Composite hough transform for multitarget multisensor tracking
First Claim
1. A computer system for processing digitized data to determine the track of a target comprising:
- a plurality of arrays of sensors for receiving signals from a target;
a receiver for receiving signals received by the plurality of sensor arrays;
a data storage device;
a computer for retrieving data from the data storage device and hypothesizing a track with track parameter values (θ
, v, D, t01), where θ
is reference track direction relative to east, v is target speed, D is the horizontal distance at CPA from a target to a sensor pair, and t01 is CPA time of reference track;
generating a corresponding template delay curve in a primary correlogram;
performing integration along the template delay curve in the primary correlogram;
computing a delay curve parameter (θ
2, v/D, t02) for a secondary array based on geomtricconstraints involving said track parameter values, where θ
2 is reference track direction relative to secondary array and t02 is CPA time of reference track with respect to secondary array;
generating a corresponding template delay curve in a secondary correlogram based on the delay curve parameter (θ
2, v/D, t02);
performing integration along the template delay curve in the secondary correlogram and storing integrated values;
computing a delay curve parameter for a mirrored track (θ
2m, v/D2m, t02m) for the secondary array based on geometric constraints;
generating a corresponding template delay curve in the secondary correlogram;
combining the integrated values and storing it in, the corresponding composite Hough space; and
thresholding accumulated pixel values to detect the track.
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Abstract
A sensor system utilizing a Composite Hough Transform (CHT) operates on multiple corresponding broadband correlograms produced at two neighboring dual-channel sensor systems. A broadband signal source can generate one correlation trace on each of the correlograms. Since these correlation traces are produced by the same signal source, they are constrained by a set of geometric relationships. By fully exploiting this set of constraints, the CHT fuses sensor data from multiple dual-channel sensor systems for target detection and track parameter estimation. The dual-channel system can be (a) a split-array system; a linear array split into two subarrays with each subarray corresponding to one of the channels, (b) two neighboring linear arrays, or (c) two neighboring individual hydrophones. The CHT operates with two neighboring linear subarrays. One of the sensor arrays is chosen as the primary array; it is used to originate the different track hypotheses for the signal source. Its corresponding broadband correlogram is referred to as the primary correlogram. The other sensor array is the secondary array, and the corresponding broadband correlogram is referred to as the secondary correlogram. The CHT exploits the geometric relationships between the primary and secondary array.
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Citations
6 Claims
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1. A computer system for processing digitized data to determine the track of a target comprising:
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a plurality of arrays of sensors for receiving signals from a target;
a receiver for receiving signals received by the plurality of sensor arrays;
a data storage device;
a computer for retrieving data from the data storage device and hypothesizing a track with track parameter values (θ
, v, D, t01), where θ
is reference track direction relative to east, v is target speed, D is the horizontal distance at CPA from a target to a sensor pair, and t01 is CPA time of reference track;
generating a corresponding template delay curve in a primary correlogram;
performing integration along the template delay curve in the primary correlogram;
computing a delay curve parameter (θ
2, v/D, t02) for a secondary array based on geomtricconstraints involving said track parameter values, where θ
2 is reference track direction relative to secondary array and t02 is CPA time of reference track with respect to secondary array;
generating a corresponding template delay curve in a secondary correlogram based on the delay curve parameter (θ
2, v/D, t02);
performing integration along the template delay curve in the secondary correlogram and storing integrated values;
computing a delay curve parameter for a mirrored track (θ
2m, v/D2m, t02m) for the secondary array based on geometric constraints;
generating a corresponding template delay curve in the secondary correlogram;
combining the integrated values and storing it in, the corresponding composite Hough space; and
thresholding accumulated pixel values to detect the track. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification
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- Resources
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Current Assigneethe united states of america as represented by the secretary of the navy
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Original Assigneethe united states of america as represented by the secretary of the navy
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InventorsShyu, Haw-Jye
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Primary Examiner(s)Boudreau, Leo
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Assistant Examiner(s)Akhavannik, Hussein
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Application NumberUS09/477,811Time in Patent Office1,567 DaysField of Search382/103US Class Current382/103CPC Class CodesG01S 13/726 Multiple target tracking
