WO2019035803A1 - Systèmes et procédés de suivi radar amélioré par effet doppler - Google Patents

Systèmes et procédés de suivi radar amélioré par effet doppler Download PDF

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Publication number
WO2019035803A1
WO2019035803A1 PCT/US2017/046708 US2017046708W WO2019035803A1 WO 2019035803 A1 WO2019035803 A1 WO 2019035803A1 US 2017046708 W US2017046708 W US 2017046708W WO 2019035803 A1 WO2019035803 A1 WO 2019035803A1
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Prior art keywords
target
angle
probe signal
calculating
radar
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Application number
PCT/US2017/046708
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English (en)
Inventor
Lang Hong
Steven Hong
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Oculii Corp
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Publication date
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Priority to PCT/US2017/046708 priority Critical patent/WO2019035803A1/fr
Publication of WO2019035803A1 publication Critical patent/WO2019035803A1/fr

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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
    • 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
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/904—SAR modes
    • G01S13/9047—Doppler beam sharpening mode
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light 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
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves

Definitions

  • This invention relates generally to the radar field, and more specifically to new and useful systems and methods for Doppler-enhanced radar tracking.
  • N is the number of elements in the array and d is the distance separating them.
  • FIGURE l is a prior art example diagram of a lD receiver array radar system
  • FIGURE 2 is diagram view of a system of an invention embodiment
  • FIGURE 3 is an example view of a tracking target in a spherical coordinate system
  • FIGURE 4 is a diagram view of a method of an invention embodiment
  • FIGURE 5A is a two-dimensional example view of a moving radar passing stationary targets
  • FIGURE 5B is a frequency output view of data produced according to FIGURE
  • FIGURE 5C is a time series view of magnitude and frequency output of data produced according to FIGURE 5A;
  • FIGURE 6 is an example view of regular sampling and time-warping sampling of a method of an invention embodiment
  • FIGURE 7 is an example view of varied transform periods of a method of an invention embodiment.
  • FIGURE 8 is an example view of time-warping of a method of an invention embodiment.
  • a system 100 for Doppler-enhanced radar tracking includes a transmitter 110, a horizontal receiver array 120, and a signal processor 140, as shown in FIGURE 2.
  • the system 100 may additionally include a vertical receiver array 130 and/or a velocity sensing module 150.
  • angular resolution depends both on the number of elements in the array and the angle between the array and the target:
  • N is the number of elements in the array and d is the distance separating them.
  • the system 100 utilizes Doppler frequency shift data in addition to traditional data sources (e.g., relative phase to determine elevation/azimuth angle) to provide enhanced accuracy.
  • Frequency shifts due to the Doppler effect are frequently used by radar systems to provide an estimate of relative velocity between radar and target; however, on its own,
  • Doppler data can only provide information about the rate of change of range— . This is fine for applications like traffic control, where radar guns are aligned directly with the direction of travel of targets (e.g., the angle between the line segment connecting target and radar gun and the direction of relative velocity between the target and radar gun is close to zero); however, at non-negligible angles there is a significant difference between— and the actual relative velocity.
  • the system 100 takes advantage of this discrepancy in cases where the relative velocity between radar and target is known.
  • the composite angle between the radar and the target can be derived.
  • One particular situation involves tracking stationary targets in a moving vehicle with a known velocity. This composite angle can then be used to aid in deriving a tracking solution for the target, thus providing improved angular resolution over traditional systems.
  • the transmitter no functions to transmit a signal that, after reflection by a target, can provide information about the target (e.g., relative location, velocity, etc.).
  • the transmitter no preferably transmits a frequency shift keyed (FSK) RADAR signal or a frequency-modified continuous wave (FMCW) RADAR signal, but the transmitter no may transmit any signal satisfying these constraints; e.g., an electromagnetic signal (as in radio waves in RADAR, infrared/visible/UV waves in LIDAR), a sound signal (as in SONAR).
