Target trajectory estimating device and target trajectory estimating method

A target trajectory estimating device comprising processing circuitry

• to read orientation information indicating an orientation measurement value obtained by each of a plurality of orientation sensors that has received an incoming radio wave from a target, and orientation measurement error information indicating an orientation measurement error accompanying to the orientation measurement value indicated by the orientation information or uniformly set,
• to divide time during which each of the plurality of orientation sensors has observed the target into a plurality of time domains in time-series order, and divide the orientation information to a plurality of pieces of orientation information respectively corresponding to the plurality of time domains,
• to perform, for each of the plurality of time domains, determination of whether or not the orientation measurement value indicates an abnormal value on a basis of whether positions indicated by orientation measurement values indicated by the plurality of pieces of orientation information present in the plurality of time domains are concentrated at one point or are concentrated around a state vector including a position and a speed, reset a setting of the orientation measurement error accompanying the orientation measurement value determined to be an abnormal value to a setting for lowering reliability with respect to trajectory estimation of the orientation measurement value, and reset the setting of the orientation measurement error accompanying the orientation measurement value determined not to be the abnormal value to keep the reliability unchanged for the trajectory estimation of the orientation measurement value,
• to estimate, for each of the plurality of time domains, a positioning value of the target in each of the plurality of time domains using the orientation measurement value indicated by the plurality of pieces of orientation information present in the plurality of time domains and the orientation measurement error which is reset accompanying the orientation measurement value, and
• to output object trajectory information indicating a trajectory of the target by connecting, in time-series order, the positioning value for each of the plurality of time domains.

A target trajectory estimation method comprising:

• dividing time during which each of a plurality of orientation sensors that has received an incoming radio wave from the target has observed the target into a plurality of time domains in time-series order, and dividing orientation information indicating an orientation measurement value obtained by each of the plurality of orientation sensors for each of the plurality of time domains;
• classifying the plurality of orientation sensors into a plurality of sensor sets each having a certain number of orientation sensors by selecting the certain number of orientation sensors from the plurality of orientation sensors, estimating a temporary positioning value for each of the plurality of time domains in each of the plurality of sensor sets, setting a positioning gate determined by the temporary positioning value, determining that the orientation measurement value indicated by each of the plurality of pieces of orientation information present in the plurality of time domains is a normal value when the orientation measurement value indicated by the orientation information is present in the set positioning gate, and determining that the orientation measurement value indicated by each of the plurality of pieces of orientation information present in the plurality of time domains is an abnormal value when the orientation measurement value indicated by the orientation information is not present in any of the set positioning gates;
• resetting an orientation measurement error accompanying the orientation measurement value determined to be the abnormal value to a setting for lowering reliability with respect to trajectory estimation of the orientation measurement value;
• estimating, for each of the plurality of time domains, a positioning value in each of the plurality of time domains with respect to the target by using the orientation measurement value indicated by each of the plurality of pieces of orientation information present in the plurality of time domains and a reset orientation measurement error accompanying the orientation measurement value;
• and
• outputting object trajectory information indicating a trajectory of the target by connecting the estimated positioning values for each of the plurality of time domains in time-series order.