Low-cost, high-performance radar networks

• US 7,940,206 B2
• Filed: 04/20/2005
• Issued: 05/10/2011
• Est. Priority Date: 04/20/2005
• Status: Active Grant

• Current Assignee: Accipiter Radar Technologies Inc.
• Original Assignee: Accipiter Radar Technologies Inc.
• Inventors: Premji, Al-Nasir, Krasnor, Carl E., Ukrainec, Andrew M., Jones, Graeme S., Weber, Peter T, Nohara, Timothy J.
• Primary Examiner(s): Tarcza; Thomas H
• Assistant Examiner(s): Barker; Matthew M
• Application Number:
  US11/110,436
• Publication Number:
  US 20060238406A1
• Time in Patent Office: 2,211 Days
• Field of Search: 342/90, 342/59
• US Class Current: 342/59
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/917 for marine craft or other waterborne vessels
• CPC Class Codes: G01S 13/937 of marine craft
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/046 using an intermediate storage device, e.g. a recording/reproducing device
• CPC Class Codes: G01S 7/068 with data-rate converters preceding the display, e.g. flicker free display, constant brightness display G01S7/298 takes precedence
• CPC Class Codes: G01S 7/22 Producing cursor lines and indicia by electronic means
• CPC Class Codes: G01S 7/292 Extracting wanted echo-signals

Abstract

A real-time radar surveillance system comprises at least one land-based non-coherent radar sensor apparatus adapted for detecting maneuvering targets and targets of small or low radar cross-section. The radar sensor apparatus includes a marine radar device, a digitizer connected to the marine radar device for receiving therefrom samples of radar video echo signals, and computer programmed to implement a software-configurable radar processor generating target data including detection data and track data, the computer being connectable to a computer network including a database. The processor is figured to transmit at least a portion of the target data over the network to the database, the database being accessible via the network by at least one user application that receives target data from the database, the user application providing a user interface for at least one user of the system.

Claims

1. A real-time radar surveillance system comprising at least one land-based radar sensor apparatus adapted for detecting maneuvering targets and targets of small or low radar cross-section, said radar sensor apparatus including:

a microwave radar device for substantially continuously monitoring a surveillance region for the presence of said targets by transmitting a radar signal and receiving radar echo signals from said targets when present and from surrounding sources of clutter;

a digitizer connected to said microwave radar device for receiving therefrom samples of said radar echo signals;

a computer programmed to implement a software-configurable radar processor generating low-bandwidth target data from said radar echo signals, said target data being taken from the group consisting of detection data and track data generated by said processor, said computer being connectable via a computer network to a radar data server including a database structured to organize and store said target data so that said target data is available for both immediate access as real-time target data and subsequent access as historical target-data,

said processor being configured to send at least a portion of said target data over said network to said radar data server for insertion into and storage in said database, said database accumulating said target data over time resulting in a build-up and long-term storage of historical target data in said database contemporaneous with insertions of real-time target data, said database being accessible via said computer network or another network by at least one user application that receives, from said radar data server, data selectable by said user application from real-time target data and historical target data, said selectable real-time target data delivered to said user application immediately following and in sequence with insertions of said target data into said database enabling said user application to keep up in real-time, said user application providing a user interface for at least one user of the system.

2. The system defined in claim 1 where said radar processor includes a detection processor programmed to employ a detection algorithm to provide target detection data.

3. The system defined in claim 2 wherein said detection processor is programmed to execute clutter suppression algorithms for suppressing interference from clutter.

4. The system defined in claim 3 wherein said clutter is taken from the group consisting of clutter from snow and ice cover over water, clutter from man-made structures, land clutter, weather clutter, and water clutter.

5. The system defined in claim 2 wherein said radar processor includes a track processor providing target track data.

6. The system defined in claim 5 where said track processor is programmed to use multiple-hypothesis testing (MHT) association algorithms to associate target detection data into target track data.

7. The system defined in claim 6 where said track processor is programmed to use interacting multiple model (IMM) filtering to provide track data for maneuvering targets.

8. The system defined in claim 5 where said track processor is programmed to use interacting multiple model (IMM) filtering to provide track data for maneuvering targets.

9. The system defined in claim 5 wherein said detection processor is configured to use such low thresholds to increase sensitivity to targets with small or low radar cross-section so as to result in an unwanted side effect of substantially increasing a false alarm rate, and wherein said track processor is further configured to use multiple hypothesis testing (MHT) association and interacting multiple model (IMM) filtering to reduce false alarms and track small and maneuvering targets.