  • FSK frequency shift keyed
  • FMCW frequency-modified continuous wave
  • the transmitter no preferably has a single transmitting element (e.g., a single transmit antenna), but may additionally or alternatively have multiple transmitting elements (e.g., as in a radar array). If the transmitter no has multiple elements, these elements may include a single transmitter paired to multiple antennas (e.g., spaced in a particular pattern and/or with antennas coupled to phase/time delays); multiple transmitters, each paired to a single antenna; multiple transmitters paired to multiple antennas, or any other configuration.
  • a single transmitting element e.g., a single transmit antenna
  • multiple transmitting elements e.g., as in a radar array.
  • these elements may include a single transmitter paired to multiple antennas (e.g., spaced in a particular pattern and/or with antennas coupled to phase/time delays); multiple transmitters, each paired to a single antenna; multiple transmitters paired to multiple antennas, or any other configuration.
  • the horizontal receiver array 120 functions to receive data resulting from the reflection of the probe signal(s) transmitted by the transmitter 110.
  • the horizontal receiver array 120 preferably measures phase, magnitude, and frequency information from reflected probe signals, but the horizontal receiver array 120 may additionally or alternatively measure any available characteristics of the reflected probe signals.
  • tracking parameters relating to a tracking target may be calculated.
  • the horizontal receiver array 120 is preferably used to determine azimuth (a), as shown in FIGURE 3, but parameters used to establish target position maybe defined in any coordinate system and base, and the horizontal receiver array 120 may be used to determine any relevant tracking parameters.
  • target position is preferably represented in a Cartesian coordinate system with the origin at the radar (e.g., x,y,z represents target position) or a spherical coordinate system with the same origin, wherein position is defined by range (R), azimuth (a), and elevation (0); alternatively, target position may be described in any manner.
  • elevation is an example of an angle between a reference vector and a projected target vector
  • the projected target vector is the vector between the observer (e.g., the radar) and the target, projected into a reference plane (the reference plane containing the reference vector).
  • the system 100 may calculate any such angles.
  • the horizontal receiver array 120 includes a set of receiver elements arranged in a pattern; e.g., along a horizontal axis.
  • the set of receiver elements may include a single receiver paired to multiple antennas (e.g., spaced in a particular pattern and/or with antennas coupled to phase/time delays); multiple receivers, each paired to a single antenna; multiple receivers paired to multiple antennas, or any other configuration.
  • the horizontal receiver array 120 preferably is used to calculate angles from phase information (as described in FIGURE 1), but may additionally or alternatively be used to calculate angles in any manner (e.g., using horizontal component of Doppler frequency shift).
  • the vertical receiver array 130 is preferably substantially similar to the horizontal receiver array 120, except that the vertical receiver array is arranged upon an axis not parallel to the axis of the horizontal receiver array (e.g., a vertical axis).
  • the vertical receiver array 130 is preferably used to calculate elevation, but may additionally or alternatively be used to calculate any tracking parameters.
  • the signal processor 140 functions to calculate tracking parameters from data collected by the horizontal receiver array 120, the vertical receiver array 130, and/or the velocity sensing module 150.
  • the signal processor 140 preferably includes a microprocessor or microcontroller that calculates tracking parameters according to the method 200; additionally or alternatively, the signal processor 140 may calculate tracking parameters in any manner.
  • the signal processor 140 may additionally or alternatively be used to communicate with an external computer (e.g., to offload computations, receive additional data, or for any other reason).
  • the signal processor 140 may also control configuration of the components of the system 100 or any calculations or actions performed by the system 100.
  • the velocity sensing module 150 functions to determine the velocity of the system 100 (or components of the system 100, or an object coupled to the system 100).
  • the velocity sensing module is preferably a communications interface that couples to an inertial measurement unit (IMU), but may additionally or alternatively be any communications interface (e.g., Wi-Fi, Ethernet, ODB-II) or sensor (accelerometer, wheel speed sensor, IMU) capable of determining a speed and/or velocity.
