Trajectory estimation device, trajectory estimation system, trajectory estimation method, and program recording medium

A trajectory estimation method for causing a computer to execute:

• generating, by using signals based on waves detected by at least three sensors, peak waveforms consisting of time series data of peak frequencies of the signals;
• estimating, from the peak waveforms relating to the waves detected by the at least three sensors, a trajectory parameter relating to a trajectory of a moving body having a wave source of the waves;
• estimating, for all combinations of two of the peak waveforms selected from among combinations of at least three of the peak waveforms, a wave source direction candidate for each of the waves by using the trajectory parameter;
• and
• estimating, as a trajectory of the moving body, overlapping trajectory candidates from among trajectory candidates estimated based on the wave source direction candidates.

A non-transitory program recording medium having stored therein a program for causing a computer to execute:

• generating, by using signals based on waves detected by at least three sensors, peak waveforms consisting of time series data of peak frequencies of the signals;
• estimating, from the peak waveforms relating to the waves detected by the at least three sensors, a trajectory parameter relating to a trajectory of a moving body having a wave source of the waves;
• estimating, for all combinations of two of the peak waveforms selected from among combinations of at least three of the peak waveforms, a wave source direction candidate for each of the waves by using the trajectory parameter;
• and
• estimating, as a trajectory of the moving body, overlapping trajectory candidates from among trajectory candidates estimated based on the wave source direction candidates.