Composite hough transform for multitarget multisensor tracking

A computer system for processing digitized data to determine the track of a target comprising:

• a plurality of arrays of sensors for receiving signals from a target;
• a receiver for receiving signals received by the plurality of sensor arrays;
• a data storage device;
• a computer for retrieving data from the data storage device and hypothesizing a track with track parameter values (θ, v, D, t01), where θ is reference track direction relative to east, v is target speed, D is the horizontal distance at CPA from a target to a sensor pair, and t01 is CPA time of reference track;
• generating a corresponding template delay curve in a primary correlogram;
• performing integration along the template delay curve in the primary correlogram;
• computing a delay curve parameter (θ2, v/D, t02) for a secondary array based on geomtricconstraints involving said track parameter values, where θ2 is reference track direction relative to secondary array and t02 is CPA time of reference track with respect to secondary array;
• generating a corresponding template delay curve in a secondary correlogram based on the delay curve parameter (θ2, v/D, t02);
• performing integration along the template delay curve in the secondary correlogram and storing integrated values;
• computing a delay curve parameter for a mirrored track (θ2m, v/D2m, t02m) for the secondary array based on geometric constraints;
• generating a corresponding template delay curve in the secondary correlogram;
• combining the integrated values and storing it in, the corresponding composite Hough space;
• and
• thresholding accumulated pixel values to detect the track.