Target Trajectory Estimation Using Time-Domain Abnormal Value Filtering
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing target trajectory estimating devices face challenges in accurately estimating target positioning in multipath environments where specific sensors experience orientation measurement errors, leading to potential erroneous positioning processing.
Innovation Solution
A target trajectory estimating device that divides orientation information into time domains, determines abnormal values, and adjusts orientation measurement error settings to enhance accuracy by resetting reliability for abnormal values, using orientation sensors to estimate target positioning values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If orientation measurement values from multiple sensors are used for positioning processing, then positioning accuracy is improved, but erroneous positioning occurs when specific sensors are in multipath environments
Solution Approach 1:
The abnormal value determining unit performs preliminary determination of abnormal values in orientation measurement values before positioning processing. By identifying and flagging abnormal values in advance based on concentration analysis across time domains, the system prevents erroneous positioning results while maintaining the benefits of using multiple sensors for improved accuracy.
Solution Approach 2:
The system applies different reliability settings to different orientation measurement values based on their abnormality status. Normal values maintain their original reliability for accurate positioning, while abnormal values detected in multipath environments have their reliability reduced or set to zero, allowing the system to selectively weigh measurements based on local quality assessment.
2Reliability
If DOP-based sensor selection is used for positioning processing, then abnormal value determination is improved, but positioning accuracy deteriorates when sensors are at positions indicating the same orientation
Solution Approach 1:
Instead of relying on DOP calculations that fail when sensors indicate the same orientation, the system performs preliminary abnormal value determination by analyzing the concentration of positioning values across multiple time domains. This approach proactively identifies abnormal measurements before they affect positioning accuracy, working around the DOP limitation.
Solution Approach 2:
The system uses feedback from the abnormal value determining unit to adjust the reliability settings of individual sensors based on their performance in multipath environments. This feedback mechanism allows the system to adaptively weight sensor contributions to positioning, maintaining accuracy even when DOP-based selection would fail.
3Measurement precision
If orientation measurement error settings are adjusted to reduce impact of abnormal values, then positioning accuracy in multipath environments is improved, but reliability of normal measurement values may be compromised
Solution Approach 1:
The system applies different reliability settings locally to individual orientation measurement values based on their abnormality status. Normal values retain their original reliability settings for accurate positioning, while only abnormal values detected through concentration analysis have their reliability reduced. This selective approach maintains overall system reliability while improving accuracy in multipath environments.
Solution Approach 2:
The abnormal value determining unit dynamically changes the reliability parameter of orientation measurement values based on detected abnormality. By adjusting this parameter selectively for abnormal values while leaving normal values unchanged, the system optimizes positioning accuracy in multipath environments without compromising the reliability of valid measurements.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A target trajectory estimating device includes: an orientation information reading unit (41) to read orientation information indicating an orientation measurement value obtained by each of a plurality of orientation sensors (10) that has received an incoming radio wave from an object target (100) and orientation measurement error information indicating an orientation measurement error accompanying or uniformly set to the orientation measurement value indicated by the orientation information; a time domain dividing unit (43) to divide time when each of the plurality of orientation sensors (10) has observed the object target (100) into a plurality of time domains in time-series order, and divide the orientation information read by the orientation information reading unit (41) for each of the divided time domains; an abnormal value determining unit (44) to perform, for each of the time domains obtained by the time domain dividing unit (43), determination of whether or not an orientation measurement value indicates an abnormal value on the basis of whether a position indicated by an orientation measurement value indicated by each of the plurality of pieces of orientation information present in the plurality of time domains is concentrated at one point or is concentrated around a state vector including a position and a speed, reset an 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 an orientation measurement error accompanying the orientation measurement value determined not to be an abnormal value without changing reliability for trajectory estimation of the orientation measurement value; a positioning processing unit (45) to estimate, for each of time domains divided by the time domain dividing unit (43), a positioning value for the object target (100) in each of the time domains using the orientation measurement value indicated by 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 an output unit (46) to output object trajectory information indicating a trajectory of the object target (100) by connecting, in time-series order, the positioning values for each of the time domains estimated by the positioning processing unit (45).