Multi-target data processing for multi-receiver passive radars in an SFN or MFN mode

• US 9,207,312 B2
• Filed: 08/30/2010
• Issued: 12/08/2015
• Est. Priority Date: 09/01/2009
• Status: Active Grant

• Current Assignee: Thales SA
• Original Assignee: Thales SA
• Inventors: Millet, Nicolas, Allam, Sbastien, Klein, Mathieu, Malherbe, Thierry
• Primary Examiner(s): BYTHROW, PETER M
• Application Number:
  US13/393,602
• Publication Number:
  US 20120306686A1
• Time in Patent Office: 1,926 Days
• Field of Search: 342/59, 342 94- 99
• US Class Current: 1/1
• CPC Class Codes: G01S 13/003 Bistatic radar systems; Multistatic radar systems
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/72 for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 3/325 Automatic tracking systems
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• CPC Class Codes: G01S 7/53 Means for transforming coordinates or for evaluating data, e.g. using computers

Abstract

The invention relates to a data processing method for a multistatic radar system comprising a plurality of transmitters and receivers, each receiver being associated with one or more transmitters so as to form one or more bistatic bases. According to the invention, the method involves producing and sustaining multi-receiver Cartesian tracks from bistatic blips produced by the various receivers, and comprises: a first step in which mono-receiver Cartesian tracks are produced and sustained, each mono-receiver track consisting of blips formed by a given receiver; and a second step in which multi-receiver Cartesian tracks are produced and sustained, each multi-receiver track being constituted by merging the mono-receiver tracks together and with bistatic blips which have not been associated with a mono-receiver track. The produced tracks are transmitted together with the attributes thereof to processing means operating upstream from the method.

Claims

1. A data processing method implemented by multistatic radar systems comprising a plurality of transmitters and receivers, each receiver being able to be associated with one or more transmitters to form one or more bistatic bases, each receiver producing, at successive times, successive frames of bistatic blips, the method generating and maintaining multi-receiver Cartesian tracks from the bistatic blips generated by the different receivers, said data processing method comprising:

a first processing step during which said data processing method generates and maintains single-receiver Cartesian tracks, each single-receiver track being constructed from blips formed by a given receiver of the multistatic radar system;

a second processing step during which said data processing method generates and maintains multi-receiver Cartesian tracks, each multi-receiver track being derived from the merging of single-receiver tracks and being constructed from the blips forming the merged single-receiver tracks, with bistatic blips not having been used in the first processing step to construct a single-receiver track;

the duly generated single-receiver and multi-receiver tracks being updated as and when the frames of blips are produced by the different receivers;

the generated tracks, comprising a state vector, a covariance matrix associated with this vector and the list of the bistatic blips having contributed to their formation and their maintenance, being transmitted to the processing means operating downstream of the method.

2. The method as claimed in claim 1, wherein the first processing step processes the blips produced by each receiver and applies to these blips a processing operation implementing the following processing sub steps:

a prediction sub step which determines the predicted state of the single-receiver track considered at the time corresponding to the available frame of blips k, the predicted state being defined by a state vector {right arrow over (x)}<sub>k|k−

1</sub> and a covariance matrix S<sub>k|k−

1</sub> associated with this vector;

an association sub step for identifying the blips of a given frame of bistatic blips k that can be associated with a given track, taking into account its predicted state {right arrow over (x)}<sub>k|k−

1</sub>, and be used to update the state of the track considered;

a sub step for testing the divergence of the maintained single-receiver tracks, the divergence of a track characterizing the likelihood of this track relative to the kinematic characteristics of the targets detected;

a filtering sub step for producing, for each existing single-receiver Cartesian track and for a given frame of bistatic blips k, the estimation {right arrow over (x)}_k|k of the real state vector of each track, this estimation being produced from the predicted state vector of the track {right arrow over (x)}<sub>k|k−

1</sub> and from the bistatic blips of the frame k associated with the latter;

an initialization sub step for initializing single-receiver Cartesian tracks, the initialization being produced by association of bistatic blips not having been associated with an existing track;

a merging sub step for merging Cartesian tracks, handling the generation of a single Cartesian track from existing tracks exhibiting similarities,

a control sub step for checking, for each Cartesian track, the likelihood of the estimation of the estimated state vector {right arrow over (x)}_k|k characterizing the track,

the estimated state for each track {right arrow over (x)}_k|k being used during the prediction sub step to construct the predicted state vector of the track {right arrow over (x)}_k+1|k intended to be associated with the blips forming the following frame of bistatic blips k+1.

