Systems and methods for 4-dimensional radar tracking

• US 10,222,463 B2
• Filed: 02/20/2018
• Issued: 03/05/2019
• Est. Priority Date: 10/13/2013
• Status: Active Grant

• Current Assignee: Oculii Corp (Ambarella Incorporated)
• Original Assignee: Oculii Corp (Ambarella Incorporated)
• Inventors: Hong, Lang, Hong, Steven
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/900,682
• Publication Number:
  US 20180188365A1
• Time in Patent Office: 378 Days
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/4454 phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/72 for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 3/48 the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
• CPC Class Codes: G01S 7/024 using polarisation effects in waveguides H01P1/165; for aerials H01Q, e.g. H01Q15/22, H01Q15/24, H01Q19/195

Abstract

A method for four-dimensional radar tracking includes transmitting a first probe signal; receiving a first reflected probe signal at first and second radar arrays of the radar system; detecting a tracking target; calculating a target range; calculating a target range rate; performing ambiguous angle calculations for first and second target angles; performing unambiguous angle calculations for the first and second target angles; and calculating a four-dimensional tracking solution, including position and range-rate, from the target range, target range-rate, ambiguous angle calculations, and unambiguous angle calculations.

Claims

1. A system for four-dimensional radar tracking comprises:

a transmitter that transmits a first probe signal;

a horizontal receiver array, comprising a first plurality of radar elements positioned along a first radar axis, that receives a first reflected probe signal in response to reflection of the first probe signal by a tracking target;

wherein the tracking target and the horizontal receiver array are connected by a target vector;

a vertical receiver array, comprising a second plurality of radar elements positioned along a second radar axis, the second radar axis not parallel to the first radar axis, that also receives the first reflected probe signal in response to reflection of the first probe signal by the tracking target; and

a signal processor, coupled to the horizontal and vertical receiver arrays, that calculates a four-dimensional tracking solution by;

detecting the tracking target;

calculating a target range;

calculating a target range rate;

performing ambiguous angle calculations for first and second target angles;

wherein the first target angle is between a first reference vector and a first projected target vector;

wherein the first projected target vector is the target vector projected into a first reference plane, the first reference plane containing both of the first radar axis and the first reference vector;

wherein the second target angle is between a second reference vector and a second projected target vector;

wherein the second projected target vector is the target vector projected into a second reference plane, the second reference plane containing both of the second radar axis and the second reference vector;

performing unambiguous angle calculations for the first and second target angles; and

calculating the four-dimensional tracking solution, including position and range-rate, from the target range, target range-rate, ambiguous angle calculations, and unambiguous angle calculations.

2. The system of claim 1, wherein the first target angle is elevation and the second target angle is azimuth.

3. The system of claim 1, wherein the unambiguous angle calculations are lower resolution than the ambiguous angle calculations;

wherein the signal processor calculates the four-dimensional tracking solution using the unambiguous angle calculations to constrain the ambiguous angle calculations.

4. The system of claim 3, wherein the signal processor unwraps the ambiguous angle calculations using the unambiguous angle calculations.

5. The system of claim 3, wherein the signal processor calculates a first target range from data received at the horizontal radar array and calculates a second target range from data received at the vertical radar array;

wherein the signal processor calculates a first target range rate from data received at the horizontal radar array and calculates a second target range rate from data received at the vertical radar array;

wherein the signal processor detects the tracking target from the first and second ranges and first and second range rates.

6. The system of claim 5, wherein the signal processor detects the tracking target using a four-dimensional constant false alarm rate (CFAR) technique operating on the first and second ranges and first and second range rates.

7. The system of claim 6, wherein the four-dimensional constant false alarm rate (CFAR) technique is performed on all of the first and second ranges and first and second range rates simultaneously.

8. The system of claim 6, wherein the four-dimensional constant false alarm rate (CFAR) technique is performed first on the first range and first range rate, and then on the second range and second range rate.