  • IMU inertial measurement unit
  • a method 200 for Doppler-enhanced radar tracking includes transmitting a probe signal S210, receiving a reflected probe signal S220, and calculating initial tracking parameters from the reflected probe signal S230, as shown in FIGURE 4.
  • the method 200 may additionally include refining the initial tracking parameters S240.
  • N is the number of elements in the array and d is the distance separating them.
  • the method 200 utilizes Doppler frequency shift data in addition to traditional data sources (e.g., relative phase to determine elevation/azimuth angle) to provide enhanced accuracy. Frequency shifts due to the Doppler effect are frequently used by radar systems to provide an estimate of relative velocity between radar and target; however, on its own, dR
  • Doppler data can only provide information about the rate of change of range— . This is fine for applications like traffic control, where radar guns are aligned directly with the direction of travel of targets (e.g., the angle between the line segment connecting target and radar gun and the direction of relative velocity between the target and radar gun is close to zero);
  • the method 200 takes advantage of this discrepancy in cases where the relative velocity between radar and target is known.
  • the composite angle between the radar and the target can be derived.
  • One particular situation involves tracking stationary targets in a moving vehicle with a known velocity. This composite angle can then be used to aid in deriving a tracking solution for the target, thus providing improved angular resolution over traditional systems.
  • the method 200 is preferably implemented by a system for Doppler-enhanced radar tracking (e.g., the system 100), but may additionally or alternatively be implemented using any suitable object tracking system capable of receiving Doppler shift information (e.g., SONAR, LIDAR).
  • a system for Doppler-enhanced radar tracking e.g., the system 100
  • any suitable object tracking system capable of receiving Doppler shift information (e.g., SONAR, LIDAR).
  • S210 includes transmitting a probe signal.
  • S210 functions to transmit a signal that, after reflection by a target, can provide information about the target (e.g., relative location, velocity, etc.).
  • S210 preferably includes transmitting a frequency shift keyed (FSK) RADAR signal or a frequency-modified continuous wave (FMCW) RADAR signal, but S210 may include transmitting any signal satisfying these constraints; e.g., an electromagnetic signal (as in radio waves in RADAR, infrared/visible/UV waves in LIDAR), a sound signal (as in SONAR).
  • FSK frequency shift keyed
  • FMCW frequency-modified continuous wave
  • S220 includes receiving a reflected probe signal.
  • S220 functions to receive data resulting from the reflection of the probe signal transmitted in S210.
  • S220 preferably includes measuring phase, magnitude, and frequency information from reflected probe signals, but S220 may additionally or alternatively include measuring any available characteristics of the reflected probe signals.
  • S230 includes calculating initial tracking parameters from the reflected probe signal.
  • S230 functions to calculate a set of tracking parameters that identify at least a position of the target relative to the radar receiver; additionally or alternatively, tracking parameters may include additional parameters relevant to object tracking (e.g., target velocity, target acceleration).
  • S230 may include calculating more tracking parameters for a given target than necessary to achieve a position solution; for example, as described later, while only range, azimuth angle, and elevation angle may be necessary to calculate object position, composite angle may also be calculated and used to refine and/or check azimuth/elevation angle calculations.
  • S230 may additionally or alternatively calculate or otherwise receive parameters relevant to object tracking (e.g., radar egomotion velocity) that are not calculated using the probe signal.
  • target position is preferably represented in a Cartesian coordinate system with the origin at the radar (e.g., x,y,z represents target position) or a spherical coordinate system with the same origin, wherein position is defined by range (R), azimuth (a), and elevation (0); alternatively, target position may be described in any manner.
  • elevation and similarly azimuth
  • the projected target vector is the vector between the observer (e.g., the radar) and the target, projected into a reference plane (the reference plane containing the reference vector).
  • the method 200 may include calculating any such angles.
  • any parameters relevant to object tracking may be calculated in S230
  • some additional parameters that may be calculated include target range rate (— , typically calculated from Doppler data), relative target velocity (the velocity of the target with respect to the radar receiver), radar egomotion velocity (referred to in this application as egovelocity, the velocity of the radar receiver relative to a stationary position).
