KR101767924B1 - Method and system for detecting location of multi-target - Google Patents

Abstract

The present invention relates to a multi-target position estimation system and method, and in accordance with an embodiment of the present invention, there is provided a multi-target position estimation system comprising: a receiver for receiving signals for a plurality of targets from at least one radar equipment; A measurement distance calculation unit for calculating a combination of a measurement distance between the radar equipment and the target with reference to the signal; An estimated position calculation unit for calculating estimated positions of the target from the measured distance combination; An estimated position selecting unit for selecting an estimated position having the smallest error among the estimated positions as the position of the target; A multi-target position estimation system is provided.

Description

[0001] METHOD AND SYSTEM FOR DETECTING LOCATION OF MULTI-TARGET [0002]

The present invention relates to a multiple target position estimation system and method.

In order to solve the shortage of manpower that manages the system more than the increasing system, the demand for the surveillance system has increased in the society in general. In order to detect the motion in the image, track the target, Monitoring techniques are being developed.

Such an image analysis technique includes a function of detecting a target from image information or calculating a position of a target. Image analysis techniques can help replace surveillance personnel such as intrusion / theft surveillance, moving object monitoring, and assist in improving the efficiency of surveillance systems.

On the other hand, the IR-UWB (Impulse Radio Ultra Wideband) technology has been introduced as a positioning technique with high accuracy in recent years. This is because IR-UWB has stronger multipath characteristics than narrow-band signals by using very narrow impulses ranging from several ns to several hundreds of ps.

Due to these characteristics, studies are underway to estimate the distance from the target using IR-UWB equipment and improve its accuracy. In recent years, research has been actively conducted to estimate not only the distance from the IR-UWB equipment but also the position of the target on the two-dimensional plane, that is, accurate coordinates.

To estimate the exact location of the target, at least three IR-UWB instruments can simultaneously measure the distance and use the trilateration method based on the distance values.

Korean Patent Laid-Open Publication No. 2010-0089385 discloses a method of tracking the position of a moving target in a multi-splitting radar system.

The present invention calculates estimated positions from a combination of measurement distances obtained from a plurality of radar equipments in a Least-square manner, then inversely estimates distances between respective estimated positions and laser equipments, A multi-target position estimation system and method for finding an estimated position of a target having the smallest error among estimated positions is provided.

According to an embodiment of the present invention, there is provided a radio communication system comprising: a receiver for receiving signals for a plurality of targets from at least one radar equipment; A measurement distance calculation unit for calculating a combination of a measurement distance between the radar equipment and the target with reference to the signal; An estimated position calculation unit for calculating estimated positions of the target from the measured distance combination; An estimated position selecting unit for selecting an estimated position having the smallest error among the estimated positions as the position of the target; A multi-target position estimation system is provided.

In the present invention, the estimated position selection unit may calculate the distance between the radar equipment and each of the estimated positions, and select the estimated position whose calculation result is the smallest difference from the measured distance combination as the position of the target .

In the present invention, the least squares solution method is used when calculating the estimated positions of the target from the measurement distance combination.

In the present invention, a signal processing unit for removing a clutter signal from signals for the plurality of targets and improving pulse detection capability; And further comprising:

In the present invention, the signals for the plurality of targets include a time period until a signal transmitted by the radar equipment serving as a transmitter is reflected to a specific target among the plurality of targets and received by the radar equipment serving as a receiver .

In the present invention, the combination of the measured distances is generated by a combination of actual distance information calculated by multiplying the propagation velocity of the signal at the time.

In the present invention, the radar equipment uses IR-UWB (impulse radio ultra wideband) technology.

In the present invention, when the number of the radar equipments is M and the number of the target is N, the estimated positions of the target are generated as N squared of M.

According to another embodiment of the present invention, there is provided a method comprising: receiving a signal for a plurality of targets from at least one radar equipment; A measurement distance calculation step of calculating a combination of measurement distances between the radar equipment and the target with reference to the signals; An estimated position calculation step of calculating estimated positions of the target from the measurement distance combination; An estimated position selecting step of selecting an estimated position having the smallest error among the estimated positions as the position of the target; A method for estimating a multi-target position is provided.

In the present invention, the estimated position selecting step calculates the distance between the radar equipment and each of the estimated positions, and selects an estimated position whose calculation result is the smallest difference from the measured distance combination as the position of the target .

