x and y. There is.
  • the axis orthogonal to this plane is an axis that represents the likelihood of azimuth, and here, as an example, the likelihood function of the maximum likelihood method is represented by the solid line 403, and the likelihood function of the FB-SSP MUSIC method is represented by the dotted line 404. ing.
  • a peak portion of the likelihood function is a candidate for angle measurement values.
  • the likelihood function of the FB-SSP MUSIC method in FIG. 4 reduces the correlation between the signals of each target by the spatial averaging method when the signals output from each target have high correlation and they are close to each other. An example of the case where it can not be shown. From FIG. 4, when angle measurement is performed by the FB-SSP MUSIC method, since the shape of the likelihood function is single-peaked, the obtained angle value becomes one (in FIG. 4, mark 405) and the observed value is degenerated. I know what to do. In addition, when the search is started from around the azimuth that is a local solution by the maximum likelihood method, it is understood that the maximum likelihood method outputs the local solution ( ⁇ mark 406 in FIG. 4) as an angle value.
  • the azimuth angle of the predicted position of the track is set to the initial value 411, 412 and the maximum value of the likelihood function is searched.
  • angle values 409 and 410 corresponding to the global solutions of the likelihood function of the maximum likelihood method are obtained, and it is considered that the observed values are not degenerated.
  • ⁇ marks 415 and 416 indicate convergence values of the search.
  • the maximum likelihood method using the sample as the initial value for each sample sampled a plurality of times from the distribution of the track prediction may be performed according to the method described above, and the value with the highest likelihood among the angle measurement values may be used as the angle measurement result of the super-resolution angle measurement unit 51.
  • the correlation hypothesis updating unit 52 replaces the correlation hypothesis in which the observation value included in the correlation hypothesis input from the super resolution angle measurement unit 51 is replaced with the observation value calculated from the angle measurement result input from the super resolution angle measurement unit 51.
  • the generated correlation hypothesis is generated and output (step ST4).
  • the correlation method of the observation value and the track for example, determines the observation value to be assigned to each track by storing the track used as the initial value for each of the angle measurement values obtained by the super-resolution angle measuring unit 51 How to do
  • the correlation hypothesis evaluation unit 43 acquires the correlation hypothesis from the observed value degeneracy determination unit 42 or the correlation hypothesis update unit 52, evaluates the likelihood of the correlation hypothesis, updates the evaluation value included in the correlation hypothesis, and evaluates the evaluation value.
  • the updated correlation hypothesis is output (step ST5).
  • the evaluation of the correlation hypothesis is described, for example, in the documents: B. T. Vo and B. N. Vo, “Labeled Random Finite Set and Multi-Object Conjugate Priors”, IEEE Trans. On Signal Processing, vol. 61, no. It can be performed in the same manner as the multi-target tracking algorithm of pp. 3460-3475, 2013.
  • the track update unit 44 acquires the correlation hypothesis from the correlation hypothesis evaluation unit 43, and updates each track included in the correlation hypothesis using the correlated observation value (step ST6). For example, it is possible to update the track using a Kalman filter as in the following equation (3).
  • the above steps ST2 to ST6 are performed for each correlation hypothesis.
  • the correlation hypothesis storage unit 45 receives all correlation hypotheses output from the track updating unit 44, and performs a process of outputting these to a memory or the like (step ST7).
  • the track determination unit 46 receives all correlation hypotheses output from the track update unit 44, and outputs the track included in the correlation hypothesis having the highest evaluation value as the target track at time k (step ST8).
  • the output track is output, for example, as a display track to a display or the like (not shown).
  • the target tracking device performs the super-resolution angle measurement on the hypothesis that the observed value is considered to be degenerate and updates the correlation hypothesis, thereby degenerating even when the correlation between the arriving waves is high. Since it is possible to update the track using unobserved observation values, it is possible to reduce the estimation error of the position and velocity of the target. As a result, since occurrence of a false navigation can be prevented, estimation errors of the target number can be reduced.