  • target range rate typically calculated from Doppler data
  • relative target velocity the velocity of the target with respect to the radar receiver
  • radar egomotion velocity referred to in this application as egovelocity, the velocity of the radar receiver relative to a stationary position.
  • range rate is equivalent to relative target velocity multiplied by the cosine of the looking angle between the radar and the target.
  • a first data source e.g., phase differences between receivers in a receiver array
  • a second data source e.g., Doppler frequency shift and relative velocity
  • azimuth may be calculated based on phase differences between the reflected probe signal seen by each receiver in the array.
  • elevation may be calculated in a similar manner by a vertical receiver array (and/or elevation and azimuth may be calculated in similar manners by a two- dimensional receiver array).
  • Range for example, may be calculated based on travel time of a probe signal.
  • Range rate for example, may be calculated instantaneously (e.g., using Doppler frequency shift data) or over time (e.g., by measuring change in range over time).
  • S230 may additionally include calculating relative target velocity in any manner.
  • S230 may include determining that a target is stationary and calculating relative target velocity based on egovelocity (i.e., in this case, relative target velocity is egovelocity).
  • a target may be determined as stationary in any manner; for example, by identifying the target visually as a stationary target (e.g., a stop sign may be identified by its appearance), by identifying the target by its radar cross-section as a stationary target (e.g., a stop sign or a road may be identified by shape or other features), by comparing Doppler data to other (e.g., phase) data (e.g., if the composite angle provided by Doppler data is substantially different from the composite angle derived from elevation and azimuth, that may be a moving target), by the size of the target, or in any other manner.
  • Doppler data e.g., phase
  • egovelocity may be determined in any manner (e.g., a GPS receiver or IMU coupled to the position of the radar receiver, external tracking systems, etc.).
  • S230 may include receiving relative target velocity information based on external data; e.g., an estimate from a visual tracking system coupled to the position of the radar receiver. Relative target velocity information may even be provided by an external tracking system or the target itself (e.g., transmissions of IMU data from a target vehicle).
  • S230 includes calculating elevation (though this angle may be any angle in a plane perpendicular to a receiver array; e.g., azimuth) using phase or time difference information and calculating composite angle using Doppler frequency shift data and velocity data.
  • This example implementation is preferably used with a one-dimensional radar array (which, using traditional techniques, is capable of determining only elevation and not azimuth), but may additionally or alternatively be used with any radar system.
  • the composite angle may be used, along with the elevation and range, to produce a tracking solution.
  • this example implementation both expands the dimensionality of the radar array (producing three-dimensional data instead of two-dimensional data from the one-dimensional array), and also provides for increased accuracy over a traditional two-dimensional radar array (because the angular resolution of the Doppler-generated composite angle is often higher than the angular resolution of elevation and azimuth generated by traditional solutions).
  • S230 includes calculating elevation and azimuth (though this angle may be any two perpendicular angles in a plane perpendicular to a receiver array) using phase or time difference information and calculating composite angle using Doppler frequency shift data and velocity data.
  • This example implementation is preferably used with a two-dimensional radar array (which, using traditional techniques, is capable of determining both elevation and azimuth), but may additionally or alternatively be used with any radar system.
  • the composite angle may be used, along with the elevation, azimuth and range, to produce a tracking solution.
  • the composite angle may be used as a constraint or filter to improve the accuracy of elevation and azimuth estimates, thus greatly improving the accuracy of the data produced.
  • S230 may include multiple techniques for providing additional improvement.
  • the relative velocity of radar targets changes (in many applications) substantially slower than sample rate of Doppler shift; accordingly, velocity data may be averaged or otherwise smoothed to reduce noise and improve accuracy.
  • velocity data may be averaged or otherwise smoothed to reduce noise and improve accuracy.