In the present invention, the least squares solution method is used when calculating the estimated positions of the target from the measurement distance combination.

The signal processing step of removing a clutter signal from the signals for the plurality of targets and improving the pulse detection capability; And further comprising:

In the present invention, the signals for the plurality of targets include a time period until a signal transmitted by the radar equipment serving as a transmitter is reflected to a specific target among the plurality of targets and received by the radar equipment serving as a receiver .

In the present invention, the combination of the measured distances is generated by a combination of actual distance information calculated by multiplying the propagation velocity of the signal at the time.

In the present invention, the radar equipment uses IR-UWB (impulse radio ultra wideband) technology.

In the present invention, when the number of the radar equipments is M and the number of the target is N, the estimated positions of the target are generated as N squared of M.

According to another embodiment of the present invention, a plurality of radar equipment; The position estimation server calculates estimated positions from a combination of measured distances obtained from a plurality of radar equipments in a Least-square method, The estimated position of the target having the smallest error among the positions is selected.

In the present invention, the position estimation server may include: a receiver for receiving signals for a plurality of targets from at least one radar equipment; A measurement distance calculation unit for calculating a combination of a measurement distance between the radar equipment and the target with reference to the signal; An estimated position calculation unit for calculating estimated positions of the target from the measured distance combination; An estimated position selecting unit for selecting an estimated position having the smallest error among the estimated positions as the position of the target; And a control unit.

In the present invention, the radar equipment uses IR-UWB (impulse radio ultra wideband) technology.

According to the present invention, it is possible to estimate the positions of a plurality of targets having the smallest error from a combination of measurement distances obtained from a plurality of radar equipments.

1 is a diagram schematically illustrating a configuration of a position estimation system according to an embodiment of the present invention.
2 is a diagram illustrating a situation where a position estimation system according to an embodiment of the present invention is used.
FIG. 3 is a diagram schematically illustrating a configuration of a position estimation server 100 according to an embodiment of the present invention.
4 is a diagram illustrating a process of the signal processing unit 120 of the present invention for processing a signal.
5 is a diagram showing a difference between an ideal environment and a real environment for estimating the position of the target.
6 is a diagram showing a result of estimating the position of a target when there are two targets according to an embodiment of the present invention.
7 is a diagram showing a result of estimating the position of a target when there are three targets according to an embodiment of the present invention.
8 is a flowchart showing an operation sequence of the position estimation system of the present invention.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, the specific shapes, structures, and characteristics described herein may be implemented by changing from one embodiment to another without departing from the spirit and scope of the invention. It should also be understood that the location or arrangement of individual components within each embodiment may be varied without departing from the spirit and scope of the present invention. Therefore, the following detailed description is not to be taken in a limiting sense, and the scope of the present invention should be construed as encompassing the scope of the appended claims and all equivalents thereof. In the drawings, like reference numbers designate the same or similar components throughout the several views.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to facilitate a person skilled in the art to which the present invention pertains.

1 is a diagram schematically illustrating a configuration of a position estimation system according to an embodiment of the present invention.

Referring to FIG. 1, the position estimation system of the present invention includes a plurality of radar equipment 10 serving as a transmitter and a receiver, and a radar device 10 for analyzing information received from the radar equipment 10, And a communication network 200 for enabling communication between the plurality of radar equipments 10-1, 10-2 and 10-3 and the position estimation server 100. [

The radar equipment 10 transmits a signal toward the target and can record the time at which the reflected signal is received at the target. The signals transmitted and received by the radar device 10 may be all the radio signals used in the general position estimation method. In particular, the radar equipment 10 of the present invention may be a radar equipment 10 using an IR-UWB (Impulse Radio Ultra Wideband) communication technology.

IR-UWB technology is being introduced in recent years as a highly accurate localization technique because the IR-UWB uses a very narrow impulse ranging from a few ns to several hundreds of ps, It has strong characteristics in the path.

The radar equipment 10 transmits the measured time to the position estimation server 100 via the communication network 200. [ The communication network 200 can be used without restriction as long as it is responsible for the communication of the communication network 200 and the communication network 200 can use another communication method even if the radar equipment 10 uses IR-UWB as a signal reflected from the target.