  • a sensor processing unit that acquires observation signals of a plurality of targets, and an observation value extraction unit that generates observation values from the observation signals acquired by the sensor processing unit Using the observation value generated by the observation value extraction unit to obtain position specification estimated values of a plurality of targets using the set position estimation method, and determine the presence or absence of degeneration of the observation from the position specification estimations If it is determined that the observed values are degenerated by the multi-target tracking processing unit and the multi-target tracking processing unit, a position estimation method for performing target estimation based on the multi-target predicted values for one observed value is used.
  • a degeneracy eliminating unit for obtaining estimated values of position specifications of a plurality of targets, and the multi-target tracking processing unit determines that there is degeneracy of the observed values when it is determined that there is degeneracy of the observed values.
  • the track is a position specification estimate obtained by the degeneracy cancellation unit Since so new to, when the correlation of the incoming waves is higher, it is possible to track updates using the observed values does not degenerate, hence, it is possible to reduce the estimation error of the target position and velocity. As a result, the occurrence of a false navigation can be prevented, and the estimation error of the target number can be reduced.
  • the multi-target tracking processing unit generates a correlation hypothesis in which a plurality of tracks correlates to a single observation value for the observation value and the track input from the observation value extraction unit. Since the degeneration cancellation unit updates the observation value using the track included in the correlation hypothesis generated by the multi-target tracking processing unit, the degeneration of the observation value is performed even when the correlation between the incoming waves is high. It can be avoided.
  • the degeneration elimination unit updates the observation value using the expected value of the track prediction input from the multi-target tracking processing unit. Even when the correlation is high, degeneration of the observed values can be avoided.
  • the degeneration cancellation unit samples a plurality of times from the distribution of track predictions input from the multi-target tracking processing unit, and performs the process of updating observation values for each sample.
  • the update processing results since the probable observation value is output as the observation value after the update, degeneration of the observation value can be avoided even when the correlation between the incoming waves is high.
  • the position estimation method for performing target estimation based on predicted values of multiple targets for one observed value is superresolution angle measurement, so Even when the correlation of is high, the degeneracy of the observation value can be avoided.
  • the target tracking device of the first embodiment since the super-resolution angle measurement is performed by the maximum likelihood method, degeneration of observed values can be avoided even when the correlation between incoming waves is high.
  • the first embodiment is an example in which a signal output from the target itself is received and tracking of the target is performed.
  • the sensor processing unit has a transmitting unit, emits a signal to the target, and the target reflected from the signal reflected by the target May be performed, and this example is shown as a second embodiment below.
  • FIG. 5 is a block diagram of a target tracking device according to a second embodiment.
  • the sensor processing unit 10 a according to the second embodiment includes a transmitting unit 14 and a receiving unit 13.
  • the transmission unit 14 includes a transmission antenna unit 15 and a transmission circuit 16.
  • the transmission antenna unit 15 is an antenna that converts an analog signal generated by the transmission circuit 16 into a radio wave and radiates it into space.
  • the transmission circuit 16 is a circuit that generates an analog signal of a radio wave radiated from the transmission antenna unit 15 into space.
  • the receiving unit 13 includes a receiving antenna unit 11 and a receiving circuit 12.
  • the receiving antenna unit 11 and the receiving circuit 12 have the same configuration as that of the first embodiment.
  • the configurations of the observation value extraction unit 20 and the tracking processing unit 30 are the same as in the first embodiment, so the corresponding parts are denoted by the same reference numerals and the description thereof will be omitted.
  • a program corresponding to the function of the transmission circuit 16 is stored in the storage 104, and the processor 101 reads it into the memory 102.
  • the second embodiment is the same as the first embodiment except that it is configured to realize the function of the transmission circuit 16 by being executed.
  • the transmission circuit 16 generates an analog signal for irradiating the target, and the transmission antenna unit 15 converts the analog signal into a radio wave and radiates it into space.
