Apparatus and method for detecting moving objects
First Claim
1. A radar system for detecting an object, said object having a trajectory, said system comprising:
- a radar subsystem including a transmitter, receiver, antenna, and associated timing system, said radar subsystem producing a response signal;
a scanning system coupled to said radar subsystem for scanning said radar subsystem and recording a plurality of scans;
each of said scans comprising a plurality of said response signals;
a trajectory model source for providing a trajectory model;
a combiner coupled to said scanning system and said trajectory model source;
said combiner producing a combination output resulting from the combination of said plurality of scans in accordance with said trajectory model;
a detector coupled to said combiner, said detector receiving said combination output, said detector for detecting probable object response signals.
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Accused Products
Abstract
An ultra wideband radar system for detecting moving objects comprising an antenna, which may be scanned in at least one dimension, and a signal processor wherein the signal processor includes a scan combiner that combines scan information in accordance with a candidate trajectory for the moving object. Scans may be combined by integration or filtering. A fast calculation method is described wherein the scans are combined into subsets and subsets are shifted in accordance with the candidate trajectory before further combination. A method is described wherein a region is scanned with an ultra wideband radar, the scan information is combined in accordance with an expected trajectory to enhance the object signal to noise. Further features are described wherein the scan information is combined according to a family of trajectories. A trajectory yielding a potential object detection initiates a further scan combination step wherein the family of trajectories is further resolved.
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Citations
62 Claims
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1. A radar system for detecting an object, said object having a trajectory, said system comprising:
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a radar subsystem including a transmitter, receiver, antenna, and associated timing system, said radar subsystem producing a response signal;
a scanning system coupled to said radar subsystem for scanning said radar subsystem and recording a plurality of scans;
each of said scans comprising a plurality of said response signals;
a trajectory model source for providing a trajectory model;
a combiner coupled to said scanning system and said trajectory model source;
said combiner producing a combination output resulting from the combination of said plurality of scans in accordance with said trajectory model;
a detector coupled to said combiner, said detector receiving said combination output, said detector for detecting probable object response signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A radar system for detecting an object, said object having a trajectory, said system comprising:
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a radar subsystem including a transmitter, receiver, antenna, and associated timing system, said radar producing a response signal;
a scanning system coupled to said radar for scanning said radar and recording a plurality of scans;
each of said scans comprising a plurality of said response signals;
a trajectory model source for providing a coarse trajectory model;
a first combiner coupled to said scanning system and to said trajectory model source;
said first combiner receiving said coarse trajectory model from said trajectory model source;
said first combiner producing a first combination output resulting from the combination of said plurality of scans in accordance with said coarse trajectory model;
a first detector coupled to said first combiner, said first detector receiving said first combination output, said first detector for detecting probable object signals;
a second combiner coupled to said scanning system, said trajectory model source, and said first detector;
said trajectory model source providing a fine trajectory model to said second combiner;
said second combiner producing a second combination output resulting from the combination of said plurality of scans in accordance with said fine trajectory model;
a second detector coupled to said second combiner, said second detector receiving said second combination output, said second detector for refined detecting of probable object signals;
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22. A radar system for detecting an object, said object having a trajectory, said system comprising:
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a radar subsystem including a transmitter, receiver, antenna, and associated timing system, said radar subsystem producing a response signal;
a scanning system coupled to said radar subsystem for scanning said radar subsystem and recording a plurality of scans;
each of said scans comprising a plurality of said response signals;
a trajectory model source for providing a plurality of trajectory models;
a plurality of combiners coupled to said scanning system and said trajectory model source, each combiner receiving a respective trajectory model;
said combiners each producing a combination output resulting from the combination of said plurality of scans in accordance with said respective trajectory model;
a detector coupled to said plurality of combiners, said detector receiving said combination outputs, said detector for detecting probable object response signals. - View Dependent Claims (23, 24)
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25. A radar system for detecting an object, said object having a trajectory, said system comprising:
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a radar subsystem including a transmitter, receiver, antenna, and associated timing system, said radar subsystem producing a response signal;
a scanning system coupled to said radar subsystem for scanning said radar subsystem and recording a plurality of scans;
each of said scans comprising a plurality of said response signals;
a scan processing system further comprising;
at least one trajectory model source for providing at least one trajectory model, at least one combiner coupled to said scanning system and said trajectory model source, said at least one combiner producing a respective combination output resulting from the combination of said plurality of scans in accordance with said at least one trajectory model;
at least one detector coupled to said at least one combiner, said at least one detector receiving said respective combination output, said detector producing a detection result indicative of the likelihood of an object response signal. - View Dependent Claims (26)
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27. Method for detecting a moving object in the field of a radar, said method comprising the steps of:
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producing a candidate trajectory;
producing a plurality of scan data sets;
combining said plurality of scan data sets in accordance with said candidate trajectory to produce a combination data set;
detecting potential moving object signals using said combination data set. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52)
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53. Method for detecting a moving object in the field of a radar, said method comprising the steps of:
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configuring said radar for scanning;
scanning said radar over at least a portion of said field to produce a plurality of scan files;
providing a coarse candidate trajectory;
combining the plurality of scan files in accordance with said coarse candidate trajectory to produce a first combination signal;
detecting potential moving object signals using said first combination signal. providing a fine candidate trajectory;
combining the plurality of scan files in accordance with said fine candidate trajectory to produce a second combination signal;
detecting potential moving object signals using said second combination signal.
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54. Method for detecting a moving object in the field of a radar, said method comprising the steps of:
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1) configuring said radar for scanning;
2) scanning said radar over at least a portion of said field to produce a plurality of scan files;
3) providing a first candidate trajectory;
4) combining the plurality of scan files in accordance with said first candidate trajectory to produce a first combination signal;
5) detecting potential moving object signals using said combination signal;
6) and iteratively;
6a) providing a refined candidate trajectory;
6b) combining the plurality of scan files in accordance with said refined candidate trajectory to produce a refined combination signal; and
6c) detecting potential moving object signals using said refined combination signal. - View Dependent Claims (55, 56, 57, 58, 59, 60)
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61. Method for detecting a moving object in the field of a radar, said method comprising the steps of:
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producing a plurality of scan data sets;
providing a candidate trajectory;
combining the plurality of scan data sets in accordance with said candidate trajectory to produce a set of partial combination data sets;
combining the set of partial combination data sets in accordance with said candidate trajectory to produce a combination data set;
detecting potential moving object signals using said combination data set.
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62. Method for detecting a moving object in the field of a radar, said method comprising the steps of:
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1) producing a plurality of scan data sets;
2) providing a candidate trajectory;
3) combining the plurality of scan data sets in accordance with said candidate trajectory to produce a set of partial combination data sets;
4) iteratively, 4a) providing a refined candidate trajectory;
4b) combining the set of partial combination data sets in accordance with said refined candidate trajectory to produce a combination data set;
4c) detecting potential moving object signals using said combination data set.
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Specification