Method and device for estimating a velocity of an object

A device comprising:

• a sensor configured to provide data for acquiring detections of a range, an azimuth angle, and a range rate of an object in a field of view of the sensor for at least two different points in time;
• and
• a processing unit configured to:
• generate a cost function that depends on a first source and a second source, the first source based on a range rate velocity profile that depends on the range rate and the azimuth angle and the first source depends on an estimated accuracy for the first source, the second source based on a position difference which depends on the range and the azimuth angle for the at least two different points in time and the second source depends on an estimated accuracy for the second source;
• and
• determine a velocity estimate for the object by minimizing the cost function,
• wherein the processing unit is further configured to:
• acquire a plurality of detections of the range, the azimuth angle, and the range rate for the object for each of the at least two points in time;
• and
• estimate a respective standard deviation for the range, the azimuth angle, and the range rate based on the plurality of detections;
• wherein the first source and the second source are based on a normalized estimation error squared (NEES) that includes the respective standard deviations of the range, the azimuth angle, and the range rate.

A computer-readable storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to:

• receive, via a sensor, data for acquiring detections of a range, an azimuth angle, and a range rate of an object in a field of view of the sensor for at least two different points in time;
• generate a cost function that depends on a first source and a second source, the first source based on a range rate velocity profile that depends on a range rate and the azimuth angle and the first source depends on an estimated accuracy for the first source, the second source based on a position difference which depends on the range and the azimuth angle for the at least two different points in time and the second source depends on an estimated accuracy for the second source;
• determine a velocity estimate for the object by minimizing the cost function;
• acquire a plurality of detections of the range, the azimuth angle, and the range rate for the object for each of the at least two points in time;
• and
• estimate a respective standard deviation for the range, the azimuth angle, and the range rate based on the plurality of detections;
• wherein the first source and the second source are based on a normalized estimation error squared (NEES) that includes the respective standard deviations of the range, the azimuth angle, and the range rate.