The position estimation server 100 calculates the estimated positions in a Least-square method using the distance values included in the information received from the radar equipment 10, And estimating the estimated position of the target having the smallest error among the estimated positions.

The detailed configuration of the position estimation server 100 will be described below.

2 is a diagram illustrating a situation where a position estimation system according to an embodiment of the present invention is used.

Referring to FIG. 2, the first to fourth radar apparatuses 10 are provided on the screen, and three persons are located in an area monitored by the radar apparatuses 10. Each of the three persons may be a target to be estimated by the radar equipment 10.

Hereinafter, a position estimation system and method for estimating the position of a target with reference to a signal of the radar device 10 in a situation where there are a plurality of targets as shown in FIG. 2 will be described.

FIG. 3 is a diagram schematically illustrating a configuration of a position estimation server 100 according to an embodiment of the present invention.

3, the position estimation server 100 of the present invention includes a receiving unit 110, a signal processing unit 120, a measured distance calculating unit 130, an estimated position calculating unit 140, an estimated position selecting unit 150, , And an identifying unit 160. [0064]

First, the receiving unit 110 receives a signal including position information of a plurality of targets from at least one radar equipment 10. [ The positional information of the target may include a time from when the signal transmitted by the radar equipment 10 serving as a transmitter is received by the radar equipment 10 which is reflected by the target and serves as a receiver. The receiving unit 110 may also serve as an analog front end for converting the received analog signal into a digital signal.

Next, the signal processing unit 120 preprocesses the signals obtained from the plurality of radar equipment 10 before using the signals to estimate the positions of the targets.

4 is a diagram illustrating a process of the signal processing unit 120 of the present invention for processing a signal.

Referring to FIG. 4, the signal processing unit 120 may first know to remove a clutter signal in order to detect only a target signal in a signal received from the radar equipment 10. A loop-filter algorithm or a signal value decomposition (SVD) algorithm can be used to remove the clutter signal. Next, the signal processing unit 120 improves the pulse detection performance in the signal from which the clutter signal is removed.

Hereinafter, a method of estimating the position of a target using the signal processed by the signal processing unit 120 will be described.

First, a method of estimating a target generally follows the following method

The general position estimation method is based on a time-of-arrival (TOA), which is a time difference between a time t0 when the radar device 10 emits the impulse and a time t1 when the impulse is reflected by the object, Distance estimation is used. The distance from the target can be calculated as (t1 - t0) * c / 2, where c is the transmission speed of the radio wave in air.

에 위치하고 있으며, 수신기 Rxi는

, i=1,2,3,...,N에 위치한다고 가정할 수 있다. 여기서, 각 레이더 장비(10)는 송신기 및 수신기의 역할을 모두 겸할 수 있다. 또한, 목표물을 Tj라고 둘 때, 목표물의 위치는

, j=1,2,3,...,M 이다.When using one transmitter and N receivers to estimate the position of M targets in the 2D space using N radar equipment 10, the transmitter Tx

And the receiver Rxi is located at

, i = 1, 2, 3, ..., N. Here, each radar equipment 10 may serve as both a transmitter and a receiver. Further, when the target is set as Tj, the position of the target is

, j = 1, 2, 3, ..., M.

는

로 구해질 수 있다. 이때, Tx와 Tj에 의해 아래의 [수학식 1]을 사용하여 목표물 Tj의 위치를 구할 수 있다.
Further, the distance from the j-th target position Tj to the transmitter and the distance to the i-th receiver Rxi

The

. ≪ / RTI > At this time, the position of the target Tj can be obtained by using the following equation (1) by Tx and Tj.

[Equation 1]

의 비선형 방정식을 풀면 목표물의 위치 Tj를 추정할 수 있다.That is, the position of the target Tj depends on Rxi of (2)

Solving the nonlinear equations of the target can estimate the position Tj of the target.

의 관계를 이용하여, 레이더 장비(10)와 상기 목표물 사이의 측정 거리의 조합을 계산하는 역할을 한다.The measurement distance calculation section 130 of the position estimation server 100 calculates the distance between the time information included in the signal information processed by the signal processing section 120 and the time information

And calculates the combination of the measurement distance between the radar equipment 10 and the target using the relationship of the target distance.

