Method and apparatus for performing a sensor fusion to provide a position of a target-of-interest

• US 7,587,102 B2
• Filed: 01/17/2006
• Issued: 09/08/2009
• Est. Priority Date: 01/18/2005
• Status: Active Grant

• Current Assignee: Marinvest
• Original Assignee: Marinvest
• Inventors: Maris, John M.
• Primary Examiner(s): PATEL, KANJIBHAI B
• Application Number:
  US11/332,487
• Publication Number:
  US 20060239559A1
• Time in Patent Office: 1,330 Days
• Field of Search: 382/107, 382/183, 382/291, 382/312, 701/200
• US Class Current: 382/291
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 15/66 Sonar tracking systems
• CPC Class Codes: G06F 18/256 of results relating to different input data, e.g. multimodal recognition

Abstract

A method and apparatus are disclosed for estimating a position of a target of interest using a plurality of position detection sensors wherein for at least one of the sensors, a corresponding time-variant detection probability profile is combined with the detection status received from the sensor and further wherein each of the corresponding detection probability profiles is combined to generate a global detection probability profile, wherein the combining comprises probabilistically adding a first given probability profile in the case where a first given corresponding indication comprises a target detection and probabilistically subtracting a second given probability profile in the case where a corresponding second given indication comprises a target non-detection and wherein the position of the target is estimated using the highest probability region(s) of the generated global detection probability profile.

Claims

1. A method for estimating a position of a target of interest using a plurality of position detection sensors, said method comprising:

for at least one of said sensors, receiving a detection status from the sensor and obtaining a detection probability profile corresponding to the sensor, wherein said corresponding detection probability profile comprises a time-variant three-dimensional distribution defining the sensor'"'"'s possible detection envelope and the computed probability of detection of the target of interest corresponding to each region of said envelope;

combining each of said corresponding detection status and said detection probability profiles to generate a global detection probability profile, said combining comprising probabilistically adding a first given probability profile in the case where a first given corresponding indication comprises a target detection, and probabilistically subtracting a second given probability profile in the case where a corresponding second given indication comprises a target non-detection; and

estimating said position of said target corresponding to the highest probability region(s) in the generated global detection probability profile.

2. The method as claimed in claim 1, wherein said estimating of said position of said target comprises:

displaying a plurality of zones each having a given corresponding probability assigned using said detection probability profile; and

estimating said position using said displayed plurality of zones.

3. The method as claimed in claim 2, wherein a given number of said plurality of zones is automatically displayed using an automatic gain control.

4. The method as claimed in claim 3, wherein said given number of said plurality of zones is manually selected.

5. The method as claimed in claim 3, wherein said given number of said plurality of zones is automatically selected.

6. The method as claimed in claim 1, wherein said detection probability profile comprises a circular normally distributed pattern.

7. The method as claimed in claim 1, wherein said detection probability profile comprises a normally distributed profile centered on a linear sensor pattern.

8. The method as claimed in claim 1, wherein said detection probability profile comprises a normally distributed pattern centered on a radial of an angular sensor.

9. The method as claimed in claim 1, wherein said detection probability profile comprises an annular detection probability profile centered on a radial of an angular sensor.

10. The method as claimed in claim 1, wherein said detection probability profile comprises an annular detection probability profile centered on a sensor.

11. The method as claimed in claim 1, wherein said detection status comprises one of “

Hit” and

“

Correct Rejection”

.

12. An apparatus for providing an estimation of a position of a target of interest using inputs from a plurality of position detection sensors, said apparatus comprising:

a probability profile providing unit for providing a plurality of detection probability profile signals corresponding to each sensor, wherein each of said corresponding detection probability profile signals comprises a time-variant three-dimensional distribution defining the sensor'"'"'s possible detection envelope and the computed probability of detection of the target of interest corresponding to each region of said envelope;

a processing unit receiving sensor detection status information and said provided plurality of detection probability profile signals and combining each of said corresponding detection probability profile signals to generate a global detection probability profile signal, said combining comprising probabilistically adding a first given probability profile signal in the case where a first given corresponding indication comprises a target detection, and probabilistically subtracting a second given probability profile signal in the case where a corresponding second given indication comprises a target non-detection; and

a position estimating unit receiving said global detection probability profile signal and estimating said position of said target using at least said received global detection probability profile to provide said estimation of said position of said target of interest.

13. A method for estimating a position of a target of interest using a plurality of position detection sensors wherein a loss of contact with said target is detected for a given sensor, said method comprising:

estimating for said given sensor a corresponding time-variant detection probability profile comprising a three-dimensional distribution defining the given sensor'"'"'s possible detection envelope and the computed probability of detection of the target of interest corresponding to each region of said envelope;

providing for other sensors a corresponding detection probability profile comprising a three-dimensional distribution defining the other sensor'"'"'s possible detection envelope and the computed probability of detection of the target of interest corresponding to each region of said envelope;

combining each of said corresponding detection probability profiles to generate a global detection probability profile, said combining comprising probabilistically adding a first given probability profile in the case where a first given corresponding indication comprises a target detection, and probabilistically subtracting a second given probability profile in the case where a corresponding second given indication comprises a target non-detection; and

estimating said position of said target corresponding to the highest probability region(s) using said generated global detection probability profile.

14. The method as claimed in claim 13, wherein said detection probability profile comprises a circular normally distributed pattern.

15. The method as claimed in claim 13, wherein said detection probability profile comprises a normally distributed profile centered on a linear sensor pattern.

16. The method as claimed in claim 13, wherein said detection probability profile comprises a normally distributed pattern centered on a radial of an angular sensor.

17. The method as claimed in claim 13, wherein said detection probability profile comprises an annular detection probability profile centered on a sensor.

18. The method as claimed in claim 13, wherein said detection probability profile comprises an annular detection probability profile centered on a radial of an angular sensor.

19. The method as claimed in claim 13, wherein said detection status comprises one of “

Hit” and

“

Correct Rejection”

.