Three Dimensional (3D) Tracking of Objects in a Radar System

摘要

A method for tracking objects in three dimensions in a radar system is provided that includes receiving spherical coordinates of an estimated location of each object of a plurality of detected objects, a range rate of each object, and variances for the spherical coordinates and the range rate of each object, determining whether or not each object is currently being tracked, updating a tracking vector for an object based on the object spherical coordinates, range rate, and variances when the object is currently being tracked, and initializing a tracking vector for an object when the object is not currently being tracked, wherein a tracking vector for an object is a process state vector for an extended Kalman filter designed to track an object, elements of the tracking vector including Cartesian coordinates of the object location, the object velocity in three directions, and the object acceleration in three directions.

主权项

1. A method for tracking objects in three dimensions in a radar system, the method comprising:
receiving spherical coordinates of an estimated location of each object of a plurality of objects detected in a frame of radar signals, a range rate of each object, and variances for the spherical coordinates and the range rate of each object; determining whether or not each object of the plurality of objects is currently being tracked; updating a tracking vector for an object based on the spherical coordinates, range rate, and variances of the object when the object is currently being tracked; and initializing a tracking vector for an object when the object is not currently being tracked, wherein a tracking vector for an object is a process state vector for an extended Kalman filter designed to track an object, elements of the tracking vector comprising Cartesian coordinates of a location of the object, velocity of the object in three directions, and acceleration of the object in three directions.