KR20230166406A - Method of tracking a moving target, apparatus for tracking a moving target, and computer program for the method - Google Patents

Abstract

The present invention provides a moving target tracking method capable of effectively tracking a moving target using radar, a moving target tracking device, and a computer program stored in a recording medium for executing the method. , acquiring the position and speed of a target located at a third position at a first time point using a radar located at a first position at a first time point and moving, Calculating an expected distance range, an expected angle range, and an expected speed range of the target at the second time point from the radar located at a second location at a second time point, and the expected distance range, the expected angle range, and the A moving target tracking method including the step of tracking the target based on an expected speed range, a moving target tracking device, and a computer program stored in a recording medium for executing the method are provided.

Description

Method for tracking a moving target, apparatus for tracking a moving target, and computer program for the method stored in a recording medium for executing the method

Embodiments of the present invention relate to a moving target tracking method, a moving target tracking device, and a computer program stored in a recording medium for executing the method, and more specifically, to a moving target that can effectively track a moving target using radar. It relates to a target tracking method, a moving target tracking device, and a computer program stored in a recording medium for executing the method.

In order to track a target on radar, a track must be created using detected information (e.g., a plot). A method of creating a track is a 2-point initiation using two plots. 2-point initiation is a method that extracts velocity components using the position and time difference of two plots detected at different times to obtain both the position and velocity components of the track. In order to perform this 2-point initiation, it is necessary to find plots that are related to each other among the numerous plots detected during the search process.

In a conventional radar system, the method of associating plots is to associate plots that exist within a specific range of distance, angle, and Doppler velocity difference. Plot detected in scan 1 and plots detected in scan 2 The correlation can be determined using the conditions [Equations 1 to 4] below.

<Equation 1>

<Equation 2>

<Equation 3>

<Equation 4>

here, is the distance, The elevation is is the azimuth, means Doppler speed. When the four conditions of [Equations 1 to 4] are satisfied simultaneously class is related. At this time, the threshold If the value range of is not properly specified and is set small, there is a high possibility that the association will fail and the track will not be initiated, and if it is set too large, there is a high possibility that false tracks will occur in association with other targets or false alarms. Additionally, in the case of a target moving at high speed, a change in position occurs between scan 1 and scan 2, making correlation difficult unless the threshold is increased.

The expected position and error range in scan 2 will vary due to various factors. Radar can only measure the speed (Doppler speed) of a target in the line-of-sight direction, so the actual speed (size and direction) of the target cannot be known. Depending on the size of the gaze speed and the maximum speed that the target can have, the error range of the expected position in the next scan varies. As the time difference between scans (scan period) increases, uncertainty increases and the error range becomes larger. Additionally, characteristics such as the relative position of the target and Doppler speed may vary depending on the movement of the radar itself. Conventional technology consistently uses an empirically set threshold. Therefore, there is a limitation in that it cannot reflect the error range that varies depending on the target characteristics, scan cycle, and radar movement.

The problem to be solved by the present invention is to provide a moving target tracking method that can effectively track a moving target using radar, a moving target tracking device, and a computer program stored in a recording medium to execute the method. do. However, these tasks are illustrative and do not limit the scope of the present invention.

According to one aspect of the present invention, in a method of tracking a moving target, the position and speed of the target located at a third position at the first time point using a radar located at a first position at a first time point and moving. Obtaining an expected distance range, expected angle range, and expected speed range of the target at the second time point from the radar located at a second position at a second time point after a predetermined scan period from the first time point. A moving target tracking method is provided, including calculating the target, and tracking the target based on the expected distance range, the expected angle range, and the expected speed range.

The step of calculating the expected distance range, expected angle range, and expected speed range of the target includes calculating an expected distance of the target at the second viewpoint and an error range of the expected distance from the radar, and It may include calculating the expected distance range of the target by considering the distance error due to the distance measurement error for the target, the distance error due to the speed measurement error, and the distance error due to the acceleration of the target.