9. The system of claim 3, wherein the signal processor performs ambiguous angle calculations for first and second target angles using a phase-comparison monopulse technique;

wherein the signal processor performs unambiguous angle calculations for first and second target angles using a digital beamforming technique.

10. The system of claim 9, wherein the signal processor performs ambiguous angle calculations for the first target angle by comparing phase between farthest-spaced elements of the first plurality of radar elements;

wherein the signal processor performs ambiguous angle calculations for the second target angle by comparing phase between farthest-spaced elements of the second plurality of radar elements.

11. The system of claim 10, wherein the signal processor selectively calculates beamforming power at angles identified by performing ambiguous angle calculations;

wherein the signal processor unwraps the ambiguous angle calculations using the unambiguous angle calculations by selecting angle data corresponding to maxima of the selective beamforming power calculations.

12. The system of claim 3, wherein the horizontal radar array has a first linear polarization;

wherein the vertical radar array has a second linear polarization orthogonal to the first linear polarization.

13. A system for four-dimensional radar tracking comprises:

a transmitter that transmits first and second probe signals simultaneously;

a horizontal receiver array, comprising a first plurality of radar elements positioned along a first radar axis, that receives a first reflected probe signal in response to reflection of the first probe signal by a tracking target and a second reflected probe signal in response to reflection of the second probe signal by the tracking target;

wherein the tracking target and the horizontal receiver array are connected by a target vector;

a vertical receiver array, comprising a second plurality of radar elements positioned along a second radar axis, the second radar axis not parallel to the first radar axis, that also receives the first reflected probe signal in response to reflection of the first probe signal by the tracking target and the second reflected probe signal in response to reflection of the second probe signal by the tracking target; and

a signal processor, coupled to the horizontal and vertical receiver arrays, that calculates a four-dimensional tracking solution by;

detecting the tracking target;

calculating a target range;

calculating a target range rate;

performing ambiguous angle calculations for first and second target angles;

wherein the first target angle is between a first reference vector and a first projected target vector;

wherein the first projected target vector is the target vector projected into a first reference plane, the first reference plane containing both of the first radar axis and the first reference vector;

wherein the second target angle is between a second reference vector and a second projected target vector;

wherein the second projected target vector is the target vector projected into a second reference plane, the second reference plane containing both of the second radar axis and the second reference vector;

performing unambiguous angle calculations for the first and second target angles; and

calculating the four-dimensional tracking solution, including position and range-rate, from the target range, target range-rate, ambiguous angle calculations, and unambiguous angle calculations.

14. The system of claim 13, wherein the transmitter transmits the first probe signal with a first polarization and transmits the second probe signal with a second polarization not identical to the first polarization.

15. The system of claim 14, wherein the horizontal radar array is polarized with the first polarization;

wherein the vertical radar array is polarized with the second polarization.

16. The system of claim 15, wherein the signal processor calculates the target range by calculating a first-polarized target range from data received at the horizontal radar array and calculating a second-polarized target range from data received at the vertical radar array;

wherein the signal processor calculates the target range rate by calculating a first-polarized target range rate from data received at the horizontal radar array and calculating a second-polarized target range rate from data received at the vertical radar array;

wherein the signal processor detects the tracking target from the first-polarized and second-polarized ranges and first-polarized and second-polarized range rates.

17. The system of claim 16, wherein the signal processor detects the tracking target from a four-dimensional constant false alarm rate (CFAR) technique operating on the first-polarized and second-polarized ranges and first-polarized and second-polarized range rates.

18. The system of claim 17, wherein the four-dimensional constant false alarm rate (CFAR) technique is performed on all of the first-polarized and second-polarized ranges and first-polarized and second-polarized range rates simultaneously.

19. The system of claim 17, wherein the four-dimensional constant false alarm rate (CFAR) technique is performed first on the first-polarized range and first-polarized range rate, and then on the second-polarized range and second-polarized range rate.