  • the receiver circuit 12 of the receiver unit 13 detects a portion corresponding to the radio wave reflected by the target from the digital signal generated by the receiver circuit 12 by referring to the signal generated by the transmitter circuit 16. , Output only the detected signal.
  • a radio wave signal output from a target for use in communication or the like may be output.
  • the observation value extraction unit 20 calculates the distance measurement value and the angle measurement value using the digital signal input from the reception circuit 12, and outputs the estimated position of the target on the coordinate.
  • the operation of the tracking processing unit 30 is the same as that of the first embodiment, and thus the description thereof is omitted here.
  • the sensor processing unit includes the transmission unit that outputs the signal to be irradiated to the target, and observes the signal that is output from the transmission unit and reflected from the target. Since it was made to be a signal, a signal is transmitted from the target tracking device, and this signal receives the signal reflected by the target and performs tracking of the target, so even if the target itself does not output a signal It can be performed.
  • FIG. 6 is a block diagram of a target tracking device according to the third embodiment.
  • the multi-target tracking processing unit 40 a of the tracking processing unit 30 a according to the third embodiment includes a correlation hypothesis selecting unit 47.
  • the correlation hypothesis selection unit 47 is configured to select a correlation hypothesis to be stored in the correlation hypothesis storage unit 45 based on the evaluation value of the correlation hypothesis.
  • the other configuration in the multi-target tracking processing unit 40a and the configurations of the sensor processing unit 10, the observation value extraction unit 20, and the degeneration elimination unit 50 are the same as the configuration of the first embodiment shown in FIG.
  • the same reference numerals are given to corresponding parts and the description thereof is omitted.
  • a program corresponding to the function of the correlation hypothesis selecting unit 47 is stored in the storage 104, and the processor 101 stores it in the memory 102.
  • the configuration is the same as that of the first embodiment except that the function of the correlation hypothesis selection unit 47 is realized by reading and executing.
  • the correlation hypothesis selecting unit 47 of the third embodiment selects the correlation hypothesis stored in the correlation hypothesis storage unit 45 using the evaluation value for each correlation hypothesis output from the track updating unit 44. For example, an operation is performed such that only correlation hypotheses having evaluation values exceeding a threshold value determined in advance based on simulation or the like are selected. Thereby, only the correlation hypothesis selected by the correlation hypothesis selection unit 47 is stored in the correlation hypothesis storage unit 45, and the correlation hypothesis generation unit 41 performs an operation based on the correlation hypothesis stored in the correlation hypothesis storage unit 45. .
  • the other operations are the same as in the first embodiment, and thus the description thereof is omitted.
  • the correlation hypothesis selection unit 47 is applied to the configuration of the first embodiment, but may be applied to the configuration of the second embodiment.
  • the multi-target tracking processing unit selects the correlation hypothesis selection unit that selects the correlation hypothesis to be stored based on the evaluation value of the correlation hypothesis, and the selected correlation
  • the correlation hypothesis generation unit generates a new correlation hypothesis using a hypothesis and an observation value, and the presence or absence of observation value degeneration is determined based on the correlation hypothesis generated by the correlation hypothesis generation unit.
  • the capacity of memory for storing hypotheses can be reduced.
  • the calculation load can be reduced.
  • FIG. 7 is a block diagram of a target tracking device according to the fourth embodiment.
  • the super-resolution angle measuring unit 51 and the correlation hypothesis updating unit 52 of the degeneration eliminating unit 50 in FIG. 1 are replaced with the degeneration hypothesis track updating unit 53 to form a degeneration eliminating unit 50 a.
  • the track of the degeneration hypothesis is updated using the particle filter that is a non-linear filter. It is a processing unit. That is, in the fourth embodiment, a particle filter is used as a position estimation method for performing target estimation based on multi-target prediction values for one observation value, and the degeneration elimination unit 50a is updated as a position specification estimation value. Output the track that was Further, as a result, the correlation hypothesis evaluation unit 43a is configured to evaluate the correlation hypothesis using the likelihood calculation result of the degeneration hypothesis track update unit 53.
