Method for the observation of a number of objects

• US 7,256,729 B2
• Filed: 06/04/2003
• Issued: 08/14/2007
• Est. Priority Date: 07/13/2002
• Status: Active Grant

• Current Assignee: Atlas Elektronik GmbH (Thyssenkrupp AG)
• Original Assignee: Atlas Elektronik GmbH (Thyssenkrupp AG)
• Inventors: Bummerstede, Jo
• Primary Examiner(s): Sotomayor; John B.
• Application Number:
  US10/521,012
• Publication Number:
  US 20060164293A1
• Time in Patent Office: 1,532 Days
• Field of Search: 342/59, 342 95- 97, 342/189, 342/195
• US Class Current: 342/59
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar

Abstract

The invention relates to a method for the observation of a number of objects, which move in a space monitored by a number of sensors, are recorded by the sensors and followed with continuous updating of at least the sensor track defining the kinematics of the object, whereby those provided sensor tracks amongst the sensor tracks from various sensors, which correspond to the same object are automatically assigned to a system track. In order to improve the method with regard to an efficient assignment of the sensor tracks, which is reliable, has a reduced error probability and runs essentially automatically, an assignment of a sensor track to at least one system track is always carried out if a decision on the non-correspondence to the system track can not be securely taken. Subsequently, assigned sensor tracks are continuously monitored for the continued assignment thereof to the assigned system track and on determining the non-correspondence thereof, are removed from said system track. For each system track whose correspondence to a system track is securely excluded, a new system track is generated. The determination of non-correspondence is irreversible.

Claims

1. A method of observing a multitude of objects which move in a space monitored by several sensors wherein:

the objects are detected by the sensors and are followed under continuing actualization by sensor tracks that supply object data;

from the available sensor tracks, those sensor tracks which originate from different sensors and which belong to the same object, are automatically associated with a system track;

an association of a sensor track with at least one system track is effected each time when a decision concerning a non-belonging to the system track cannot be made with certainty;

in each system track all associated sensor tracks are held;

one of the sensor tracks is designated as the leading sensor track (primary track) and the other sensor tracks are designated as subordinated sensor tracks; and

with the leading sensor track, at least the kinematics of the system tracks are determined.

2. The method as defined in claim 1, wherein associated sensor tracks are subsequently continuously examined as to their continuing belonging to the associated system tracks, and are removed from the respective system track upon a determination of non-belonging and that a new system track is generated with each sensor track whose non-belonging to a system track has been determined.

3. The method as defined in claim 2, wherein the examination of the continuance of the belonging of a sensor track to a system track is effected with the actualized sensor track.

4. The method as defined in claim 1, wherein a newly occurring sensor track is examined as to belonging with all the system tracks and an actualized system track is examined as to belonging only with the system tracks with which it is associated.

5. The method as defined in claim 1, wherein the designation of the leading sensor track and the subordinated sensor tracks are effected on the basis of the ranking of the sensors which deliver them.

6. The method as defined in claim 5, wherein a subordinated sensor track which can be associated only with one system track, is examined with the leading sensor track of the system track concerning the ranking of the sensors which delivers them, and in case of a higher rank of the sensor which delivers the subordinated sensor track, the leadership of the leading sensor track in the system track changes over to the subordinated sensor track if no further sensor tracks of the same sensor are associated with the system track.

7. The method as defined in claim 6, wherein in case further sensor tracks of the same sensor are associated with the system track, the system track is split up and a new system track for each further associated sensor track of the same sensor is generated, in case one of the further associated sensor tracks of the same sensor is not itself associated with another system track.

8. The method as defined in claim 1, wherein the examination of belonging of a newly occurring sensor track is effected only with the leading sensor track of the respective system track.

9. The method as defined in claim 1, wherein the examination of belonging of an actualized sensor track, which is a subordinated sensor track, is performed solely with the leading sensor track of the system tracks with which it is associated.

10. The method as defined in claim 1, wherein the leading sensor track of the system track with which it is associated, is changed, as concerns its kinematics and attributes, with an actualized sensor track, which is the leading sensor track.

11. A method for observing a plurality of objects comprising:

a) detecting and tracking a plurality of objects by sensors in a space monitored by several sensors;

b) using object data from acquired objects detected by the sensors to form sensor tracks, with the sensor tracks being actualized or updated at certain intervals;

c) combining sensor tracks from various sensors into system tracks, which represent the respective objects;

d) considering all sensor tracks to belong and assigning the sensor tracts to one or several system tracks and to remain assigned to these system tracks, and in each system track all assigned sensor tracks are held as long as a decision of non-belonging to the object, represented by the respective system track, cannot be made with certainty;

e) comparing the actualized sensor tracks only to the system tracks to which they are assigned in order to monitor the continued assignment, and if a non-belonging is determined, separating the sensor track from this system track;

f) forming a new system track with each sensor track for which a non-belonging has been determined; and

,

g) the decision of non-belonging is not revised.

12. The method as defined in claim 11, wherein:

in each system tracks, one of the sensor tracks is designated as the leading sensor track (primary track) and the other sensor tracks are designated as subordinated sensor tracks; and

with the leading sensor track, at least the kinematics of the system tracks are determined.

13. The method as defined in claim 12, wherein the designation of the leading sensor track and the subordinated sensor tracks are effected on the basis of the ranking of the sensors which deliver them.

14. The method as defined in claim 13, wherein a subordinated sensor track which can be associated only with one system track, is examined with the leading sensor track of the system track concerning the ranking of the sensors which delivers them, and in case of a higher rank of the sensor which delivers the subordinated sensor track, the leadership of the leading sensor track in the system track changes over to the subordinated sensor track if no further sensor tracks of the same sensor are associated with the system track.

15. The method as defined in claim 14, wherein in case further sensor tracks of the same sensor are associated with the system track, the system track is split up and a new system track for each further associated sensor track of the same sensor is generated, in case one of the further associated sensor tracks of the same sensor is not itself associated with another system track.

16. The method as defined in claim 12, wherein the examination of belonging of a newly occurring sensor track is effected only with the leading sensor track of the respective system track.

17. The method as defined in claim 12, wherein the examination of the continuance of the association of an actualized sensor track, which is a subordinated sensor track, is performed solely with the leading sensor track of the system tracks with which it is associated.

18. The method as defined in claim 12, wherein the leading sensor track of a system track, is changed, as concerns its kinematics and attributes, with an actualized sensor track, which is a leading sensor track and is associated with the system track.

19. The method as defined in claim 12, wherein in a newly generated system track which has only one leading sensor track, all subordinated sensor tracks of the other system tracks are examined with the newly generated system track and associated with the newly generated system track, if the decision of the non-belonging to the newly generated system track cannot be surely made.

20. The method as defined in claim 11, wherein the decision threshold concerning the non-belonging of a sensor track to a system track is measured quasi in accordance with the resolution capability of the sensor delivering the sensor track and the resolution capability of the sensor delivering the leading sensor track to the system track.