The step of calculating the expected distance range, expected angle range, and expected speed range of the target includes calculating an expected angle of the second viewpoint of the target and an error range of the expected angle from the radar, and It may include calculating the expected angle range of the target by considering angle error due to angle measurement error for the target.

The step of calculating the expected distance range, expected angle range, and expected speed range of the target includes calculating an expected speed of the target at the second viewpoint and an error range of the expected speed from the radar, and It may include calculating an expected speed range of the target by considering a speed error due to a speed measurement error for the target and a speed error due to acceleration of the target.

The tracking of the target includes setting an association range of the target that satisfies all of the expected distance range, the expected angle range, and the expected speed range, and the second time point that satisfies the association range. It may include tracking the target from the first time point to the second time point based on the target.

Tracking the target may include resetting the association range in response to a change in the scan period.

According to one aspect of the present invention, a computer program stored in a recording medium is provided to execute the above-described method using a computer.

According to one aspect of the present invention, a radar that radiates electromagnetic waves toward a moving target, receives a signal reflected from the target, is located in a first position at a first time and moves, and a processor, the processor The radar acquires the position and speed of a target located at a third position at the first time point using the radar, and is located at the second position at a second time point after a predetermined scan period has passed from the first time point. Calculating an expected distance range, an expected angle range, and an expected speed range of the target at the second time point from the target, and tracking the target based on the expected distance range, the expected angle range, and the expected speed range, A target tracking device is provided.

The processor calculates an expected distance of the target at the second viewpoint from the radar and an error range of the expected distance, a distance error due to a distance measurement error of the radar to the target, and a distance error due to a speed measurement error. , and the distance error due to the acceleration of the target can be taken into consideration to calculate the expected distance range of the target.

The processor calculates an expected angle of the second viewpoint of the target and an error range of the expected angle from the radar, and considers an angle error due to an angle measurement error of the radar for the target and an expected angle of the target. The range can be calculated.

The processor calculates an expected speed of the target at the second time point and an error range of the expected speed from the radar, a speed error due to a speed measurement error of the radar for the target, and an error range based on the acceleration of the target. Considering the speed error, the expected speed range of the target can be calculated.

The processor sets an association range of the target that satisfies all of the expected distance range, the expected angle range, and the expected speed range, and sets the first association range based on the target at the second time that satisfies the association range. The target may be tracked from a first time point to the second time point.

The processor may reset the associated range in response to a change in the scan period.

Other aspects, features and advantages other than those described above will become apparent from the detailed description, claims and drawings for carrying out the invention below.

According to an embodiment of the present invention made as described above, a moving target tracking method capable of effectively tracking a moving target using radar, a moving target tracking device, and a computer program stored in a recording medium to execute the method are provided. It can be implemented. Of course, the scope of the present invention is not limited by this effect.

1 is a diagram for explaining the configuration and operation of a moving target tracking device according to an embodiment of the present invention.
Figure 2 is a diagram for explaining the processor configuration of a moving target tracking device according to an embodiment of the present invention.
Figure 3 is a flowchart showing a method for tracking a moving target according to an embodiment of the present invention.
Figure 4 is a diagram for explaining a method of calculating an expected distance range according to an embodiment of the present invention.
Figure 5 is a diagram for explaining a method of calculating an expected angle range according to an embodiment of the present invention.
Figure 6 is a diagram for explaining a method of calculating an expected speed range according to an embodiment of the present invention.
7 to 9 are diagrams for explaining a method for tracking a moving target according to an embodiment of the present invention.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, identical or corresponding components will be assigned the same reference numerals and redundant description thereof will be omitted. .

In the following embodiments, terms such as first or second are used not in a limiting sense but for the purpose of distinguishing one component from another component. And singular expressions include plural expressions, unless the context clearly dictates otherwise. Additionally, terms such as include or have mean that the features or components described in the specification exist, and do not exclude the possibility of adding one or more other features or components.

In the drawings, the sizes of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are shown arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is shown.

In the following embodiments, when a part such as a region, component, unit, block, or module is said to be on or on another part, it is not only the case that it is directly on top of the other part, but also the other area, component, or module in between. , also includes cases where blocks or modules are included. And when areas, components, parts, blocks, or modules are connected, not only are the areas, components, parts, blocks, or modules directly connected, but also other areas are in between the areas, components, parts, blocks, or modules. , also includes cases where components, parts, blocks, or modules are interposed and indirectly connected.

Hereinafter, several embodiments of the present invention will be described in detail with reference to the attached drawings in order to enable those skilled in the art to easily practice the present invention.

FIG. 1 is a diagram for explaining the configuration and operation of a moving target tracking device according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining the processor configuration of a moving target tracking device according to an embodiment of the present invention. .

First, referring to FIG. 1, the moving target tracking device 100 according to an embodiment of the present invention may include a memory 110, a processor 120, a communication module 130, and a radar 140. However, the present invention is not limited to this, and the moving target tracking device 100 may further include other components or some components may be omitted. Some components of the moving target tracking device 100 may be separated into multiple devices, or multiple components may be merged into one device.

The memory 110 is a computer-readable recording medium and may include a non-permanent mass storage device such as random access memory (RAM), read only memory (ROM), and a disk drive. Additionally, a program code for controlling the moving target tracking device 100 may be temporarily or permanently stored in the memory 110 .

The processor 120 uses a radar to acquire the position and speed of a target located at a third position at a first time point, and obtains the position and speed of a target located at a third position at a first time point, and obtains the position and speed of a target located at a third position at a first time point from the radar located at a second position at a second time point. The expected distance range, expected angle range, and expected speed range of the target at the second viewpoint may be calculated, and the target may be tracked based on the expected distance range, expected angle range, and expected speed range.

The communication module 130 may provide a function for communicating with an external device through a network. For example, a request generated by the processor 120 of the moving target tracking device 100 according to a program code stored in a recording device such as memory 110 is transmitted to an external device through the network under the control of the communication module 130. It can be. Conversely, control signals, commands, content, files, etc. provided according to the control of the processor of the external device may be received by the moving target tracking device 100 through the communication module 130 through the network. For example, control signals or commands from an external device received through the communication module 130 may be transmitted to the processor 120 or memory 110.

The communication method is not limited, and may include not only a communication method utilizing a communication network that the network may include (for example, a mobile communication network, wired Internet, wireless Internet, and a broadcasting network), but also short-range wireless communication between devices. For example, networks include personal area network (PAN), local area network (LAN), campus area network (CAN), metropolitan area network (MAN), wide area network (WAN), broadband network (BBN), Internet, etc. It may include one or more arbitrary networks among the networks. Additionally, the network may include, but is not limited to, any one or more of network topologies including a bus network, star network, ring network, mesh network, star-bus network, tree or hierarchical network, etc. .

Additionally, the communication module 130 can communicate with an external device through a network. The communication method is not limited, but the network may be a local area wireless communication network. For example, the network may be a Bluetooth, Bluetooth Low Energy (BLE), or Wifi communication network.

Radar 140 may be a device that transmits and receives electromagnetic waves. Radar 140 may radiate electromagnetic waves toward a moving target. Additionally, the radar 140 may receive a signal reflected from the target. For example, a signal reflected from a target may be an electromagnetic wave. Additionally, the radar 140 can move. That is, the radar 140 is not fixed and can track a moving target while moving.

Additionally, the moving target tracking device 100 according to the present invention may include an input/output interface. The input/output interface may be a means for interfacing with an input/output device. For example, an input device may include a device such as a keyboard or mouse, and an output device may include a device such as a display for displaying a communication session of an application. As another example, an input/output interface may be a means of interfacing with a device that integrates input and output functions into one, such as a touch screen. As a more specific example, the processor 120 of the moving target tracking device 100 processes commands of a computer program loaded in the memory 110, and a service screen or content configured using data provided by an external server is input/output interface. It can be displayed on the display through .

Additionally, in other embodiments, the moving target tracking device 100 may include more components than those of FIG. 1 . For example, it may be implemented to include at least some of the above-described input/output devices, or may further include other components such as a battery and charging device that supplies power to internal components, various sensors, and a database.

Hereinafter, the internal configuration of the processor 120 of the moving target tracking device 100 according to an embodiment of the present invention will be reviewed in detail with reference to FIG. 2. For ease of understanding, the processor 120 described later will be described assuming that it is the processor 120 of the moving target tracking device 100 shown in FIG. 1 .

The processor 120 of the moving target tracking device 100 according to an embodiment of the present invention includes a position velocity acquisition unit 121, an expected range calculation unit 122, and a target tracking unit 123. According to some embodiments, components of the processor 120 may be selectively included in or excluded from the processor 120. Additionally, according to some embodiments, components of the processor 120 may be separated or merged to express the functions of the processor 120.

The processor 120 and the components of the processor 120 may control the moving target tracking device 100 to perform steps S110 to S130 included in the moving target tracking method of FIG. 3 . For example, the processor 120 and its components may be implemented to execute instructions according to the code of an operating system included in the memory 110 and the code of at least one program. Here, the components of the processor 120 represent different functions of the processor 120 that are performed by the processor 120 according to instructions provided by the program code stored in the moving target tracking device 100. You can take it in. The internal configuration and specific operation of the processor 120 will be described with reference to the flowchart of the moving target tracking method in FIG. 3.

Figure 3 is a flowchart showing a method for tracking a moving target according to an embodiment of the present invention.

Referring to FIG. 3, in step S110, the processor 120 may acquire the position and speed of a target located at a third position at a first time point using a moving radar located at a first position at a first time point. there is. At this time, the target may be a moving target. For example, the target may be a target moving from a third location to another location. For example, in order to track a target, the radar can acquire the target's position and speed information at each pre-designated scan cycle.

In step S120, the processor 120 calculates the expected distance range, expected angle range, and expected speed range of the target at the second time point from the radar located at the second position at a second time point after a predetermined scan period from the first time point. It can be calculated. For example, the radar may move from a first location to a second location during the time period from the first time point to the second time point. Additionally, the target may move from the third location to another location during the time period from the first time point to the second time point.

For example, the processor 120 may calculate the expected distance range, expected angle range, and expected speed range that the target may have based on the radar at the second time point. For example, the expected distance range may represent a distance range including the minimum and maximum distances at which a target can be located based on the radar. The expected angle range may represent the angle range including the minimum and maximum angles that the target can have based on the radar. The expected speed range may represent a speed range that includes the minimum and maximum speeds that a target can have based on radar.

The processor 120 according to an embodiment of the present invention may calculate the expected distance of the second viewpoint of the target and the error range of the expected distance from the radar. Additionally, the processor 120 may calculate the expected distance range of the target by considering the distance error due to the radar's distance measurement error with respect to the target, the distance error due to the speed measurement error, and the distance error due to the acceleration of the target.

The processor 120 according to an embodiment of the present invention may calculate the expected angle of the second viewpoint of the target and the error range of the expected angle from the radar. Additionally, the processor 120 may calculate the expected angle range of the target by considering the angle error caused by the angle measurement error of the radar target.

The processor 120 according to an embodiment of the present invention may calculate the expected speed of the second viewpoint of the target and the error range of the expected speed from the radar. Additionally, the processor 120 may calculate the expected speed range of the target by considering the speed error due to the speed measurement error of the radar target and the speed error due to the acceleration of the target.

In step S130, processor 120 may track the target based on the expected distance range, expected angle range, and expected speed range. The processor 120 may track the target by setting an associated range of the target at the second viewpoint based on the expected distance range, expected angle range, and expected speed range.

The processor 120 according to an embodiment of the present invention may set a target association range that satisfies all of the expected distance range, expected angle range, and expected speed range. Additionally, the processor 120 may track the target from the first time point to the second time point based on the target at the second time point that satisfies the associated range.

The processor 120 according to an embodiment of the present invention may reset the associated range in response to a change in the scan period. For example, the processor 120 may reset the association range according to a change in the scan cycle of the target. For example, as the scan cycle becomes longer, the uncertainty in target measurement increases and the correlation range may widen, and as the scan cycle becomes shorter, the uncertainty in target measurement decreases and the correlation range may narrow.

Figure 4 is a diagram for explaining a method of calculating an expected distance range according to an embodiment of the present invention.

Referring to FIG. 4, the expected distance range of the target according to an embodiment of the present invention can be calculated. here class are respectively class It means the position of the radar at the time it was acquired. Scan cycle ( class When the detection time difference (detection time difference) is T, the positions that a target moving at a constant speed can have after time has passed by T are points on a straight line perpendicular to the distance direction (e.g., in Figure 4). from points on a straight line up to . The target is exactly on the radar (origin) ), the target's speed is and if the target's direction of movement is different It has greater speed.

The maximum speed a target can have This is the possible position range of the target. at is limited to target with speed The expected distance of the target in the next scan (e.g., second view) is and this is at has an error range of In some cases go There are cases where it is smaller than at has a margin of error. For example, as shown in Figure 4, Is , , It is calculated as <Equation 5> by applying the second cosine law to a triangle with as the vertex.

<Equation 5>

In Figure 4 , , It is calculated as <Equation 6> by applying the second cosine law from a triangle with as the vertex.

<Equation 6>

Distance error due to movement direction uncertainty is has a range of here was applied as previously described. go If less than at This is to reflect that it has an error range of . is obtained as follows: For example, as shown in Figure 4, the vector and It is calculated as <Equation 7> using the inner product formula.

<Equation 7>

Distance measurement accuracy (based on 1-sigma), the range of distance measurement error based on 3-sigma for two measurements is It can be defined as: Doppler velocity measurement accuracy (based on 1-sigma), the distance error due to Doppler velocity error is based on 3-sigma. It can be defined as: The error due to the maximum acceleration of the target is (where is the maximum acceleration that the target can have). Therefore, considering all of the distance error due to uncertainty in the target's moving direction, distance error due to distance measurement error, distance error due to Doppler velocity measurement error, and distance error due to the target's acceleration, distance of is calculated as shown in Equation 8 below.

<Equation 8>

Figure 5 is a diagram for explaining a method of calculating an expected angle range according to an embodiment of the present invention.

Referring to FIG. 5, the expected angle range of the target according to an embodiment of the present invention can be calculated. Here, the angular error range due to target movement direction uncertainty is am. here Is It means the angle of direction. and is calculated as <Equation 9> and <Equation 10>, respectively, using the second cosine law.

<Equation 9>

<Equation 10>

Angle measurement accuracy (based on 1-sigma), the angle measurement error range based on 3-sigma for two measurements is It can be defined as: Therefore, considering both the angular error due to the uncertainty in the target's moving direction and the angular error due to the target's angle measurement error, angle of The range is calculated as <Equation 11>. The same applies to azimuth and elevation angles.

<Equation 11>

Figure 6 is a diagram for explaining a method of calculating an expected speed range according to an embodiment of the present invention.

Referring to FIG. 6, the expected speed range of the target according to an embodiment of the present invention can be calculated. Here, Doppler speed refers to the speed in the line-of-sight direction, so the radar position is when Directional target speed. target at the speed of It has a maximum Doppler velocity when moving in the direction of the target. at the speed of It has a minimum Doppler velocity when moving in that direction. Therefore, due to uncertainty in the direction of movement of the target, There is a difference in Doppler velocity depending on the location. target at direction When moving at speed, the angle difference between the target direction and the moving direction is am. At this time, the Doppler velocity is calculated as <Equation 12>.

<Equation 12>

In the same way, in the opposite direction ( at )by When moving at speed, the Doppler speed is calculated as <Equation 13>.

<Equation 13>

Doppler velocity measurement accuracy (based on 1-sigma), the angle measurement error range based on 3-sigma for two measurements is It can be defined as: The speed error that can be caused by the maximum acceleration of the target is It is defined as Therefore, considering all the Doppler velocity error due to uncertainty in the target's moving direction, velocity error due to Doppler velocity measurement error, and velocity error due to the target's acceleration, Doppler velocity of satisfies the conditions of <Equation 14>.