  • S230 may include converting reflected signal data to the frequency domain using a Fast Fourier Transform (or any other technique to convert time domain signals to frequency domain for analysis). S230 may also improve system performance by using a Sliding Fast Fourier transform (SFFT) or similar techniques such as the Sliding Discrete Fourier Transform (SDFT) and Short-time Fourier Transform (STFT). These techniques allow Fourier transforms for successive samples in a sample stream to be computed with substantially lower computational overhead, improving performance.
  • SFFT Sliding Fast Fourier transform
  • SDFT Sliding Discrete Fourier Transform
  • STFT Short-time Fourier Transform
  • a moving radar passes two stationary targets (target a and target b) while moving at a constant velocity v, as shown in FIGURE 5A.
  • the radar has moved, and thus the composite angles between the radar and the targets have changed (e.g., /?M corresponds to the composite angle formed between the radar and target b at end of time period T4).
  • the composite angles between the radar and the targets have changed (e.g., /?M corresponds to the composite angle formed between the radar and target b at end of time period T4).
  • Taking the Fourier transform with respect to time provides the Doppler frequency shift data as shown in FIGURE 5B and FIGURE 5C. Note that as the composite angles go from their largest to smallest, a few effects happen. Given the aforementioned constant velocity:
  • the first effect is simply that the rate of change of Doppler frequency shift with respect to ⁇ increases as ⁇ increases (increasing angular resolution as ⁇ ? ma3 ⁇ 4 ).
  • the effect of increase in resolution outpaces the decrease in angle until ⁇ « 55° (angle of maximum angular separation between two closely spaced targets), and Af D does not again approach the value at has at 20 degrees (a typical angle) until 83 degrees (a very large angle) suggesting that the majority of this impact may apply in angular ranges not covered by radar.
  • S230 may include calculating composite angle directly from the Fourier transform of reflected probe signal data (e.g., by taking the center frequency of the frequency bucket with the highest magnitude as the Doppler frequency shift)
  • S230 may additionally or alternatively include producing (for each time period of a set) a set of angle-adjusted frequency outputs S232.
  • S232 preferably includes generating one or modified outputs from the reflected probe signal based on a predicted composite angle (B , distinct from actual composite angle ⁇ ).
  • S232 includes generating (for a set of angle ranges from ⁇ B min , B min + ⁇ to ⁇ B max — A, B max ⁇ ) a set of Fourier transformed outputs for each angle range in the set.
  • S232 preferably functions to provide a more consistent and/or more easily implemented method of determining Doppler shift for a given target than traditional implementations; by producing a set of Fourier transformed outputs (each corresponding to a different angle interval), the member of the set with the closest frequency output to f Dmax (the Doppler shift for an angle of zero) can be chosen, thus locating the composite angle within a pre-specified interval.
  • S232 may be thought of as identifying angle ranges in which targets exist (e.g., angle ranges in which the frequency magnitude around f Dmax is higher than a threshold).
  • S232 may additionally or alternatively include pre- warping reflected signal data while performing the Fourier transform.
  • S232 preferably functions to effectively warp reflected signal data with respect to changing angles by selectively sampling reflected signal data as input for the Fourier transform.
  • target angles may change noticeably during this time period, causing smearing in the output.
  • S232 includes selecting non-uniformly spaced samples in time to reflect the change in angle across an angle interval.
  • S232 may include selecting samples based on the assumption that over the angle range from B 1 — A to B 1 + ⁇ , the composite angle changes linearly with time over the sampling period.
  • the signal can thus be modeled as:
  • the transform period for S232 may be uniform in time across B, (e.g., for B x ,
  • S232 may additionally or alternatively include modifying transform period based on B to allow for uniform frequency resolution (or alternatively, any modified frequency resolution set), as shown in FIGURE 7.
  • S230 may alternatively include varying transform periods without performing time-warping.
  • S230 may additionally or alternatively include resampling reflected probe signal data S231.