10. The system defined in claim 5 where said track processor is programmed to use multiple-hypothesis testing (MHT) association algorithms to automatically reject false tracks, thereby reducing false alarms per scan.

11. The system defined in claim 7 wherein said microwave radar device is a marine radar device that includes an antenna and a commercial off-the-shelf (COTS) marine radar transceiver, said computer being a COTS computer, said detection processor detecting small targets of interest and said track processor tracking maneuvering targets.

12. The system defined in claim 2 wherein said detection processor is programmed to employ a detection threshold to detect small targets with a low radar cross-section including small watercraft, snowmobiles, and birds.

13. The system defined in claim 1 where said radar processor includes a display processor that provides one or more plan-position-indictor (PPI) type displays for use by an operator or user.

14. The system defined in claim 1 wherein said radar sensor apparatus is one of a plurality of land-based radar sensor apparatuses each adapted for detecting maneuvering targets and targets of small or low radar cross-section, each said radar sensor apparatus including:

a respective microwave radar device;

a respective digitizer connected to said respective microwave radar device for receiving therefrom samples of radar video echo signals;

a respective computer operatively connected to said respective digitizer and programmed to implement a respective software-configurable radar processor generating respective target data including detection data and track data, said respective computer being connectable to said computer network,

said respective software-configurable radar processor being configured to transmit at least a portion of said respective target data over said network to said radar data server, whereby said at least one user application may access target data stored in said database by said plurality of land-based radar sensor apparatuses.

15. The system defined in claim 1 wherein said computer network is the global computer network known as the Internet.

16. The system defined in claim 1 wherein said radar sensor apparatus includes a software user interface that can be controlled by a user over said network to control one or more control features of said microwave radar device, taken from the group consisting of power on/off, transmit/standby and operating range selection.

17. The system defined in claim 1 where said microwave radar device incorporates a monopulse antenna used with said radar processor to provide height estimates for detected targets as part of target data.

18. The system defined in claim 1 where said user application runs on a computer located on a vessel, said network including a wireless network providing the computer on said vessel with said target data as generated by said land-based radar sensor apparatus.

19. The system defined in claim 1 where said radar processor is operated over said network by a remote radar operator using COTS network software to allow said operator to control said radar processor functions.

20. The system defined in claim 1 where said radar processor is configured to provide unattended monitoring of a region of interest by generating at least one automated alert transmitted over said network to at least one user application, said alert generated automatically when a user-defined target behavior is detected by said radar processor.

21. The system defined in claim 1 wherein said microwave radar device has a display video signal or stream and an integrated controller, further comprising:

radar controller hardware integrated with said microwave radar device to provide at least one control signal to said microwave radar device to cause said microwave radar device to change its state;

a software interface operatively connected to said controller hardware via said network, for enabling a given user or program to operate said radar controller hardware remotely over said network; and

means for capturing at least a portion of the display video stream of said microwave radar device and for presenting the captured portion of said video stream to said given user or said program to allow said given user or said program to confirm that the state of said microwave radar device changes in accordance with the operating of said software interface.

22. The system defined in claim 21 where at least one of said control signals takes the form of at least one of the following:

a switch state change; and

a serial code.

23. The system defined in claim 21 where the state of said microwave radar device, subject to remotely controlled change, includes at least one of the following:

power status;

transmitting status; and

range setting.

24. The system defined in claim 1 wherein said microwave radar device is a commercial-off-the-shelf (COTS) marine radar device.

25. The system defined in claim 1 wherein said database is a Structured Query Language (SQL) database.

26. The system defined in claim 1 wherein said target data includes detection data from a plurality of successive scans by said microwave radar device.

27. The system defined in claim 1 wherein said radar processor is configured by multi-threading software that exploits Single Instruction Multiple Data (SIMD) capabilities.

28. The system defined in claim 1 wherein said radar processor is software-configurable for generating detection and track data for diverse targets of such small cross-section as small vessels on water, birds in the air, or small vehicles on the ground.

29. The system defined in claim 1 wherein said target data contains complete narrowband target information including tracks, linked detections and numerical range, azimuth, latitude, longitude, height, heading, speed, track stage, track uncertainty, date, time, and data taken from the group consisting of echo size and echo intensity.

