MANAGEMENT OF TRACKING MODELS
First Claim
1. A method of operating a computer to generate multiple target tracks in response to sensor reports, comprising:
- initiating tracks in response to sensor reports, each track comprising a plurality of autonomous track models, each model having a model state;
providing a new sensor report;
for each model, deciding whether to accept the new sensor report; and
using the new sensor report, updating only models which decided to accept.
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Accused Products
Abstract
The present invention relates to methods and apparatus for tracking moving objects, such as ballistic missiles and aircraft, on the basis of discrete sensor measurements, such as radar reports and reports from optical sensors. In particular, but not exclusively, the invention is useful for the simultaneous tracking of multiple, fast moving, closely spaced objects, such as deploying ballistic missiles and raids of fast agile aircraft, in which the track dynamics of each object are modelled using a collection of autonomous, i.e. non-interacting, multiple dynamics models. Embodiments of the invention were particularly developed to be effective in tracking ballistic missiles using early warning radar, and similarly demanding and complex battle scenarios.
32 Citations
27 Claims
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1. A method of operating a computer to generate multiple target tracks in response to sensor reports, comprising:
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initiating tracks in response to sensor reports, each track comprising a plurality of autonomous track models, each model having a model state; providing a new sensor report; for each model, deciding whether to accept the new sensor report; and using the new sensor report, updating only models which decided to accept. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 18, 20, 23, 25)
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10. A method of operating a computer to generate multiple target tracks in response to sensor reports, comprising:
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initiating and developing tracks in response to sensor reports, each track comprising one or more tracking processes including at least one root hypothesis process and optionally one or more child hypothesis processes formed from said root hypothesis using sensor reports, each tracking process comprising a plurality of autonomous track models of different model types, each model having a current model state; providing a new sensor report; and for each model of each tracking process, deciding whether to accept the new sensor report. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 19, 21, 24, 26)
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22. A tracking system comprising:
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an input processor 12 adapted to accept sensor reports; and a tracking processor adapted to maintain multiple target tracks in response to said sensor reports, the tracking processor being arranged to represent each track using states of a set of tracking models, each model of the set having different process dynamics, the tracking processor being arranged to decide, separately for each model state of each track, whether or not to accept a new sensor report for that model state and track. - View Dependent Claims (27)
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Specification