Sensor suite and signal processing for border surveillance

• US 9,030,351 B2
• Filed: 12/10/2012
• Issued: 05/12/2015
• Est. Priority Date: 06/08/2006
• Status: Active Grant

• Current Assignee: Aerostar International LLC (CNH Industrial N.V.)
• Original Assignee: Vista Research, Inc. (Guidepoint Global LLC)
• Inventors: Fox, Phillip A., Maresca, Joseph W. Jr.
• Primary Examiner(s): GREGORY, BERNARR E
• Application Number:
  US13/710,131
• Publication Number:
  US 20140062757A1
• Time in Patent Office: 883 Days
• Field of Search: 342/13, 342 25 R- 25 F, 342/26.R, 342/27, 342/28, 342 52- 55, 342/59, 342 73-103, 342/118, 342134-147, 342149-156, 342159-174, 342/175, 342192-197, 342 61- 65, 342/158, 342/176, 342/350, 340/500, 340/501, 340/517, 340/1.1, 340/13.2, 340/13.24, 340/13.31, 348/61, 348/143, 382/100, 382/103, 455/1, 525/10, 525/43, 525/44
• US Class Current: 342/91
• CPC Class Codes: G01S 13/522 using transmissions of interrupted pulse modulated waves
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/886 for alarm systems alarms with electrical actuation G08B13/22
• CPC Class Codes: G01S 7/2922 by using a controlled threshold

Abstract

A land-based Smart-Sensor System and several system architectures for detection, tracking, and classification of people and vehicles automatically and in real time for border, property, and facility security surveillance is described. The preferred embodiment of the proposed Smart-Sensor System is comprised of (1) a low-cost, non-coherent radar, whose function is to detect and track people, singly or in groups, and various means of transportation, which may include vehicles, animals, or aircraft, singly or in groups, and cue (2) an optical sensor such as a long-wave infrared (LWIR) sensor, whose function is to classify the identified targets and produce movie clips for operator validation and use, and (3) an IBM CELL supercomputer to process the collected data in real-time. The Smart Sensor System can be implemented in a tower-based or a mobile-based, or combination system architecture. The radar can also be operated as a stand-alone system.

Claims

1. A non-transitory computer-readable medium comprising instructions stored thereon, which when executed by at least one processor, configure the processor to perform operations comprising:

transmitting a plurality of radar pulses by a non-coherent radar toward an area of interest;

receiving a radar return scattered from the area of interest, the radar return including a return from a target and interference from system noise and background noise and clutter; and

processing the radar return for at least one range-azimuth resolution cell in the area of interest to differentiate the return from the target from the interference from the system noise and background noise and clutter, the processing including;

applying at least one threshold to differentiate the target from the noise and system noise and the background clutter;

comparing the radar return to a first threshold of the at least one threshold, the first threshold set at a level to identify multiple radar contacts including the target and false contacts from the interference from system noise and background noise and clutter, wherein a radar contact is declared when the radar return exceeds the first threshold; and

tracking the multiple radar contacts over time to distinguish the target from the false contacts.

2. The non-transitory computer-readable medium of claim 1, wherein the operations further comprise:

(a) determining background statistics of the radar return for each of the at least one range-azimuth resolution cell when a target is not present;

(b) using the background statistics to remove the noise and clutter from the radar return from the area of interest; and

(c) detecting a target when the radar return with noise and clutter removed, obtained in (b), exceeds a threshold value.

3. The non-transitory computer-readable medium of claim 1, wherein the non-coherent radar cues an optical sensor system to image the target.

4. The non-transitory computer-readable medium of claim 3, further comprising processing pixels in the image of the target to differentiate the target from system and background noise, the processing including applying at least one optical threshold to differentiate the target from the noise.

5. The non-transitory computer-readable medium of claim 4, wherein a statistical distribution derived from the pixels in the image is used to set a threshold with a user-designated probability of detection and a user-designated probability of false alarm.