3. The method as claimed in claim 1, wherein the second processing step simultaneously processing all the blips produced by the different receivers forming the multistatic radar system, these blips forming a frame of multi-receiver bistatic blips k, it implements the following processing sub steps:

a prediction sub step which determines the predicted state of the multi-receiver track considered at the time corresponding to the available frame of the blips k, the predicted state being defined by a state vector {right arrow over (x)}<sub>k|k−

1</sub> and a covariance matrix S<sub>k|k−

1</sub> associated with this vector;

a first association sub step for identifying the single-receiver tracks that can be associated, for a given frame of bistatic blips k, with a given multi-receiver track, taking into account the predicted state {right arrow over (x)}<sub>k|k−

1</sub>, the blips associated with these single-receiver tracks that can be used to update the state of the multi-receiver track considered;

a second association sub step for identifying the blips of a given frame of bistatic blips k which have not been associated with single-receiver tracks in the first step of the method and which can be associated with a given multi-receiver Cartesian track, taking into account its predicted state {right arrow over (x)}<sub>k|k−

1</sub> and be used to update the state of the track considered;

a sub step for testing the divergence of the maintained multi-receiver tracks, the divergence of a track characterizing the likelihood of this track relative to the kinematic characteristics of the detected targets;

a filtering sub step for producing, for each existing multi-receiver Cartesian track and for a given frame of multi-receiver bistatic blips k, the estimation {right arrow over (x)}_k|k of the real state vector of each track, this estimation being produced from the predicted state vector of the track {right arrow over (x)}<sub>k|k−

1</sub> and from the bistatic blips of the frame k associated with the latter;

a sub step for initializing multi-receiver Cartesian tracks, the initialization being done by association of bistatic blips not having been associated with an existing single-receiver track in the first step of the method and blips associated with single-receiver tracks in the first step of the method, these single-receiver tracks not being associated with any multi-receiver track during the first association sub step;

a sub step for merging multi-receiver Cartesian tracks, handling the generation of a single multi-receiver Cartesian track from existing tracks exhibiting similarities,

a control sub step for checking, for each multi-receiver Cartesian track, the likelihood of the estimation of the estimated state vector {right arrow over (x)}_k|k characterizing the track,

the estimated state for each track {right arrow over (x)}_{k k} being used by the prediction sub step to construct the predicted state vector of the track {right arrow over (x)}_k+1|k intended to be associated with the blips forming the following frame of multi-receiver bistatic blips k+1.

4. The method as claimed in claim 2, wherein the sub steps for merging Cartesian tracks of the two processing steps implement the same merging processing operation which considers the Cartesian tracks by pair, this processing operation comprising two phases:

a first phase consisting in determining the tracks exhibiting strong similarities, this comprising;

a first step for determining whether certain tracks appear close, this test determining;

whether the tracks originate from different bistatic bases

whether the Cartesian position deviation between the two tracks considered, in one and the same two-dimensional coordinate system, is less than a given value;

whether the Cartesian speed deviation between the two tracks considered, in one and the same two-dimensional coordinate system, is less than a given value;

a second step for determining, for two given tracks A and B, whether the state vector and the covariance matrices of the track A are compatible with the measurements relating to the track B, this sub step comprises

a first sub step consisting in projecting the state vector and the covariance matrix of a first track A into the different bistatic coordinates of a second track B;

a second sub step consisting in checking that the state vector of the track A projected into the different bistatic coordinates of the track B is compatible with the observation associated with the track B for the frame of blips k considered;

the check being performed by taking into account the measurement noise;

a third step for determining, for the same given tracks A and B, whether the state vector and the covariance matrices of the track B are compatible with the measurements relating to the track A, this sub step reproducing a processing operation identical to the second step but reversing the roles played by the tracks A and B;

the tracks A and B forming a merged Cartesian track if all the tests carried out during the three steps are positive;

a second phase consisting in trying to merge the tracks considered to be similar.

