Tracking system and method employing multiple overlapping sensors
First Claim
Patent Images
1. A tracking system for tracking an object comprising:
- a first sensor for sensing an object in a first field of view and measuring range to the object, range rate of the object, and amplitude of a received signal from the object;
a second sensor for sensing the object in a second field of view and measuring range to the object, range rate of the object, and amplitude of a received signal from the object, wherein the first field of view partially overlaps the second field of view to provide an overlapping coverage zone; and
a controller for estimating azimuth angle based upon the sensed ranges and the ratio of the sensed amplitudes and for estimating position and velocity of the object based on the estimated azimuth angle, the sensed range and range rate measurements from the first and second sensors when the object is in the overlapping coverage zone.
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Abstract
A tracking system and method of estimating position and velocity of an object are provided. The tracking system includes first and second sensors for sensing an object in first and second fields of view, respectively. The first and second fields of view partially overlap to provide an overlapping coverage zone. Each of the sensors measures range and range rate of the object. The system further includes a controller for estimating position and velocity of the object as a function of the measured range and range rate signals, without requiring sensing of the azimuth angle of the object.
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Citations
17 Claims
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1. A tracking system for tracking an object comprising:
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a first sensor for sensing an object in a first field of view and measuring range to the object, range rate of the object, and amplitude of a received signal from the object;
a second sensor for sensing the object in a second field of view and measuring range to the object, range rate of the object, and amplitude of a received signal from the object, wherein the first field of view partially overlaps the second field of view to provide an overlapping coverage zone; and
a controller for estimating azimuth angle based upon the sensed ranges and the ratio of the sensed amplitudes and for estimating position and velocity of the object based on the estimated azimuth angle, the sensed range and range rate measurements from the first and second sensors when the object is in the overlapping coverage zone. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of tracking an object, said method comprising the steps of:
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sensing the presence of an object in first and second fields of view with first and second sensors, wherein the first field of view and second field of view partly overlap to provide an overlapping coverage zone;
measuring range to the object in the first field of view with the first sensor;
measuring range to the object in the second field of view with the second sensor;
determining range rate of the object with the first sensor in the first field of view;
determining range rate of the object with the second sensor in the second field of view;
sensing amplitude of a received signal with the first sensor;
sensing amplitude of a received signal with the second sensor;
estimating an azimuth angle based upon the sensed ranges and the ratio of the sensed amplitudes from the first and second sensors;
estimating position of the object based on the estimated azimuth angle and the sensed range and range rate measurements when the object is in the overlapping coverage zone; and
estimating velocity of the object based on the estimated azimuth angle and the sensed range and range rate measurements when the object is in the overlapping coverage zone. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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Specification