Recursive method for target motion analysis

• US 5,877,998 A
• Filed: 11/18/1996
• Issued: 03/02/1999
• Est. Priority Date: 11/18/1996
• Status: Expired due to Fees

• Current Assignee: The United States of America As Represented By The Secretary of Agriculture
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Graham, Marcus L., Aidala, Vincent J.
• Primary Examiner(s): Lobo, Ian J.
• Application Number:
  US08/759,357
• Time in Patent Office: 834 Days
• Field of Search: 367/118, 367/124, 367/554
• US Class Current: 367/124
• CPC Class Codes: G01S 11/14 using ultrasonic, sonic, or infrasonic waves
• CPC Class Codes: G01S 5/18 using ultrasonic, sonic, or infrasonic waves

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.

Claims

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.

2. The method according to claim 1 further comprising:

maneuvering said observation station through at least a third measurement leg;

sensing the position of said target relative to said observer station during each said subsequent measurement leg and generating data representative of the motion of said target relative to said observer station during said subsequent measurement leg;

processing said third measurement leg data to yield a smoothed estimate of the bearing rate, bearing and bearing acceleration of said target for said third measurement leg;

inputting data representative of a model of said target motion into a prediction unit; and

inputting said initial estimate of the range from the observer station to the target at a first instance of time and said initial estimate of target velocity, said smoothed estimate of the bearing rate, bearing and bearing acceleration of said target during said third measurement leg, and data from said observer station model into said prediction unit and determining a predicted estimate of the range from the observer station to the target, target velocity, and the error covariance matrix.

3. The method according to claim 2 further comprising:

inputting said predicted estimate of the range from the observer station to the target, target velocity, and the error covariance matrix into a correction unit;

inputting the smoothed data from the second and third measurement legs into said correction unit; and

determining a corrected estimate of the range from the observer station to the target, target velocity, and the error covariance matrix using said inputted predicted estimate and said inputted smoothed data.

4. The method according to claim 3 further comprising combining the corrected estimate of the range from the observer station to the target with the smoothed bearing at the third measurement leg to provide said estimate of target position and velocity for the time at the midpoint of the third measurement leg.

5. The method of claim 4 further comprising inputting said estimate of target position and velocity into said model of said target motion.

6. The method of claim 5 further comprising:

maneuvering said observer platform through subsequent measurement legs; and

repeating the steps of the method to yield a further estimate of target position and velocity.

7. A system for estimating the motion of a target relative to an observer station, said system comprising:

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.

8. The system according to claim 7 wherein said second means further comprises means for determining a corrected estimate of the range from the observer station to the target, a corrected estimate of target velocity, and a corrected error covariance matrix using the output from said 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.

9. The system according to claim 8 wherein said means for determining a corrected estimate of the range from the observer station to the target, the corrected estimate of target velocity, and the corrected error covariance matrix outputs a signal representing an estimate of the target position and the target velocity.