Patent ID: 9453911
Filing Date: 2016-09-27
CPC Classification: G01S

Claim Text:
1. A target tracking system which tracks targets using a plurality of virtual particles, comprising: a detector which detects the targets based on a signal wave from the targets and outputs detected results as detected target positions; a fluctuation distribution unit which generates fluctuations arising from at least disturbances and measurement errors; an estimation unit which sets the virtual particles based on the fluctuations and estimates a true target positions based on the detected target positions; a prediction part which predicts positions of the targets as predicted target positions; and an estimation part which estimates the true target positions based on a plurality of the predicted target positions from the prediction part, wherein, the detector detects a plurality of the targets from the signal wave continuously or at a time interval set in advance, a plurality of the estimation units calculate the true target positions, respectively, and the prediction part stores a motion parameter related to at least an initial position, a speed and an acceleration of the targets and a movement model including the fluctuations from the fluctuation distribution unit, and predicts, according to the estimated target positions, positions of the targets at predetermined timing in a future set in advance using a plurality of the virtual particles on a target-by-target basis, the predetermined timing occurring after current target detection timing.