6. The non-transitory computer-readable medium of claim 4, wherein the target is moving and wherein the processing pixels includes a track-before-detect method.

7. The non-transitory computer-readable medium of claim 6, wherein a radar contact is declared when the processed pixels in the image exceed the at least one optical threshold and wherein the track-before-detect method comprises:

accumulating contacts in each pixel in the area of interest by setting a threshold for each pixel of the area of interest that includes both actual contacts due to targets and false contacts due to the noise; and

determining the presence of the targets from a comparison of tracks of the contacts with expected tracks of the actual contacts and the false contacts in one or more pixels in close proximity to each other.

8. The non-transitory computer-readable medium of claim 1, wherein the target is moving and wherein the processing the return includes a track-before-detect method.

9. The non-transitory computer-readable medium of claim 8, wherein a radar contact is declared when the return exceeds the at least one threshold and wherein the track-before-detect method comprises:

accumulating radar contacts in each resolution cell in the area of interest by setting a threshold for each radar measurement across the area of interest that includes both actual contacts due targets and false contacts due to the noise and clutter; and

determining the presence of the targets from a comparison of tracks of the contacts with expected tracks of the actual contacts and the false contacts in one or more resolution cells in close proximity to each other.

10. The non-transitory computer-readable medium of claim 1, wherein a radar contact is declared when the return exceeds the at least one threshold and wherein the processing the return includes an empirically-based method to distinguish false-contacts due to the noise and clutter from actual contacts due to the target by using noise and clutter obtained at a different time when a target is not present.

11. A system comprising:

a memory with instructions stored thereon;

at least one processor;

wherein the at least one processor is configured to perform the following operations when the at least processor executes the instructions;

receiving a radar return resulting from a non-coherent radar transmitting a plurality of radar pulses towards an area of interest, the radar return scattered from the area of interest and the radar return including a return from a target and interference from system noise and background noise and clutter; and

processing the radar return for at least one range-azimuth resolution cell in the area of interest to differentiate the return from the target from the interference from the system noise and background noise and clutter, the processing including;

applying at least one threshold to differentiate the target from the noise and system noise and the background clutter;

comparing the radar return to a first threshold of the at least one threshold, the first threshold set at a level to identify multiple radar contacts including the target and false contacts from the interference from system noise and background noise and clutter, wherein a radar contact is declared when the radar return exceeds the first threshold; and

tracking the multiple radar contacts over time to distinguish the target from the false contacts.

12. The system of claim 11, wherein the target is moving and wherein the processing the return includes a track-before-detect method.

13. The system of claim 12, wherein a radar contact is declared when the return exceeds the at least one threshold and wherein the track-before-detect method comprises:

accumulating radar contacts in each resolution cell in the area of interest by setting a threshold for each radar measurement across the area of interest that includes both actual contacts due targets and false contacts due to the noise and clutter; and

determining the presence of the targets from a comparison of tracks of the contacts with expected tracks of the actual contacts and the false contacts in one or more resolution cells in close proximity to each other.

14. The system of claim 11, wherein the non-coherent radar is configured to track or classify the target.

15. The system of claim 14, wherein classification is based on target characteristics including characteristic speed, movement, trajectory, and intensity of the radar return.

16. The system of claim 15, wherein classification is further based on a statistical distribution of the target characteristics.

17. The system of claim 11, wherein the receiving includes collecting and processing at least two samples of the radar returns from the at least one range-azimuth resolution cell.

18. The system of claim 11, wherein the processing the radar return includes pre-processing data from the radar return to generate a detection field before the return is differentiated.

19. The system of claim 18, wherein the detection field is generated after conditioning operations are performed on the return, wherein the conditioning operations include an operation selected from the group comprising calibration, spatial registration, pre-filtering, constant background removal, and noise background estimation.

20. The system of claim 19, wherein the spatial registration includes aligning resolution cells for direct comparison from one scan to the next scan.