를 추출할 수 있다.As described above, the signals for the plurality of targets are transmitted to the radar equipment 10, which serves as a receiver, after the signal transmitted by the radar equipment 10 serving as a transmitter is reflected on a specific target among the plurality of targets, , I.e., TOA. The measurement distance calculation unit 130 calculates the measurement distance from the TOA

Can be extracted.

의 추정값은 N*M개가 형성된다. 즉, 1개의 송신기와 N개의 수신기 Rxi(위치는

로 표현됨, i=1,2,3,?,N)로 구성된 다중 목표물이 존재하는 환경에서, 목표물 Tj(위치는

로 표현됨, j=1,2,3,?,M)와의 거리

에 대한 추정값을 M*N개 생성할 수 있다.Referring to the result of the above-described expression (3)

N * M < / RTI > That is, one transmitter and N receivers Rxi

(I = 1, 2, 3,?, N), the target Tj

, J = 1, 2, 3,?, M)

M < / RTI >

는 총 N*M개의 정보가 생성된다.In more detail, the estimated distance of the target by the TOA measured at each receiver can be calculated as M each. For example, Rx1 receives the time information for M targets, and estimates M distances. Since the receivers Rx1, Rx2, Rx3, ..., RxN also receive time information on M targets, the distance Rxi between the receiver Rxi and the target estimated by the target Tj

A total of N * M pieces of information are generated.

In an ideal environment, the position of the target can be estimated based only on the distance information from each radar device 10 to the target. That is, it is possible to estimate a point at which each radar equipment 10 is superimposed on a target by plotting a circle having a radius as a distance from the target in each radar equipment 10. However, there is a possibility that an overlapping point may not be clearly generated in the actual situation in which the noise intervenes, so that there is a problem that the estimated position of the target can not be calculated solely by the estimated distance information of the target.

5 is a diagram showing a difference between an ideal environment and a real environment for estimating the position of the target.

In Figure 5, Figure 5A shows the ideal environment. Referring to the left side of FIG. 5, it can be seen that the place where the plurality of circles overlap is the accurate position of the target, and the position of each target is indicated by a dot. Each circle may be a set of points having the same distance from the radar equipment 10. [

Also, FIG. 5B shows the case where noises exist in an actual situation. Referring to the right-hand side of FIG. 5, it can be seen that noise is intervening and a plurality of circles overlap each other.

에 의한 타원을 그려 각 원이 교차하는 지점을 목표물의 위치라고 추정할 수 있다. 반면에 도 5B의 그림과 같은 실제 측정환경에서는 수신 거리에 노이즈가 더해져 N개의 원이 교점이 형성하지 않을 수 있다. 이 때, 수 많은 교점 중 목표물의 위치를 추정하기는 어렵다.That is, as shown in FIG. 5A, in the ideal case, the distance of the target estimated in Rxi

It can be estimated that the point where each circle crosses is the position of the target. On the other hand, in the actual measurement environment as shown in FIG. 5B, noise may be added to the reception distance, and N circles may not form an intersection. At this time, it is difficult to estimate the position of the target among the many intersection points.

의 조합에서 도출될 수 있는 모든 목표물의 측정 거리의 조합을 획득한다. N개의 수신기 Rxi에서 추정할 수 있는 M개의 목표물의 거리에 의한 거리 조합

, k=1, 2, 3,?,

은

개가 형성된다. 각 측정 거리 조합

는 후술할 추정 위치 계산부(140)가 복수개의 목표물의 추정 위치들을 계산하기 위해 사용된다.Therefore, the measurement distance calculation unit 130 calculates the distance to the target

Lt; RTI ID = 0.0 > a < / RTI > Distance combinations by the distance of M targets that can be estimated from N receivers Rxi

, k = 1, 2, 3,?,

silver

A dog is formed. Each measuring distance combination

Is used by the estimated position calculation unit 140, which will be described later, to calculate the estimated positions of the plurality of targets.

Next, the estimated position calculation unit 140 calculates the estimated positions of the target using the measured distance combination calculated by the estimated distance calculation unit. When calculating the estimated positions of the target from the estimated measurement distance combination, a least square solution is used.

의 추정 위치

는 아래의 [수학식 2]와 같이 구해질 수 있다.The least squares method is a universal approach to finding approximate solutions in linear equations involving error vectors. In order to solve Equation (1) using the least squares solution method, the nonlinear equation of Equation (1) must be transformed into a linear equation. When [Equation 1] is transformed into a linear equation,

Estimated location of

Can be obtained by the following equation (2).

&Quot; (2) "

In Equation (2), the A matrix and the b matrix can be expressed by the following equations in Equation (3).

&Quot; (3) "

에 대해서도 각 추정 위치들을 도출해 낼 수 있다. 각 측정 거리 조합

에 따른 최소 제곱해 방법에 의한 목표물의 위치 추정 결과

도

개가 형성된다. 즉,

에 대한 조합의 행렬을 아래와 같이 나타낼 때, 행렬의 각 열은 하나의 수신기에 대한 복수개의 목표물과의 거리이고, 행렬 자체는 측정 거리 조합

가 될 수 있다.In this way,

The estimated positions can also be derived. Each measuring distance combination

The position estimation result of the target by the least square solution method according to

Degree

A dog is formed. In other words,

When each matrix of the matrix is represented as follows, each column of the matrix is a distance to a plurality of targets for one receiver, and the matrix itself is a combination of measurement distances

.

&Quot; (4) "

개의 측정 거리 조합

각각에 의해 목표물의 추정 위치

를 구할 수 있다. 각 추정 위치

은 복수개의 목표물의 위치가 될 수 있는 후보들이다.therefore,

Combinations of measuring distance

The estimated position of the target

Can be obtained. Each estimated location

Are candidates that can be the positions of a plurality of targets.

For example, in the example shown in Fig. 6, it is assumed that there are four radar equipments 10 and the number of targets is two. Unlike FIG. 6, the coordinates of the target are (3, 4), (5, 10), 7,8).

는 아래와 같을 수 있다.The distance information of the target collected based on the TOA in each radar equipment (10)

May be as follows.

The target measured by the second radar equipment 10-2 located at a distance of 4.47 m, 8,35 m / (10,5) measured by the first radar equipment 10-1 located at the first radar equipment 10, Of the target measured at the third radar equipment 10-3 located at a distance of 4.24 m and 7,07 m / (5,10): 2.83 m, 6.32 m / (0.5) The distance of the target measured at (10-4): 3.16 m, 7.62 m

는 다음과 같다. 아래의 [표 1]과 같이, 각 레이더 장비(10)에서 추정된 거리 중 2개를 하나씩 뽑아 거리 조합을 생성하면 (목표물의 수)^(레이더의 수)=

=2^4=16개의 거리 조합이 형성된다.In this case, all possible distance combinations

Is as follows. (Number of targets) ^ (number of radars) = (number of targets) When two pairs of distances estimated from each radar equipment 10 are extracted one by one, as shown in the following Table 1,

= 2 ^ 4 = 16 distance combinations are formed.

1st radar equipment 2nd radar equipment 3rd radar equipment 4th radar equipment r1 4.4721 7.0711 6.3246 3.1623 r2 4.4721 7.0711 6.3246 7.6158 r3 4.4721 7.0711 2.8284 3.1623 r4 4.4721 7.0711 2.8284 7.6158 r5 4.4721 4.2426 6.3246 3.1623 r6 4.4721 4.2426 6.3246 7.6158 r7 4.4721 4.2426 2.8284 3.1623 r8 4.4721 4.2426 2.8284 7.6158 r9 8.2462 7.0711 6.3246 3.1623 r10 8.2462 7.0711 6.3246 7.6158 r11 8.2462 7.0711 2.8284 3.1623 r12 8.2462 7.0711 2.8284 7.6158 r13 8.2462 4.2426 6.3246 3.1623 r14 8.2462 4.2426 6.3246 7.6158 r15 8.2462 4.2426 2.8284 3.1623 r16 8.2462 4.2426 2.8284 7.6158

Next, the estimated position selection unit 150 serves to select the most suitable one among the estimated positions of the target. The estimated position selection unit 150 selects an estimated position having a smallest sum of errors among the estimated positions as the position of the target. More specifically, the estimated position selection unit 150 calculates the distance between each of the radar equipment and the estimated positions, and selects the estimated position whose calculation result is the smallest difference from the measured distance combination as the position of the target.

