Recursive method for target motion analysis
First Claim
1. A method for estimating the motion of a target relative to an observer station, said method comprising the steps of:
- generating data representative of the motion of said target relative to said observer station during first and second measurement legs;
processing said data to yield a smoothed estimate of the bearing rate, bearing and bearing acceleration of said target during each measurement leg;
processing said smoothed estimate of the bearing rate, bearing and bearing acceleration of said target to provide an estimate of the position of the target relative to said observer station and the velocity of said target and to thereby provide an estimate of the motion of said target; and
said data processing step comprising sensing the motion of the observer station using at least one navigation sensor;
generating a model of the motion of the observer station; and
determining an initial estimate of the range from the observer station to the target at a first instance of time and an error covariance matrix using said smoothed estimate of the bearing rate, bearing and bearing acceleration and data representing said model of the motion of said observer station.
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Abstract
The present invention relates to a method for estimating the motion of a get relative to an observer station and a system for performing the method. The method includes the steps of: generating data representative of the motion of the target relative to the observer station during first, second, and subsequent measurement legs; processing the data to yield smoothed estimate of the bearing, bearing rate, and bearing acceleration of the target during each measurement leg; and processing the smoothed estimates of the bearing, bearing rate, and bearing acceleration of the target to provide an estimate of the position of the target relative to the observer station and the velocity of the target. The system for performing the method includes a data preprocessing subsystem for generating the smoothed estimate of the bearing rate, bearing and bearing acceleration, a passive localization and target motion analysis subsystem, and a trajectory modelling subsystem having a first module for creating a model of the observer station motion and a second module for creating a model of the motion of the target.
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Citations
9 Claims
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1. A method for estimating the motion of a target relative to an observer station, said method comprising the steps of:
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generating data representative of the motion of said target relative to said observer station during first and second measurement legs; processing said data to yield a smoothed estimate of the bearing rate, bearing and bearing acceleration of said target during each measurement leg; processing said smoothed estimate of the bearing rate, bearing and bearing acceleration of said target to provide an estimate of the position of the target relative to said observer station and the velocity of said target and to thereby provide an estimate of the motion of said target; and said data processing step comprising sensing the motion of the observer station using at least one navigation sensor;
generating a model of the motion of the observer station; and
determining an initial estimate of the range from the observer station to the target at a first instance of time and an error covariance matrix using said smoothed estimate of the bearing rate, bearing and bearing acceleration and data representing said model of the motion of said observer station. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for estimating the motion of a target relative to an observer station, said system comprising:
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means for generating data representative of the motion of the target relative to the observer station during first and second measurement legs; first means for processing said data to yield a smoothed estimate of the bearing, bearing rate, and bearing acceleration of the target during each measurement leg; second means for processing the smoothed estimate of the bearing, bearing rate, and bearing acceleration of said target to provide an estimate of the position of the target relative to the observer station and the velocity of said target and to thereby provide an estimate of the motion of said target; means for sensing the motion of said observer station; means for creating a model of the motion of the observer station using data sensed by said sensing means; means for creating a model of the motion of the target; the second means comprising means for determining an initial estimate of the range from the observer station to the target, an initial estimate of target velocity, and an initial error covariance matrix using the output of said first means and data from said observer station motion model creating means; and the second means further comprising means for determining a predicted estimate of the range from the observer station to the target, a predicted estimate of target velocity, and a predicted error covariance matrix using the output of said first means, the output of said means for determining an initial estimate, data from said observer station motion model creating means, and data from said target motion model creating means. - View Dependent Claims (8, 9)
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Specification