Radar system with measurement domain tracking updates
Parameters of a propagated object state in a radar tracking system are converted from an object state domain to a measurement domain. The measurement domain includes parameters of a superposition of a chirp and a Doppler frequency of the reflected signal and the Doppler frequency. Deltas between measured states and propagated states are computed in the measurement domain to improve updating of the object state. An object track is more accurately updated based on the object state delta. Data association may be performed simultaneously in both the measurement domain and object domain. Propagated object state parameters in object domain coordinates can be checked for signal collisions to avoid signal collision errors. An improved noise model is also constructed in the measurement domain.
1. A system for tracking an object, comprising:
a signal transmitter for transmitting a transmitted signal into a region;
a receiver for receiving reflected signals generated by reflection of the transmitted signals from an object in the region;
a processor coupled to the receiver, the processor configured to
determine first measurement domain parameters of the reflected signal in a measurement domain;
compute a propagated object state of the object based on an object state parameters in an object state domain;
convert the object state parameters of the propagated object state of the object from the object state domain to a second measurement domain parameters in the measurement domain;
compute a difference between the first measurement domain parameters and second measurement domain parameters to determine a measurement domain delta of the object state;
convert the measurement domain delta of the object state to an object state delta of the object in the object state domain; and
update an object track based on the object state delta;
wherein the measurement domain includes parameters of a superposition of a chirp and a Doppler frequency of the reflected signal, and the Doppler frequency.
2. The system of claim 1 , wherein the conversions between the object state domain and the measurement domain additionally uses the transmitted signal properties of chirp bandwidth, transmit time, the speed of light through the propagation medium, and carrier frequency.
3. The system of claim 1 , wherein the conversions between the object state domain and the measurement domain uses at least position and velocity terms.
4. The system of claim 1 , wherein the processor is configured to model noise using a noise model, wherein the noise model is in the measurement domain of a superposition of a chirp and a Doppler frequency of the reflected signal, and the Doppler frequency.
5. The system of claim 1 , wherein the processor is configured to perform a data association in the measurement domain.
6. The system of claim 5 , wherein the data association is performed simultaneously in both the measurement domain and object domain.
7. The system of claim 1 , wherein the processor is further configured to perform a data association between a plurality of measurement domain parameters, wherein the data association is performed in the object domain.
8. The system of claim 1 , wherein the processor is configured to checks a plurality of updated tracks and a plurality of measurement domain parameters, wherein a plurality of propagated object states of the object in the object coordinates are checked to see if there is a collision between the predicted superposition of a chirp and a Doppler frequency of the reflected signal, and in the case of a collision, updating of colliding tracks using the measurement state delta is cancelled.
9. The system of claim 1 , wherein the processor is configured to check a plurality of updated tracks and a plurality of measurement domain parameters, wherein a plurality of propagated object state of the object in the object coordinates are checked to see if there is a collision between the predicted superposition of a chirp and a Doppler frequency of the reflected signal, and the predicted Doppler frequency, and in the case of a collision, updating of colliding tracks using the measurement state delta is cancelled.
10. A method for tracking an object detected by a radar system, the method comprising:
determining first measurement domain parameters of a reflected radar signal in a measurement domain;
computing a propagated object state of the object based on an object state parameters in an object state domain;
converting the object state parameters of the propagated object state of the object from the object state domain to a second measurement domain parameters in the measurement domain;
computing a difference between the first measurement domain parameters and second measurement domain parameters to determine a measurement domain delta of the object state;
converting the measurement domain delta of the object state to an object state delta of the object in the object state domain; and
updating an object track based on the object state delta;
wherein the measurement domain includes parameters of a superposition of a chirp and a Doppler frequency of the reflected signal, and the Doppler frequency.
11. The method of claim 10 , wherein the conversions between the object state domain and the measurement domain additionally uses the transmitted signal properties of chirp bandwidth, transmit time, the speed of light through the propagation medium, and carrier frequency.
12. The method of claim 10 , wherein the conversions between the object state domain and the measurement domain uses at least position and velocity terms.
13. The method of claim 10 , further comprising modeling noise using a noise model, wherein the noise model is in the measurement domain of a superposition of a chirp and a Doppler frequency of the reflected signal, and the Doppler frequency.
14. The method of claim 10 , further comprising performing a data association in the measurement domain.
15. The method of claim 14 , wherein the data association is performed simultaneously in both the measurement domain and object domain.
16. The method of claim 14 , further comprising performing a data association between a plurality of measurement domain parameters, wherein the data association is done in the object domain.
17. The method of claim 10 , further comprising checking a plurality of updated tracks and a plurality of measurement domain parameters, wherein a plurality of propagated object states of the object in the object coordinates are checked to see if there is a collision between the predicted superposition of a chirp and a Doppler frequency of the reflected signal, and in the case of a collision, updating of colliding tracks using the measurement state delta is cancelled.
18. The method of claim 10 , further comprising checking a plurality of updated tracks and a plurality of measurement domain parameters, wherein a plurality of propagated object states of the object in the object coordinates are checked to see if there is a collision between the predicted superposition of a chirp and a Doppler frequency of the reflected signal, and the predicted Doppler frequency, and in the case of a collision, updating of colliding tracks using the measurement state delta is cancelled.