5. The method as claimed in claim 4, wherein the second sub step of the second step of the Cartesian track merging processing operation performs, for the track A and for each bistatic base having been used to update the state of the track B, the following checks:

the bistatic distance deviation between the observation attached to the track B and the projection of the state of the track A into the base considered is less than a first given value;

the bistatic speed deviation between the observation attached to the track B and the projection of the state of the track A into the base considered is less than a second given value;

the azimuth deviation between the observation attached to the track B and the projection of the state of the track A into the base considered is less than a third given value;

the second sub step of the third step of the sub step for merging Cartesian tracks performing the same checks for the track B and for each bistatic base having been used to update the state of the track A.

6. The method as claimed in claim 4, wherein the Cartesian track merging processing operation implements additional sub steps making it possible to take into account the age of the tracks A and B considered and to compare the age of these tracks to a minimum age, and to perform, depending on the results of the comparisons:

neither the second step, nor the third step;

only the second step;

only the third step;

the second step and the third step.

7. The method as claimed in claim 2, wherein the processing operation, implemented by the first step for forming single-receiver Cartesian tracks, also includes an intermediate sub step, which checks whether the kinematic data, in the Cartesian space, extracted from the Cartesian tracks updated during the filtering sub step do not correspond to the type of target considered.

8. The method as claimed in claim 2, wherein the processing operation, implemented by the second step for forming multi-receiver Cartesian tracks, also includes an intermediate sub step, which checks whether the kinematic data, in the Cartesian space, extracted from the Cartesian tracks updated during the filtering sub step do not correspond to the type of target considered.

9. The method as claimed in claim 2, wherein the sub steps for testing the divergence of the maintained Cartesian tracks of the two processing steps implement an identical processing operation which considers a maximum number N of tests that can be performed for one and the same given frame n and a maximum number P of frames separating two consecutive tests on one and the same track, and which performs the test on a new track formed for a given frame n from the appearance of the frame n+P.

10. The method as claimed in claim 2, wherein the sub steps for testing the divergence of the maintained Cartesian tracks performs the test on a given track if the covariance matrix S_k+1|k of the predicted state of the track considered fulfils the following threshold condition:

det(S_k+1|k)≧

MaxDet

in which MaxDet represents a given threshold.

11. The method as claimed in claim 1, wherein the second processing step includes an additional sub step which performs, before association of the available single-receiver tracks with the existing multi-receiver tracks, a pre-updating of the existing multi-receiver tracks by means of the blips forming the current frame of multi-receiver bistatic blips k, this sub step considering, for each multi-receiver track, the single-receiver tracks having previously been associated with it for the preceding frames of multi-receiver blips k−

1 and in associating with the estimation of the multi-receiver track considered, the bistatic blips attached to these single-receiver tracks.

12. The method as claimed in claim 1, wherein it includes a preliminary processing step consisting in performing a bistatic tracking of the bistatic blips produced by the different receivers forming the multistatic radar system and in assigning each of the blips forming a frame of bistatic blips k, a binary indicator indicating whether the blip considered is or is not associated with a bistatic track.

13. The method as claimed in claim 2, wherein the sub steps for initializing single-receiver Cartesian tracks and for initializing multi-receiver Cartesian tracks initialize new tracks from the bistatic blips having been used to form bistatic tracks in the preliminary processing step.

14. The method as claimed in claim 2, wherein the sub steps for associating the bistatic blips with the Cartesian tracks of the two processing steps use an association threshold γ

according to whether the considered blip is or is not associated with a bistatic track.

15. The method as claimed in claim 1, wherein it implements a preliminary processing operation to identify, for each blip, the transmitters from which it cannot have been obtained.