<Equation 14>

plot class To finally determine whether the are related to each other, check whether the distance, angle, and speed conditions are satisfied simultaneously. In other words, if the conditions of <Equation 8>, <Equation 11>, and <Equation 14> are satisfied simultaneously, class are related to each other and are not related if even one condition is not satisfied.

7 to 9 are diagrams for explaining a method for tracking a moving target according to an embodiment of the present invention.

7 to 9, simulation results of association range setting according to the moving target tracking method of the present invention are shown. First, to see the effect of the target's Doppler speed, the scenario was set as follows. The distance is 50 km, the Doppler speed is -300 m/s, and the angle is 0 degrees (frontal direction). The radar is moving forward at a speed of 300 m/s. The parameters are It was set to .

The simulation method is as follows. first Generate the number of N (=10,000) target cases that allow you to obtain. N targets are randomly generated by changing the direction and size of the target's speed to have the set Doppler speed (-300m/s). Similarly, the acceleration that the target may have ( ) Generates random acceleration within. Additionally, a random position is created by adding distance and angle errors as much as the measurement error. The characteristics of the N targets created in this way are all different, It can be measured as The location after T seconds is calculated using the set target information. Here, the measurement error is added in the form of Gaussian noise to obtain the measured value. Generates a distribution of

Referring to Figure 7, the results of the simulation are shown. within the calculated association range (71) It can be seen that is located. At this time, the size of the associated range (71) is the distance ( ), azimuth ( ), elevation ( ), speed( ) are shown as 127.57m, 5.16 degrees, 5.16 degrees, and 124m/s, respectively.

The results of performing the same simulation after changing the target's Doppler speed to -600 m/s are shown in Figure 8. Referring to Figure 8, the association range 81 is am. It can be seen that the correlation range (81) has become smaller in the distance and angle directions due to the decrease in the uncertainty of the target's speed.

Next, in order to check the effect of the time difference, the results of changing the first scenario to T = 5 are shown in Figure 9. Referring to Figure 9, the association range 91 is am. It can be seen that the size of the correlation range (91) has increased significantly due to the increase in uncertainty as time increases.

Conventionally, the association range was fixed, but in the present invention, the association range can be adjusted adaptively. In other words, the conventional method of using a fixed association range cannot adaptively change the association range according to changes in target characteristics and scan cycles. Therefore, the correlation range varies depending on the characteristics of the target and the scan cycle. It may be too small or too large than the distribution. When the association scope is too small is distributed outside the association range, increasing the likelihood of failure to initiate tracking, and if the association range is too large, the likelihood of mistracking being initiated due to false positives, etc. increases. On the other hand, the moving target tracking method proposed in the present invention adjusts the association range adaptively according to the situation, so the probability of failing to initiate tracking or initiating erroneous tracking by setting an appropriate association range is low.

The present invention relates to a method for initiating tracking by associating plots in an environment where both the radar and the target are moving. According to the present invention, a plot correlation method is proposed by variably calculating distance, angle, and speed thresholds by considering the characteristics of a moving target. According to the present invention, efficient association can be performed by adaptively setting the association range by complexly considering the target's location, speed characteristics, scan cycle, and radar movement compensation.

The present invention relates to a method for setting an accurate correlation range for tracking initiation in an environment where both the radar and the target are moving. According to the present invention, an appropriate association range can be variably set using a formula depending on the characteristics of the target (eg, location, speed, etc.). In addition, according to the present invention, compensation is made for the movement of the radar, and the correlation range can be adaptively adjusted depending on the time difference in the scan cycle.

The device and/or system described above may be implemented with hardware components, software components, and/or a combination of hardware components and software components. Devices and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), and a programmable logic unit (PLU). It may be implemented using one or more general-purpose or special-purpose computers, such as a logic unit, microprocessor, or any other device capable of executing and responding to instructions. A processing device may execute an operating system (OS) and one or more software applications that run on the operating system. Additionally, a processing device may access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, a single processing device may be described as being used; however, those skilled in the art will understand that a processing device includes multiple processing elements and/or multiple types of processing elements. It can be seen that it may include. For example, a processing device may include a plurality of processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are possible.

Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired, or may operate independently or collectively on a processing unit. can be commanded. Software and/or data may be used on any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. Computer-readable media may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited examples and drawings, various modifications and variations can be made by those skilled in the art from the above description. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the claims described below.

100: moving target tracking device
110: memory
120: processor
130: Communication module
140: Radar

Claims (13)

In a method of tracking a moving target,
Acquiring the position and speed of a target located at a third position at a first time point using a moving radar located at a first position at a first time point;
Calculating an expected distance range, expected angle range, and expected speed range of the target at the second time point from the radar located at a second location at a second time point after a predetermined scan period from the first time point; and
tracking the target based on the expected distance range, the expected angle range, and the expected speed range;
A moving target tracking method comprising: According to claim 1,
The step of calculating the expected distance range, expected angle range, and expected speed range of the target is,
calculating an expected distance of the target at the second viewpoint and an error range of the expected distance from the radar; and
Comprising the step of calculating the expected distance range of the target by considering the distance error due to the distance measurement error of the radar, the distance error due to the speed measurement error, and the distance error due to the acceleration of the target, movement, including calculating the expected distance range of the target. Target tracking method. According to claim 1,
The step of calculating the expected distance range, expected angle range, and expected speed range of the target is,
calculating an expected angle of the second viewpoint of the target and an error range of the expected angle from the radar; and
A moving target tracking method comprising calculating an expected angle range of the target by considering an angle error caused by an angle measurement error of the radar with respect to the target. According to claim 1,
The step of calculating the expected distance range, expected angle range, and expected speed range of the target is,
calculating an expected speed of the target at the second time point and an error range of the expected speed from the radar; and
A moving target tracking method comprising calculating an expected speed range of the target by considering a speed error due to a speed measurement error of the radar and a speed error due to acceleration of the target. According to claim 1,
The step of tracking the target is,
setting an associated range of the target that satisfies all of the expected distance range, the expected angle range, and the expected speed range; and
A moving target tracking method comprising tracking the target from the first time point to the second time point based on the target at the second time point satisfying the association range. According to clause 5,
The tracking of the target includes resetting the association range in response to a change in the scan period. A computer program stored in a recording medium to execute the method of any one of claims 1 to 6 using a computing device. A radar that radiates electromagnetic waves toward a moving target, receives a signal reflected from the target, and moves and is located in a first position at a first time; and
Including a processor;
The processor acquires the position and speed of a target located in a third position at the first time point using the radar, and locates the target in the second position at a second time point after a predetermined scan period from the first time point. Calculating an expected distance range, an expected angle range, and an expected speed range of the target at the second time point from the radar, and tracking the target based on the expected distance range, the expected angle range, and the expected speed range. , moving target tracking device. According to clause 8,
The processor calculates an expected distance of the target at the second viewpoint from the radar and an error range of the expected distance, a distance error due to a distance measurement error of the radar to the target, and a distance error due to a speed measurement error. , and a moving target tracking device that calculates the expected distance range of the target by considering the distance error caused by the acceleration of the target. According to clause 8,
The processor calculates an expected angle of the second viewpoint of the target and an error range of the expected angle from the radar, and considers an angle error due to an angle measurement error of the radar for the target and an expected angle of the target. Range-calculating, moving target tracking device. According to clause 8,
The processor calculates an expected speed of the target at the second time point and an error range of the expected speed from the radar, a speed error due to a speed measurement error of the radar for the target, and an error range based on the acceleration of the target. A moving target tracking device that calculates the expected speed range of the target by considering speed error. According to clause 8,
The processor sets an association range of the target that satisfies all of the expected distance range, the expected angle range, and the expected speed range, and sets the first association range based on the target at the second time that satisfies the association range. A moving target tracking device that tracks the target from a first point in time to the second point in time. According to claim 12,
The processor is configured to reset the associated range in response to a change in the scan period.

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