지점에 위치 한다고 가정할 때, 송신기 Tx의 위치

및 수신기 Rxi의 위치

에서

지점까지의 추정 거리

를 아래의 [수학식 5]와 같이 구할 수 있다.The target is

Position of the transmitter Tx,

And the position of the receiver Rxi

in

Estimated distance to point

Can be obtained as the following equation (5).

&Quot; (5) "

와 측정 거리 조합

의 오차를 구하면 아래의 [수학식 6]과 같다.The estimated distance obtained from the above approximate solution acquisition section

And measurement distance combination

The following equation (6) is obtained.

&Quot; (6) "

에 대하여 행하고, 가장 error(k)의 수가 작은 M개의 최종 목표물의 추정 위치를 선정한다.The estimated position selection unit 150 compares the calculation of Equation (6) with all estimated distances

, And the estimated positions of M final targets with the smallest number of errors (k) are selected.

For example, in the example shown in the above table, the estimated position generated by the r1 distance combination of [4.4721, 7.0711, 6.3246, 3.1623] is (3,4) 4.4721, 7.0711, 6.3246, 3.1623]. (1) = (4.4721-4.4721) ^ 2 + (7.0711-7.0711) ^ 2 + (6.3246-6.3246) ^ 2 + (3.1623-3.1623) between the radar equipments (10) 2 = 0.

On the other hand, also in the example shown in the table above, the estimated position by the distance combination r10 is [5.4, 6.4] in [8.2462, 7.0711, 6.3246, 7.6158], and the distance from the estimated position to the radar equipment 10 is again obtained 6.4125, 4.8083, 3.6222, 5.5785]. Therefore, Error (10) = (8.2462-6.4125) ^ 2 + (7.0711-4.8083) ^ 2 + (6.3246-3.6222) ^ 2 + (7.6158-5.5785) ^ 2 = 19.9359. That is, the case of r1 is a distance combination more suitable for estimating the estimated position.

Next, the confirmation unit 160 confirms whether or not the selected estimated position reflects the position of the correct target through repetitive calculation. Since the role of the confirmation unit 160 is to check whether the obtained estimated position is correct, the role of the confirmation unit 160 in the position estimation system of the present invention does not necessarily have to be performed.

Hereinafter, a simulation result of estimating the positions of multiple targets using the position estimation method of the present invention will be described.

6 is a diagram showing a result of estimating the position of a target when there are two targets according to an embodiment of the present invention.

6A illustrates an environment for viewing and viewing the position estimation system of the present invention. 6A, two targets are located at (4,6) and (8,2), and four radars are located at (0,5), (10,5), (5,10), , 0). The position estimation server 100 of the present invention performs a simulation on the assumption that the position of the target is unknown.

6B is a simulation result of finding an estimated position of a target using the position estimation system of the present invention. As can be seen from Fig. 6 (b), it can be seen that the estimated position and the actual position are substantially similar.

6C is a result of 1000 simulations like 6B. When the simulation result is displayed on the three-dimensional graph, it can be seen that the highest value appears near the actual position of the target.

7 is a diagram showing a result of estimating the position of a target when there are three targets according to an embodiment of the present invention.

FIG. 7A illustrates an environment for viewing and viewing the position estimation system of the present invention. 7A, three targets are located at (2,8), (8,5), (4,2), and four radars are located at (0,5), (10,5), , 10) and (5, 0). The position estimation server 100 of the present invention performs a simulation on the assumption that the position of the target is unknown.

7B is a simulation result of finding an estimated position of a target using the position estimation system of the present invention. As can be seen from Fig. 7B, it can be seen that the estimated position and the actual position are substantially similar. However, as the number of targets increases, the accuracy decreases as compared with the case of FIG. 6B.

FIG. 7C is a result of 1000 simulations as in 7B. When the simulation result is displayed on the three-dimensional graph, it can be seen that the highest value appears near the actual position of the target.

6 and 7, it can be seen that the position estimation system of the present invention can estimate the position of an actual object with high accuracy.

8 is a flowchart showing an operation sequence of the position estimation system of the present invention.

First, a signal for a plurality of targets is received from at least one radar equipment 10 (S11).

Next, the clutter signal is removed from the signals for the plurality of targets, and the pulse detection capability is improved (S12).

Next, referring to the received signal, a combination of the measured distances between the radar equipment 10 and the target is calculated (S13).

