System for locating a plurality of objects and obstructions and for detecting and determining the rolling status of moving objects, such as aircraft, ground vehicles, and the like

• US 5,448,243 A
• Filed: 02/14/1994
• Issued: 09/05/1995
• Est. Priority Date: 12/30/1991
• Status: Expired due to Term

• Current Assignee: Deutsche Telekom AG
• Original Assignee: Deutsche Telekom AG
• Inventors: Bethke, Karl-Heinz, Rode, Bernd, Schroth, Arno
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/194,984
• Time in Patent Office: 568 Days
• Field of Search: 342/28, 342/36, 342/29, 342/41, 342/59, 342/457
• US Class Current: 342/59
• CPC Class Codes: G01S 13/003 Bistatic radar systems; Multistatic radar systems
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/9064 Inverse SAR [ISAR]
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 13/934 on airport surfaces, e.g. while taxiing
• CPC Class Codes: G01S 2013/916 Airport surface monitoring [ASDE]
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations

Abstract

In a system for locating a plurality of objects and obstructions and for detecting and determining the rolling status of moving objects, such as aircraft, ground vehicles, and the like, in the area of an airport, a short-range radar network is provided having at least three radar stations. Via simple stationary non-rotating transmitting antennas with coherent time-pulsed microwaves or other microwave signal forms, a large sector in the azimuth of about 90° is illuminated, and the associated fixed receiving antennas, which have fixed subdivided sector characteristics, with one receiving channel per subsector, also receive signals from the other stations for bistatic measurements. The separation of the signals of individual stations is effected by selecting different frequencies, or alternatively, a time triggering of transmitted signals and receiver gates or by station-specific modulation codes. Illumination zones are chosen so there are no shadow zones caused by, e.g., buildings.

Claims

1. A system for locating a plurality of objects and obstructions and for detecting and determining the rolling status of moving objects, such as aircraft, ground vehicles and the like in the region of an airport, including a plurality of transmitting and receiving stations (radar stations including a main station) comprising:

means for permanently illuminating a definite area with coherent microwave radiation from a short-range radar network having at least three radar stations using simple fixed (nonrotating) antennas (A_T, A_R) with broad sector characteristics of about 90°

in the azimuth,

said radar network further including fixed receiving antennas (A_R) which have two adjacent subsector characteristics with one receiving channel per subsector being associated for suppression of ghost-targets, said receiving channels also comprising identification means for receiving signals from any other selected transmitter within the network, wherein these means of signal identification of other transmitters being effected by selecting different transmitting time-slots or station-specific pulse compression codes.

2. A system according to claim 1, with the ability to determine the positions of a multitude of objects by computing the intersections of arcs describing the loci of constant delay times of significant echoes (exceeding a predetermined threshold) with a precision of a few meters or by superimposing tomographic projections of the echo signals from different transmitters, which means a uniform distribution of the backscatter echo of a range zone (range cell) over the entire corresponding circular segment and by separating the ensembles of scattering centers from different objects as well as separating "clouds" of intersection points caused by different scattering centers by a cluster analysis using a particular cluster criterion of a "minimal mutual distance measure" and eventually by digital filtering the mentioned results over several measurements to reduce statistical fluctuations of the object coordinates.

3. A system according to claim 1, wherein for object classification and for determining an object longitudinal direction (heading) in quasi real time microwave images of detected objects from different measuring aspects of individual stations (e.g., R1, R2, R3) are superimposed.

4. A system according to claim 1, with the ability to determine the positions of a multitude of objects by computing the intersections of arcs describing the loci of constant delay times of significant echoes (exceeding a predetermined threshold) with a precison of a few meters or by superimposing tomographic projections of the echo signals from different transmitters, which means a uniform distribution of the backscatter echo of a range zone (range cell) over the entire corresponding circular segment and by separating the ensembles of scattering centers by a cluster analysis using a particular cluster criterion of a "minimal mutual distance measure" and eventually by digital filtering the mentioned results over several measurements to reduce statistical fluctuations of the object coordinates, wherein for object classifications and for determining an object longitudinal direction (heading) in quasi real time microwave images of detected objects from different measuring aspects of individual stations (e.g., R1, R2, R3) are superimposed.

5. A system according to claim 4, forming bistatic measuring geometries for the location and classification of objects, whereby composed images with important structural details of selected objects are obtained by combining (e.g. by superposition) several microwave images.

