SE510844C2 - Automatisk kompensering av systematiska fel vid målföljning med flera sensorer - Google Patents
Automatisk kompensering av systematiska fel vid målföljning med flera sensorerInfo
- Publication number
- SE510844C2 SE510844C2 SE9704012A SE9704012A SE510844C2 SE 510844 C2 SE510844 C2 SE 510844C2 SE 9704012 A SE9704012 A SE 9704012A SE 9704012 A SE9704012 A SE 9704012A SE 510844 C2 SE510844 C2 SE 510844C2
- Authority
- SE
- Sweden
- Prior art keywords
- bias
- target
- estimation method
- parameters
- measurements
- Prior art date
Links
- 230000009897 systematic effect Effects 0.000 title description 7
- 238000000034 method Methods 0.000 claims abstract description 94
- 238000005259 measurement Methods 0.000 claims abstract description 88
- 238000009826 distribution Methods 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 22
- 239000013598 vector Substances 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000007257 malfunction Effects 0.000 claims description 7
- 238000011161 development Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 210000000845 cartilage Anatomy 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 27
- 238000010348 incorporation Methods 0.000 abstract 1
- 230000006870 function Effects 0.000 description 14
- 230000014509 gene expression Effects 0.000 description 12
- 240000007320 Pinus strobus Species 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000001143 conditioned effect Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 229920006395 saturated elastomer Polymers 0.000 description 2
- 229930091051 Arenine Natural products 0.000 description 1
- 238000012935 Averaging Methods 0.000 description 1
- 238000007476 Maximum Likelihood Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
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- 230000008685 targeting Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Gyroscopes (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Priority Applications (11)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE9704012A SE510844C2 (sv) | 1997-11-03 | 1997-11-03 | Automatisk kompensering av systematiska fel vid målföljning med flera sensorer |
| AU97707/98A AU737185B2 (en) | 1997-11-03 | 1998-10-26 | Bias estimating method for a target tracking system |
| DK98951870T DK1027617T3 (da) | 1997-11-03 | 1998-10-26 | Biasestimeringsfremgangsmåde til et målsporingssystem |
| US09/530,666 US6359586B1 (en) | 1997-11-03 | 1998-10-26 | Bias estimating method for a target tracking system |
| CA002309427A CA2309427C (en) | 1997-11-03 | 1998-10-26 | Bias estimating method for a target tracking system |
| DE69837278T DE69837278D1 (de) | 1997-11-03 | 1998-10-26 | Verfahren zum schätzen der vorspannung eines zielverffolgungssystems |
| IL13531798A IL135317A (en) | 1997-11-03 | 1998-10-26 | A biased assessment method for a goal tracking system |
| PCT/SE1998/001927 WO1999023506A1 (en) | 1997-11-03 | 1998-10-26 | Bias estimating method for a target tracking system |
| CZ20001424A CZ298223B6 (cs) | 1997-11-03 | 1998-10-26 | Zpusob odhadu systematické odchylky u systému sledování cíle |
| EP98951870A EP1027617B1 (en) | 1997-11-03 | 1998-10-26 | Bias estimating method for a target tracking system |
| NO20002273A NO334261B1 (no) | 1997-11-03 | 2000-04-28 | Fremgangsmåte for å estimere bias for et målfølgningssystem |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE9704012A SE510844C2 (sv) | 1997-11-03 | 1997-11-03 | Automatisk kompensering av systematiska fel vid målföljning med flera sensorer |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| SE9704012D0 SE9704012D0 (sv) | 1997-11-03 |
| SE9704012L SE9704012L (sv) | 1999-05-04 |
| SE510844C2 true SE510844C2 (sv) | 1999-06-28 |
Family
ID=20408841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE9704012A SE510844C2 (sv) | 1997-11-03 | 1997-11-03 | Automatisk kompensering av systematiska fel vid målföljning med flera sensorer |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US6359586B1 (cs) |
| EP (1) | EP1027617B1 (cs) |
| AU (1) | AU737185B2 (cs) |
| CA (1) | CA2309427C (cs) |
| CZ (1) | CZ298223B6 (cs) |
| DE (1) | DE69837278D1 (cs) |
| DK (1) | DK1027617T3 (cs) |
| IL (1) | IL135317A (cs) |
| NO (1) | NO334261B1 (cs) |
| SE (1) | SE510844C2 (cs) |
| WO (1) | WO1999023506A1 (cs) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6225942B1 (en) * | 1999-07-30 | 2001-05-01 | Litton Systems, Inc. | Registration method for multiple sensor radar |
| US6940565B2 (en) * | 2000-08-26 | 2005-09-06 | Lg.Philips Lcd Co., Ltd. | Liquid crystal display device and fabricating method thereof |
| US6795590B1 (en) * | 2000-09-22 | 2004-09-21 | Hrl Laboratories, Llc | SAR and FLIR image registration method |
| US6486661B2 (en) * | 2001-02-12 | 2002-11-26 | Delphi Technologies, Inc. | Sensor bias drift compensation |