30. A real-time radar surveillance method comprising:

operating at least one land-based radar sensor apparatus to substantially continuously monitor a surveillance region to detect maneuvering targets and targets of small or low radar cross-section, said radar sensor apparatus including a microwave radar device, the operating of said radar sensor apparatus including transmitting a radar signal and receiving radar echo signals from said targets when present and from surrounding sources of clutter, the operating of said radar sensor apparatus further including digitizing samples of radar echo signals generated by said microwave radar device;

operating a software-configurable radar processor to generate low-bandwidth target data from said radar echo signals, said target data being taken from the group consisting of detection data and track data; and

sending at least a portion of said target data over a computer network to a radar data server including a database structured to organize and store said target data so that said target data is available for both immediate access as real-time target data and subsequent access as historical target-data.

31. The method defined in claim 30, further comprising remotely controlling one or more control features of said microwave radar device via said computer network, said features taken from the group consisting of power on/off, transmit/standby and operating range selection.

32. The method defined in claim 30 wherein said microwave radar device is a commercial-off-the-shelf (COTS) marine radar device.

33. The method defined in claim 30 wherein said database is a Structured Query Language (SQL) database.

34. The method defined in claim 30 wherein said target data includes detection data from a plurality of successive scans by said microwave radar device.

35. The method defined in claim 30 wherein said small radar cross-section targets include small watercraft, snowmobiles, persons, small vehicles, aircraft and birds.

36. The method defined in claim 30 wherein the operating of said software-configurable radar processor includes operating said radar processor to use low detection thresholds to detect small targets and to use multiple hypothesis testing (MHT) association and interacting multiple model (IMM) filtering to reduce false alarms and track small and maneuvering targets.

37. A radar data method comprising:

operating a user application to communicate a request for radar data to a radar data server including a database structured to organize, insert and store radar target data so that said target data is available for both immediate access as real-time target data and subsequent access as historical target-data,

further operating said user application to receive, from said radar data server, data selected by said radar data server in accordance with said request by said user application from real-time target data and historical target data in said database,

additionally operating said user application to process the received target data, and

further operating said user application to provide a user interface for at least one user,

wherein selectable real-time target data received by said user application from said radar data server is received immediately following and in sequence with insertions of said target data into said database enabling said user application to keep up in real-time.

38. The method defined in claim 37, further comprising operating said user application to provide an integration of target data from said database.

39. The method defined in claim 38 wherein the operating of said user application to provide said integration of target data includes at least one of the following:

selecting target track data from individual ones of a plurality of said radar sensor apparatuses;

transforming target data to a common coordinate system;

executing multi-sensor data fusion algorithms.

40. The method defined in claim 39 wherein the executing of said multi-sensor data fusion algorithms includes identifying multiple redundant tracks belonging to the same target in regions of overlapping radar sensor coverage and selecting a single one of the multiple redundant tracks.

41. The method defined in claim 39 wherein the executing of said multi-sensor data fusion algorithms includes identifying multiple redundant tracks belonging to the same target in regions of overlapping radar sensor coverage and fusing the multiple redundant tracks into a single fused track.

42. The method defined in claim 39 wherein the executing of said multi-sensor data fusion algorithms includes identifying multiple segments of tracks belonging to a particular one of said targets and fusing said multiple segments into a single fused track for said particular one of said targets.

43. The method defined in claim 38, further comprising using said integration of target data to generate a composite radar picture or common operating picture of a surveyed area.

44. The method defined in claim 37, further comprising operating said user application to provide automated alerts associated with the behavior of a particular target or targets.

45. A method in a real-time radar surveillance system comprising at least one land-based radar sensor apparatus adapted for detecting maneuvering targets and targets of small or low radar cross-section, said method comprising:

receiving low-bandwidth radar target data generated by at least one radar processor of said radar sensor apparatus from radar echo signals generated by a microwave radar device of said radar sensor apparatus, said target data being taken from the group consisting of detection data and track data generated by said processor;

operating a radar data server including a database to organize, insert and store the received target data in said database so that said target data is available for both immediate access as real-time target data and subsequent access as historical target-data;

additionally operating said radar data server to accumulate said target data over time resulting in a build-up and long-term storage of historical target data in said database contemporaneous with insertions of real-time target data;

affording access to said database by at least one user application; and

in response to a request from said user application, operating said radar data server to select, from real-time target data and historical target data in said database, and send to said user application data in accordance with said request by said user application, such operating of said radar data server including delivering selectable real-time target data to said user application immediately following and in sequence with insertions of said target data into said database enabling said user application to keep up in real-time.