US 12,135,192 B2
Trajectory estimation device, trajectory estimation system, trajectory estimation method, and program recording medium
Yumi Arai, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 18/034,608
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Nov. 16, 2020, PCT No. PCT/JP2020/042632
§ 371(c)(1), (2) Date Apr. 28, 2023,
PCT Pub. No. WO2022/102133, PCT Pub. Date May 19, 2022.
Prior Publication US 2024/0003660 A1, Jan. 4, 2024
Int. Cl. F41G 7/34 (2006.01)
CPC F41G 7/343 (2013.01) 10 Claims
OG exemplary drawing
 
1. A trajectory estimation device comprising:
at least one memory storing instructions; and
at least one processor connected to the at least one memory and configured to execute the instructions to:
generate, by using signals based on waves detected by at least three sensors to, peak waveforms consisting of time series data of peak frequencies of the signals;
estimate, 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; and
estimate, 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
estimate, as a trajectory of the moving body, overlapping trajectory candidates from among trajectory candidates estimated based on the wave source direction candidates.