Target-tracking device and target-tracking method

The target tracking device uses sensor fusion with an observation and integration system to correct and integrate observed values, addressing inaccuracies in existing systems and achieving precise tracking of moving objects.

WO2026126515A1 Publication Date: 2026-06-18MITSUBISHI ELECTRIC CORP
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
MITSUBISHI ELECTRIC CORP
Filing Date
2025-03-05
Publication Date
2026-06-18

AI Technical Summary

⚠Technical Problem

Existing target tracking systems using sensor fusion fail to achieve high-precision target tracking systems using sensor fusion fail to achieve high-precision target tracking due to displacement in observed values after association, leading to inaccurate tracking.

⚗Method used

A target tracking device that integrates detection data from multiple sensors using an observation value processing unit, correlation processing unit, identity determination unit, and integration units to correlate and integrate observed values based on direction cosines within a residual covariance matrix.

🎯Benefits of technology

The device achieves highly accurate target tracking by correcting and integrating observed values, ensuring precise tracking of moving objects.

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Abstract

This target-tracking device comprises: an observed value processing unit (110) that acquires a direction cosine for each observed value of a peripheral moving body detected on the basis of detection data by each of a plurality of sensors; a correlation processing unit (120) that correlates the observed values on the basis of the direction cosine; a first integration unit (140) that integrates the observed values correlated by the correlation processing unit; an identity determination unit (150) that determines whether the difference between the direction cosine of the observed value and the direction cosine of a stored track is within the range of a residual covariance matrix; and a second integration unit (160) that integrates and outputs the observed value and the track when it is determined by the identity determination unit that the difference is within the range of the residual covariance matrix.
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