  • S231 preferably includes resampling reflected probe signal data per angle B based on a desired set of sampling times. For example, in the example shown in FIGURE 6, S232 sampled at ⁇ t 0 , t 12 , t 23 , t 33 , t 42 , t 50 ⁇ , but these sample numbers were not based on exact scaling factors (rather, the closest available sample to a scaling factor was selected).
  • S231 preferably includes resampling the reflected probe signal data to generate these values.
  • S231 may include determining sampling periods for resampling in any manner.
  • S230 may include selecting composite angles or angular ranges in any manner.
  • the set of angular ranges may be continuous and non-overlapping (e.g., 15° ⁇ 5°, 25° ⁇ 5° ), but may additionally or alternatively be discontinuous (e.g., 15° ⁇ 2°, 25° ⁇ 2° ) and/or overlapping (e.g., 15° ⁇ 10°, 25° ⁇ 5°).
  • angular ranges may be uniform, they may additionally or alternatively be non-uniform.
  • S230 preferably includes determining the overall transform period for each angle.
  • S230 may include determining this in any manner (e.g., by scaling the time periods such that they are equal in ⁇ as previously described).
  • S230 preferably includes determining how sampling should be performed for each of the angles (e.g., how the FFT block is divided).
  • a base sampling period e.g., every ten samples, or every 10ms
  • warping the sampling periods to account for linear change in angle over that time. For example, if the base sampling period is 10ms for an angle range ⁇ 1 ⁇ ⁇ centered at B 1 and an overall transform period of
  • S231 (alternatively, existing samples may be selected in any manner; e.g., to achieve time- warping) and then Fourier transforms may be performed in S232 for each angle.
  • S230 includes performing multiple
  • Fourier passes for example, performing transforms for angle ranges of 25 ⁇ 10° and 35 ⁇ 10°, detecting that one or more targets exists in the 35 ⁇ 10° range, and then performing transforms for 30 ⁇ 5°, 35 ⁇ 5°, and 40 ⁇ 5° ranges in a second pass.
  • S240 includes refining the initial tracking parameters. S240 functions to generate a more accurate tracking solution than that initially calculated by S230.
  • S240 includes running a Kalman filter on Cartesian coordinates of a target generated from elevation angle or azimuth angle (determined from phase information), range, and composite angle (determined from Doppler shift), constrained by error bounds of the composite angle.
  • S240 includes running a Kalman filter on Cartesian coordinates of a target generated from elevation angle and azimuth angle (determined from phase information), range, and composite angle (determined from Doppler shift), constrained by error bounds of the composite angle.
  • S240 may additionally or alternatively include filtering, refining, and/or constraining tracking parameters in any manner.
  • the methods of the preferred embodiment and variations thereof can be embodied and/or implemented at least in part as a machine configured to receive a computer- readable medium storing computer-readable instruction.
  • the instructions are preferably executed by computer-executable components preferably integrated with a system for Doppler-enhanced radar tracking.
  • the computer-readable medium can be stored on any suitable computer-readable media such as RAMs, ROMs, flash memory, EEPROMs, optical devices (CD or DVD), hard drives, floppy drives, or any suitable device.
  • the computer- executable component is preferably a general or application specific processor, but any suitable dedicated hardware or hardware/firmware combination device can alternatively or additionally execute the instructions.

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  • 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)

Abstract

La présente invention concerne un procédé de suivi radar amélioré par effet Doppler comprenant: la réception d'un signal de sonde réfléchi au niveau d'un réseau radar; le calcul d'une portée cible à partir du signal de sonde réfléchi; le calcul d'un premier angle cible à partir du signal de sonde réfléchi; le calcul d'un angle composite cible à partir du signal de sonde réfléchi; et le calcul d'une position tridimensionnelle de la cible de suivi par rapport au réseau radar à partir de la portée cible, du premier angle cible et de l'angle composite cible.
PCT/US2017/046708 2017-08-14 2017-08-14 Systèmes et procédés de suivi radar amélioré par effet doppler WO2019035803A1 (fr)

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