Processing of pulse-echo measurement signals
View Patent ↗Pulse echo signals containing false echoes are processed by forming tracks of multiple received echoes and monitoring these tracks by a recursive filter such as a Kalman filter. A track velocity is estimated for each track, and the position of each the next echo on the track is predicted.
1. A method of processing echo signals in a pulse-echo measurement system where obstacles are likely to cause false echoes, comprising:
forming tracks of multiple received echoes;
using a recursive filter to monitor each track by estimating a track velocity and predicting the position of the next echo; and
selecting one echo from the multiple echoes received at any given time by selecting the echo on that track which has a non-null velocity and is closest to a transmitter of an interrogating pulse causing the received echoes.
2. The method as claimed in claim 1 , wherein, when all tracks have a null velocity, the track closest to the transmitter is selected.
3. The method as claimed in claim 1 , wherein the recursive filter is a Kalman filter.
4. The method as claimed in claim 1 , wherein a track is initiated when a set of three points have a similar velocity.
5. The method as claimed in claim 4 , wherein the track is not initiated when the set of three points have accelerations which differ by more than a predetermined amount.
6. The method as claimed in claim 1 , wherein a track is deleted when no measurement update has occurred on that track for a predetermined period of time.
7. The method as claimed in claim 1 , wherein a track is updated between an initiation and a deletion by a gating procedure using a gate including a width centered on a predicted track position, the gate width being based on an estimated error for that track.
8. The method as claimed in claim 7 , further comprising:
discriminating between multiple candidate measurements on a single track by using a nearest neighbour procedure.
9. The method as claimed in claim 8 , wherein the nearest neighbour procedure comprises forming an assignment matrix, and applying to the assignment matrix a suboptimal solution, comprising:
searching the assignment matrix for the closest (minimum distance) measurement-to-track pair and make the indicated assignment, resulting in a reduced matrix;
removing the measurement-to-track pair identified above from the assignment matrix; and
searching the reduced matrix for the closest (minimum distance) measurement-to-track pair and make the indicated assignment.
10. A computer readable medium storing a computer program code for implementing a method of processing echo signals in a pulse-echo measurement system, where obstacles are likely to cause false echoes, when the computer program is run on a computer, the method comprising:
forming tracks of multiple received echoes;
using a recursive filter to monitor each track by estimating a track velocity and predicting the position of the next echo; and
selecting one echo from the multiple echoes received at any given time by selecting the echo on that track which has a non-null velocity and is closest to a transmitter of an interrogating pulse causing the received echoes.
11. The computer readable medium as claimed in claim 10 , wherein, when all tracks have a null velocity, the track closest to the transmitter is selected.
12. The computer readable medium as claimed in claim 10 , wherein the recursive filter is a Kalman filter.
13. The computer readable medium as claimed in claim 10 , wherein a track is initiated when a set of three points have a similar velocity.
14. The computer readable medium as claimed in claim 10 , wherein a track is deleted when no measurement update has occurred on that track for a predetermined period of time.
15. The computer readable medium as claimed in claim 10 , wherein a track is updated between an initiation and a deletion by a gating procedure using a gate including a width centered on a predicted track position, the gate width being based on an estimated error for that track.
16. The computer readable medium as claimed in claim 10 , further comprising:
discriminating between multiple candidate measurements on a single track by using a nearest neighbour procedure.
17. The computer readable medium as claimed in claim 16 , wherein the nearest neighbour procedure comprises forming an assignment matrix, and applying to the assignment matrix a suboptimal solution, comprising:
searching the assignment matrix for the closest (minimum distance) measurement-to-track pair and make the indicated assignment, resulting in a reduced matrix;
removing the measurement-to-track pair identified above from the assignment matrix; and
searching the reduced matrix for the closest (minimum distance) measurement-to-track pair and make the indicated assignment.
18. A pulse-echo measurement system, comprising:
a signal processing circuit configured to discriminate against false echoes caused by obstructions, wherein the signal processing circuit
forms tracks of multiple received echoes,
uses a recursive filter to monitor each track by estimating a track velocity and predicts the position of the next echo, and
selects one echo from the multiple echoes received at any given time by selecting the echo on that track which has a non-null velocity and is closest to a transmitter of an interrogating pulse causing the received echoes.
19. The pulse-echo measurement system as claimed in claim 18 , wherein, when all tracks have a null velocity, the track closest to the transmitter is selected.
20. The pulse-echo measurement system as claimed in claim 18 , further comprising:
a computer readable medium storing a computer program code for enabling the signal processing circuit to perform a discrimination against false echoes caused by obstructions.