  • the other configurations of the sensor processing unit 10 and the observation value extraction unit 20 are the same as in the first embodiment, and thus the description thereof is omitted.
  • a program corresponding to the function of the correlation hypothesis evaluation unit 43a of the degeneration elimination unit 50a and the multi-target tracking processing unit 40b is a storage
  • the configuration is the same as that of the first embodiment except that it is stored in 104 and configured to implement the functions of the degeneration elimination unit 50a and the correlation hypothesis evaluation unit 43a by reading and executing this in the memory 102 by the processor 101.
  • FIG. 8 is a flowchart showing the operation of the tracking processing unit 30b of the fourth embodiment.
  • step ST1 to step ST2 without degeneration
  • step ST5 to step ST6 to step ST7 to step ST8 are the same as in the first embodiment. That is, when the degeneration of the observed value does not occur, the operation is the same as that of the tracking processing unit 30 of the first embodiment.
  • the trajectory of the degeneration hypothesis is updated using the particle filter in order to correspond to the observation process of nonlinear degeneration, the trajectory is accurately measured for the observed value determined to be degenerate. It can be estimated. Further, since the track update of the hypothesis in which the observed value is not degenerated has the same configuration as that of the first embodiment, the calculation time can be suppressed.
  • the degeneration eliminating unit 50a is applied to the configuration of the first embodiment is shown in the above example, the configuration may be applied to the configuration of the second embodiment or the third embodiment.
  • the particle filter is used as the position estimation method for performing target estimation based on predicted values of multiple targets for one observed value, so Even when the correlation is high, it is possible to update the track by the non-linear filter corresponding to the degeneration, and therefore it is possible to reduce the estimation error of the position and velocity of the target. As a result, the occurrence of a false navigation can be prevented, and the estimation error of the target number can be reduced.
  • the present invention allows free combination of each embodiment, or modification of any component of each embodiment, or omission of any component in each embodiment. .
  • the target tracking device relates to a configuration that switches the position estimation method of the target according to the presence or absence of degeneration of the observation value, and is suitable for tracking a plurality of targets.
  • Reference Signs List 10 10a sensor processing unit, 11 reception antenna unit, 12 reception circuit, 13 reception unit, 14 transmission unit, 15 transmission antenna unit, 16 transmission circuit, 20 observation value extraction unit, 30, 30a, 30b tracking processing unit, 40, 40a, 40b multi-target tracking processing unit, 41 correlation hypothesis generation unit, 42 observed value degeneration determination unit, 43, 43a correlation hypothesis evaluation unit, 44 wake update unit, 45 correlation hypothesis storage unit, 46 wake determination unit, 47 correlation hypothesis selection Part, 50, 50a Degeneration cancellation part, 51 super resolution angle measurement part, 52 correlation hypothesis update part, 53 degeneration hypothesis track update part.

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Abstract

Selon la présente invention, une unité de traitement de suivi de cibles multiples (40) utilise des valeurs observées générées par une unité d'extraction de valeur observée (20) pour déterminer des valeurs caractéristiques de position estimée pour une pluralité de cibles à l'aide d'un procédé d'estimation de position définie. En outre, l'unité de traitement de suivi de cibles multiples (40) détermine s'il existe une dégénérescence dans les valeurs observées sur la base des valeurs caractéristiques de position estimée. Si l'unité de traitement de suivi de cibles multiples (40) détermine qu'il existe une dégénérescence dans les valeurs observées, une unité de résolution de dégénérescence (50) détermine des valeurs caractéristiques de position estimée pour la pluralité de cibles à l'aide d'un procédé d'estimation de position dans lequel une cible pour une unique valeur observée est estimée sur la base de valeurs prédites pour la pluralité de cibles. L'unité de traitement de suivi de cibles multiples (40) utilise les valeurs caractéristiques de position estimée déterminées par l'unité de résolution de dégénérescence (50) pour mettre à jour le trajet d'une hypothèse de corrélation déterminée comme ayant une dégénérescence de valeur observée.
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