6. A system according to claim 1, forming bistatic measuring geometries for the location and classification of objects, whereby composed images with important structural details of selected objects are obtained by combining (e.g. by superposition) several microwave images.

7. A system according to claim 1, wherein each said receiving station permanently measures the complex valued echoes of any predetermined transmitter which originate from the corresponding monitored sectors so that microwave images of all moving objects with high resolution are obtainable, whereby a synthetic antenna array with very large dimensions is generated by processing the measured echo data.

8. A system according to claim 1, wherein for increasing the location accuracy of objects, sum and difference transit times of radar signals between said individual radar stations of the short-range radar network are formed creating additional lines of position (ellipses, hyperbolas) for forming further intersection points.

9. A system according to claim 1, wherein clutter echoes measured with high constant range resolution from said plurality of transmitting and receiving stations are suppressed by blanking out corresponding range cells without significant influence on the overall target signature or, alternatively, by shifting the threshold levels in the corresponding range cells above the clutter level.

10. A system according to claim 1, wherein a self synchronization of the radar network is performed in a predetermined sequence by continuous monitoring of all receivers to the individual signal code from the respective predecessor transmitter which is accomplished by the special broad antenna characteristics.

11. A system according to claim 1, wherein by correlation of consecutive echo profiles measured by the individual stations the radial speed components of objects are determined at low measurement repetition frequencies (in comparison to Doppler measurements).

12. A radar system for locating multiple objects within a horizontal surveillance area, the system comprising:

at least three transmitters emitting respective pulsed emitted signals, each of the emitted signals being distinguishable according to the particular respective transmitter from which the emitted signal was emitted;

at least three receivers for detecting a reflected signal reflected from one object;

the transmitters and receivers being separately deployed about a perimeter of the area;

the emitted signals being emitted over respective azimuthal arc sectors, the sectors overlapping to cover the area;

transmitter identification means, associated with each of the receivers, for identifying which one of the transmitters emitted the reflected signal;

timing means for measuring a delay time to establish a signal path distance from any one of the transmitters, to the object, to any one of the receivers;

computational means, coupled to the receivers, for locating the object at a point of the area by calculating intersections of arcs originating at respective transmitters, the arcs describing geometrical loci of the delay time,

wherein the at least three transmitters provide a corresponding number of the reflected signal and of the delay time to locate the point unambiguously; and

a memory, coupled to the computational means, for storing a plurality of points defining a track of the object when the object moves over the area.

13. The radar system according to claim 12, wherein the area includes a first area and a second area having a boundary in common with the first area, and further comprising:

a network computer for correlating a first track of the object within the first area and a second track of the object within the second area;

intermediate memory storage coupled to the network computer for storing selectively the first track and the second track during a predetermined time interval;

means for communicating track data, control instruction data, and other data between the network computer and the computational means;

a graphic display, coupled to the network computer, for showing on a screen points where objects are located; and

an interface for outputting data.

14. The radar system according to claim 12, wherein one of the transmitters and two of the receivers are deployed closely adjacent so as to comprise a radar station, the radar station emitting and receiving the signal over an azimuthal sector, the sector including two staring subsectors having a minimal overlap and covering together an angle substantially equal to 90 degrees, the two receivers each dedicated to a different one of the subsectors,

whereby false location results may be suppressed.

15. The radar system according to claim 12, wherein the computational means for locating the object at a point and the memory include means for suppressing false objects identifiable by erratic track behavior, the means for suppressing further including a two-dimensional low-pass filter having a time constant predetermined to suppress the false objects.

16. The radar system according to claim 12, wherein each of the signals is emitted on a single carrier frequency and the transmitters consecutively emit the signals in a timed sequence, and including means for the computational means to centrally control trigger times of the sequence and synchronize the radar system.

17. The radar system according to claim 12, wherein the computational means includes a minimal mutual distance measure, whereby if the intersections of arcs do not exactly coincide but instead form clusters, the point may be approximated by a centroid of the cluster.

18. The radar system according to claim 12, wherein the computational means includes means for finding velocity components by calculating correlation coefficients for different time shifts between pairs of range profiles embodying echo intensity versus range, the time shifts being measured at predefined time intervals, resulting in peaks of the coefficients at characteristic time shifts being directly proportional to a radial velocity component.

19. The radar system according to claim 18, further including means for measuring a phase of the reflected signal, and wherein the computational means includes imaging algorithms for providing a size, a heading angle, and a contour of any of the objects.