Multi-targets detection method applied in particular to surveillance radars with multi-beamforming in elevation

• US 6,888,493 B2
• Filed: 03/27/2003
• Issued: 05/03/2005
• Est. Priority Date: 04/02/2002
• Status: Expired due to Fees

• Current Assignee: Thales Nederland BV (Thales SA), Thales SA
• Original Assignee: Thales Nederland BV (Thales SA)
• Inventors: Meijer, Wietze, Zwaga, Jitse, Driessen, Hans
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US10/400,072
• Publication Number:
  US 20040027274A1
• Time in Patent Office: 768 Days
• Field of Search: 342/90, 342/91, 342/93, 342/94, 342/95, 342/96, 342/97, 342/107, 342/113, 342/115, 342/134, 342/135, 342/139, 342/140, 342/146, 342/158, 342/189, 342/194, 342/195
• US Class Current: 342/91
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/424 Stacked beam radar
• CPC Class Codes: G01S 13/524 based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 7/2923 based on data belonging to a number of consecutive radar periods

Abstract

A radar comprising transmitter means for generating bursts of radar pulses, each scan of a radar consisting of a number (N_b) of bursts, the method comprises, for each scan k:

• • a first step, in which a radar cell is pre-selected in a validation gate;
  • a second step, in which a Track-Before-Detect processing is initialized upon the pre-selected cells, using a track filter to construct the validation gate associated to the next scan k+1;
    the steps being repeated scan to scan.
    The invention can be applied to surveillance radars, for example with multi-beamforming in elevation, and more generally to all kinds of radars.

Claims

1. A method for detecting a target having a radar including transmitter means for generating bursts of radar pulses, each scan of a radar having of a number (N_b(k)) of bursts for each scan k, the method comprising the steps of:

a) pre-selecting a radar cell by a detection process;

b) initializing a Track-Before-Detect process upon the pre-selected cells, using a track filter to construct a validation gate associated to the next scan k+1;

c) using the data an the validation gate of scan k+1 to update the Track-Before-Detect process and using the data to construct the validation gate associated to the next scan k+2;

step (c) being repeated scan to scan.

2. The method as claimed in claim 1, wherein in the preselection step, the Track-Before-Detect processes the raw data of the validation gate for a limited number of scans backward and forward.

3. The method as claimed in claim 2, wherein the Track-Before-Detect processes N_s−

1 scans back and subsequently N_s−

1 scans forward.

4. The method as claimed in claim 2, the raw data in a validation gate are transformed into a virtual plot characterised by a range position, a doppler speed, an elevation position, a bearing position and an integrated signal strength, this range, doppler, elevation and bearing information being used as an input for the track filter, the integrated signal strength being together with the integrated signal strengths of other scans used for thresholding on track level.

5. The method as claimed in claim 4, wherein the integration being over N_s scans with N_b(k) bursts on target each scan, the integration sum sumE to be thresholded, leading to a track detection, is equal to a sum of independent Rayleigh distributed power measurements x (k,b):

$\mathrm{SumE}=\underset{k=1}{\overset{\mathrm{Ns}}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>\left[\underset{b=1}{\overset{\mathrm{Nb}<br><br>\left(k\right)}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>x<br><br>\left(k,b\right)\right]$

6. The method as claimed in claim 2, wherein the raw data in a validation gate are transformed into a virtual plot characterised by a range position, a doppler speed, an elevation position, a bearing positron and an integrated signal strength, this range, doppler, elevation and bearing information being used as an input for the track filter, the integrated signal strength being together with the position data used to calculate a likelihood, this likelihood being together with the likelihood of other scans used for thresholding on track level.

7. The method as claimed in claim 2, wherein the raw data in a validation gate are input for a track filter calculating the conditional probability density of the state given the measurement data, this probability density being used to estimate the target state and likelihood of target presence, the latter being used for thresholding on track level.

8. The method as claimed in claim 6, wherein the integrated likelihood over Ns scans to be thresholded, leading to a track detection, is equal to the product of the likelihoods of the separates scans.

9. The method as claimed in claim 1, wherein the track filter is a recursive filter.

10. The method as claimed in claim 1, wherein the track filter is a Kalman filter.

11. The method as claimed in claim 9, wherein the track filter is a particle filter.

12. The method as claimed in claim 1, wherein the track filter:

a) selects the data that has to be considered for association from each scan;

b) associates from the data within the validation gate the data that is most likely to have originated from the target in the track;

c) updates track attributes with the associated data;

d) predicts track attributes in the next scan from the updated track attibutes.

13. The method as claimed in claim 12, wherein the outcome of the trackfiltering, the predicted track attributes, is used to construct the validation gate and this validation gate is used to select the raw data to be used for the next track update.

14. The method as claimed in claim 12, wherein the track attributes comprise kinematic attributes.

15. The method as claimed in claim 12, wherein the track attributes comprise energetic attributes.

16. The method as claimed in claim 12, wherein when initiating a track, the updated attributes are updated on the attributes of the preselected cell.

17. The method as claimed in claim 5, wherein a track is deleted when the integration sum sumE is below the threshold for a number or scans in a row.

18. The method as claimed in claim 8, wherein the track is deleted when the over Ns scans integrated likelihood is below the threshold for a number of consecutive scans.

19. The method as claimed in claim 12, wherein it is applied to a surveillance radar beamforming elevation.

20. The method as claimed in claim 1, wherein step a) is performed first.

21. The method as claimed in claim 1, wherein step b) is performed after step a).

22. The method as claimed in claim 21, wherein step c) is performed after step a).

23. The method as claimed in claim 12, wherein a track is deleted when the integration sum sumE is below the threshold for a number of scans in a row.

24. The method as claimed in claim 12, wherein the track is deleted when the over Ns scans integrated likelihood is below the threshold for a number of consecutive scans.