Target detection device and its detection method
First Claim
1. A target detection device, comprising:
- a transmitting unit, which transmits a detecting pulse for detecting target which then reflects the detecting pulse to generate a reflected pulse;
a plurality of measuring units, located at different positions respectively which receive said reflected pulse and generate measured values of distance and measured values of velocity according to the reflected pulses received;
a plurality of two-stage linear Kalman filters, corresponding to said plural measuring units respectively, each of said plural two-stage linear Kalman filters proceeds an operation according to said measured value of distance and said measured value of velocity produced by corresponding measuring unit so as to generate respectively an estimation value of distance, an estimation value of velocity and an estimation value of acceleration; and
an arithmetic unit connecting to said plural two-stage linear Kalman filters, which proceeds a triangulation operation according to said estimation values of distance, said estimation values of velocity and said estimation values of acceleration so as to generate component values of distance, component values of velocity and component values of acceleration with respect to the target.
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Abstract
This invention relates to a target detection device and its detection method, comprising: a transmitting unit for transmitting a detecting pulse to detect target which then reflects the detecting pulse to generate a reflected pulse; a plurality of measuring units, located at different positions respectively which receive said reflected pulse and generates measured values of distance and measured values of velocity according to the reflected pulse received; a plurality of two-stage linear Kalman filters, corresponding to said plural measuring units respectively, each of said plural two-stage linear Kalman filters proceeds an operation according to the measured values produced by corresponding measuring unit so as to generate respectively the estimation values of distance, velocity and acceleration; an arithmetic unit connecting to said plural two-stage linear Kalman filters, which proceeds a triangulation operation according to said estimation values so as to generate distance component values, velocity component values and acceleration component values with respect to the target.
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Citations
12 Claims
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1. A target detection device, comprising:
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a transmitting unit, which transmits a detecting pulse for detecting target which then reflects the detecting pulse to generate a reflected pulse; a plurality of measuring units, located at different positions respectively which receive said reflected pulse and generate measured values of distance and measured values of velocity according to the reflected pulses received; a plurality of two-stage linear Kalman filters, corresponding to said plural measuring units respectively, each of said plural two-stage linear Kalman filters proceeds an operation according to said measured value of distance and said measured value of velocity produced by corresponding measuring unit so as to generate respectively an estimation value of distance, an estimation value of velocity and an estimation value of acceleration; and an arithmetic unit connecting to said plural two-stage linear Kalman filters, which proceeds a triangulation operation according to said estimation values of distance, said estimation values of velocity and said estimation values of acceleration so as to generate component values of distance, component values of velocity and component values of acceleration with respect to the target. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A target detection method, comprising the following steps of:
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transmitting a detecting pulse to detect a target which then reflects said detecting pulse to produce a reflected pulse; receiving said reflected pulse at different positions; generating a plurality of measured values of distance and a plurality of measured values of velocity according to said reflected pulse received at different positions; proceeding respectively an operation of two-stage linear Kalman filter according to said measured values of distance and said measured values of velocity so as to produce a plurality of estimation values of distance, a plurality of estimation values of velocity and estimation values of acceleration with respect to the target; and proceeding a triangulation operation according to said estimation values of distance, said estimation values of velocity and said estimation values of acceleration so as to generate component values of distance, component values of velocity and component values of acceleration with respect to said target. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification