PROBLEM TO BE SOLVED: To attain improvement of the same target determination performance.;SOLUTION: A target tracking apparatus includes: a first same target determination part 101 which determines what combination of N-dimensional tracks is the one for the same target from among combinations of N-dimensional tracks for every target from N-dimensional angle observation devices to be calculated from N-dimensional angle observation values to be obtained by a plurality of N-dimensional angle sensors when pieces of information on n (n is 2 or more) N (N is 1 or 2)-dimensional angle sensors are integrated to generate (N+1)-dimensional tracks for every target to which pieces of distance information are calculated and added; and a second same target determination part 102 which determines what combination of the N-dimensional angle observation values is the one of the same target from among the combinations of the N-dimensional angle observation values detected by the plurality of N-dimensional angle sensors. The target tracking apparatus analyzes observation environment, when the observation environment is except high density environment, selects the first same target determination part 101 for the same target determination processing, and when the observation environment is the high density environment, selects the second same target determination part 102 for the same target determination processing.;COPYRIGHT: (C)2013,JPO&INPIT
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