| CA2507636C (en) * | 2003-02-03 | 2012-04-03 | Telefonaktiebolaget Lm Ericsson (Publ) | A method for controlling a radar antenna |
| US7183969B2 (en) | 2004-12-22 | 2007-02-27 | Raytheon Company | System and technique for calibrating radar arrays |
| KR101088053B1 (ko) * | 2005-04-04 | 2011-11-29 | 레이티언 캄파니 | 다수의 레이더를 가간섭적으로 결합하기 위한 시스템 및방법 |
| US20070182623A1 (en) * | 2006-02-03 | 2007-08-09 | Shuqing Zeng | Method and apparatus for on-vehicle calibration and orientation of object-tracking systems |
| US7991550B2 (en) * | 2006-02-03 | 2011-08-02 | GM Global Technology Operations LLC | Method and apparatus for on-vehicle calibration and orientation of object-tracking systems |
| NL1032520C2 (nl) * | 2006-09-15 | 2008-03-18 | Thales Nederland Bv | Werkwijze en systeem voor het volgen van een object. |
| US8054215B2 (en) * | 2007-11-30 | 2011-11-08 | Lockheed Martin Corporation | Precision registration for radar |
| CA2735787A1 (en) * | 2008-09-03 | 2010-03-11 | Bae Systems Plc | Estimating a state of at least one target |
| FR2939904B1 (fr) * | 2008-12-16 | 2015-08-07 | Thales Sa | Methode de traitement de poursuite multi-capteur a temps de latence reduit |
| EP2209018A1 (en) * | 2009-01-15 | 2010-07-21 | Nederlandse Organisatie voor toegepast-natuurwetenschappelijk Onderzoek TNO | A method for estimating an object motion characteristic from a radar signal, a computer system and a computer program product |
| US8818702B2 (en) * | 2010-11-09 | 2014-08-26 | GM Global Technology Operations LLC | System and method for tracking objects |
| US9041589B2 (en) * | 2012-04-04 | 2015-05-26 | Caterpillar Inc. | Systems and methods for determining a radar device coverage region |
| US10175348B2 (en) * | 2014-10-08 | 2019-01-08 | Src, Inc. | Use of range-rate measurements in a fusion tracking system via projections |
| JP6702562B2 (ja) * | 2017-03-03 | 2020-06-03 | 株式会社東芝 | マルチセンサシステム、センサバイアス推定装置、センサバイアス推定方法及びセンサバイアス推定プログラム |
| EP3415943A1 (en) * | 2017-06-13 | 2018-12-19 | Veoneer Sweden AB | Error estimation for a vehicle environment detection system |
| JP7012955B2 (ja) * | 2017-10-13 | 2022-01-31 | 三菱重工業株式会社 | 位置標定システム、および位置標定方法 |
| JP6986980B2 (ja) * | 2018-01-18 | 2021-12-22 | 三菱電機株式会社 | 追尾処理装置及び追尾処理方法 |
| JP6861663B2 (ja) * | 2018-04-06 | 2021-04-21 | 三菱電機株式会社 | センサ装置、誤差検出方法および誤差検出プログラム |
| US11022511B2 (en) | 2018-04-18 | 2021-06-01 | Aron Kain | Sensor commonality platform using multi-discipline adaptable sensors for customizable applications |
| US11327155B2 (en) | 2018-12-21 | 2022-05-10 | Robert Bosch Gmbh | Radar sensor misalignment detection for a vehicle |
| US12183206B2 (en) * | 2019-01-18 | 2024-12-31 | Mitsubishi Electric Corporation | Motion state determination apparatus of vehicle |
| CN112285694B (zh) * | 2020-10-16 | 2022-08-30 | 四川九洲电器集团有限责任公司 | 一种机动目标二次雷达航迹探测方法 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3132009A1 (de) | 1981-08-13 | 1983-03-03 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Verfahren zur korrektor von systematischen fehlern bei der multiradarzielverfolgung |
| US4713768A (en) * | 1984-02-20 | 1987-12-15 | Hitachi, Ltd. | Method of localizing a moving body |
| US5313212A (en) * | 1992-10-19 | 1994-05-17 | Hughes Aircraft Company | Track filter bias estimation |
-
1997
- 1997-11-03 SE SE9704012A patent/SE510844C2/sv not_active IP Right Cessation
-
1998
- 1998-10-26 IL IL13531798A patent/IL135317A/en not_active IP Right Cessation
- 1998-10-26 AU AU97707/98A patent/AU737185B2/en not_active Expired
- 1998-10-26 CZ CZ20001424A patent/CZ298223B6/cs not_active IP Right Cessation
- 1998-10-26 WO PCT/SE1998/001927 patent/WO1999023506A1/en active IP Right Grant
- 1998-10-26 EP EP98951870A patent/EP1027617B1/en not_active Expired - Lifetime
- 1998-10-26 DK DK98951870T patent/DK1027617T3/da active
- 1998-10-26 DE DE69837278T patent/DE69837278D1/de not_active Expired - Lifetime
- 1998-10-26 US US09/530,666 patent/US6359586B1/en not_active Expired - Lifetime
- 1998-10-26 CA CA002309427A patent/CA2309427C/en not_active Expired - Lifetime
-
2000
- 2000-04-28 NO NO20002273A patent/NO334261B1/no not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| NO20002273L (no) | 2000-05-03 |
| CZ298223B6 (cs) | 2007-07-25 |
| AU737185B2 (en) | 2001-08-09 |
| EP1027617A1 (en) | 2000-08-16 |
| IL135317A0 (en) | 2001-05-20 |
| US6359586B1 (en) | 2002-03-19 |
| EP1027617B1 (en) | 2007-03-07 |
| AU9770798A (en) | 1999-05-24 |
| CZ20001424A3 (cs) | 2000-08-16 |
| DK1027617T3 (da) | 2007-07-09 |
| CA2309427C (en) | 2008-09-23 |
| SE9704012D0 (sv) | 1997-11-03 |
| IL135317A (en) | 2004-05-12 |
| CA2309427A1 (en) | 1999-05-14 |
| DE69837278D1 (de) | 2007-04-19 |
| SE9704012L (sv) | 1999-05-04 |
| WO1999023506A1 (en) | 1999-05-14 |
| NO20002273D0 (no) | 2000-04-28 |
| NO334261B1 (no) | 2014-01-20 |
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