Next, the combination of the estimated positions of the target from the combination of the measured distance distances is calculated by a least squares solution method (S14).

Finally, a combination having the smallest error among the estimated positions is selected as the position of the target (S15).

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as " essential ", " importantly ", etc., it may not be a necessary component for application of the present invention.

The use of the terms " above " and similar indication words in the specification of the present invention (particularly in the claims) may refer to both singular and plural. In addition, in the present invention, when a range is described, it includes the invention to which the individual values belonging to the above range are applied (unless there is contradiction thereto), and each individual value constituting the above range is described in the detailed description of the invention The same. Finally, the steps may be performed in any suitable order, unless explicitly stated or contrary to the description of the steps constituting the method according to the invention. The present invention is not necessarily limited to the order of description of the above steps. The use of all examples or exemplary language (e.g., etc.) in this invention is for the purpose of describing the present invention only in detail and is not to be limited by the scope of the claims, It is not. It will also be appreciated by those skilled in the art that various modifications, combinations, and alterations may be made depending on design criteria and factors within the scope of the appended claims or equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the scope of the present invention.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as the claims .

10: Radar equipment
100: Position estimation server
110:
120: Signal processor
130: Measurement distance calculation unit
140: Estimated position calculation unit
150: estimated position selection unit
160:
200: Network

Claims (19)

A receiver for receiving signals for M targets from N radar equipment;
A measurement distance calculation unit for calculating M measurement distances between each of the radar equipments and the targets with reference to the signal and selecting one from M measurement distances for each radar equipment to generate measurement distance combinations;
An estimated position calculator for calculating estimated positions of the targets from the measured distance combinations;
Estimating distance combinations that are combinations of estimated distances calculated by inversely estimating distances from each of the estimated positions to the radar equipments, generating M estimated positions having a small difference between the corresponding combination of the measured distance and the estimated distance, An estimated location selection unit for selecting the location of the M targets;
Wherein the multi-target position estimation system comprises: delete The method according to claim 1,
Wherein the least squares solution method is used when calculating the estimated positions of the targets from the measured distance combinations. The method according to claim 1,
A signal processing unit for removing a clutter signal from the signal for the targets and improving pulse detection capability;
Further comprising the step of: The method according to claim 1,
The signal for the targets may include:
And a time until a signal transmitted by a radar device serving as a transmitter is reflected to a specific one of the plurality of targets and received by a radar device serving as a receiver. 6. The method of claim 5,
Wherein the combination of the measured distances is generated by a combination of actual distance information calculated by multiplying the time by the propagation speed of the signal. The method according to claim 1,
Wherein the radar equipment uses impulse radio ultra wideband (IR-UWB) technology. The method according to claim 1,
Wherein the estimated positions of the targets are generated to be N squared of M. A receiving step of receiving signals for M targets from N radar equipments;
Calculating measurement distances M between each of the radar equipments and the targets with reference to the signals and selecting one from M measurement distances for each radar equipment to generate measurement distance combinations;
An estimated position calculation step of calculating estimated positions of the targets from the measurement distance combinations;
Estimating distance combinations that are combinations of estimated distances calculated by inversely estimating distances from each of the estimated positions to the radar equipments, generating M estimated positions having a small difference between the corresponding combination of the measured distance and the estimated distance, An estimated location selecting step of selecting the location of the M targets;
And estimating the position of the target. delete 10. The method of claim 9,
Wherein the least squares solution method is used when calculating the estimated positions of the targets from the measured distance combinations. 10. The method of claim 9,
A signal processing step of removing a clutter signal from a signal for the targets and improving a pulse detection capability;
And estimating the position of the target. 10. The method of claim 9,
The signal for the targets may include:
And a time until a signal transmitted by a radar device acting as a transmitter is reflected to a specific target among the plurality of targets and received by a radar device serving as a receiver. 14. The method of claim 13,
Wherein the combination of the measurement distances is generated by a combination of actual distance information calculated by multiplying the propagation velocity of the signal at the time. 10. The method of claim 9,
Wherein the radar equipment uses impulse radio ultra wideband (IR-UWB) technology. 10. The method of claim 9,
Wherein the estimated positions of the targets are generated to be N squared of M. delete delete delete

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