Method of and device for tracking an object
AssigneeThales Nederland B.V.
InventorsHuub De Waard, Piet Griffioen, Henk Regtop, Gert Van De Brug
Life of this patent
Estimating the term…
Abstract
A method of tracking an object including the steps of: collecting N measurements of range Ri and Doppler velocity Di associated with the object from a plurality M of radar sensors Si each measurement being assigned a time stamp ti; time aligning each Range Ri measurement to a common time stamp tN to provide a corresponding time aligned range Pi for each of the N measurements; using each time aligned Range measurement Pi to define a corresponding spherical equation such that N spherical equations are defined; and deriving analytical solutions from three of the N spherical equations to determine the position vector of the object.
Claims22
A method of tracking an object, the method comprising the steps of:
- collecting N measurements of range Ri, and Doppler velocity Di, associated with the object from a plurality of M radar sensors Si, each measurement being assigned a time stamp ti;
- time aligning each range measurement Ri, to a common time stamp tN to provide a corresponding time aligned range Pi, for sensor Sifor each of the N measurements, the time aligned range determined in accordance with the following relationship:
- Pi=Ri+Di×(tN−ti)
- wherein × indicates scalar multiplication, and the time aligned range Pi, for each sensor Si, iε[1, . . . , N], is used to determine a sphere in accordance with the following relationship:
- (x−ai)2+(y−bi)2+(z−ci)2 =(Pi)2
- wherein ai, bi, and ci, are the Cartesian co-ordinates of sensor Si and [x, y, z] is an estimated position vector of the object;
- the method further comprising the steps of:
- calculating a spherical equation corresponding to each of N time aligned range measurements Pi, to produce N spherical equations;
- and
- deriving analytical solutions from three predetermined spherical equations of the N spherical equations to determine a position vector of the object.
A software program product stored on a storage medium, the software product configured to carry out a method of tracking an object, the method comprising the steps of:
- collecting N measurements of range Ri, and Doppler velocity Di, associated with the object from a plurality of M radar sensors Si, each measurement being assigned a time stamp ti;
- time aligning each range measurement Ri, to a common time stamp tN to provide a corresponding time aligned range Pi, for sensor Si for each of the N measurements, the time aligned range determined in accordance with the following relationship:
- Pi=Ri+Di×(tN−ti)
- wherein × indicates scalar multiplication, and the time aligned range Pi, for each sensor Si, iε[1, . . . , N], is used to determine a sphere in accordance with the following relationship:
- (x−ai)2+(y−bi)2+(z−ci)2=(Pi)
- wherein ai, bi, and ci, are the Cartesian co-ordinates of sensor Si and [x, y, z] is an estimated position vector of the object;
- the method further comprising the steps of:
- calculating a spherical equation corresponding to each of N time aligned range measurements Pi, to produce N spherical equations;
- and
- deriving analytical solutions from three predetermined spherical equations of the N spherical equations to determine a position vector of the object.
Dependencies are inferred from the claim text.