Object tracking in an area of distributed sensors
A sequence of motion observations of a moving object are received from a first set of sensors. A first sequence of distance ratios are calculated based on the first sequence of motion observations. First transects are generated based on the first sequence of distance ratios. A first motion track of the moving object is produced based on: the first transects; and a map. A second set of sensors are determined employing the map. A second sequence of motion observations of the moving object are received from the second set of sensors. A second sequence of distance ratios for second pairs of the second set of sensors based on the second sequence of motion observations. Second transects are generated based on the second sequence of distance ratios. A second motion track is produced based on the first motion track, the second transects, and the map.
1. A method comprising:
receiving a first sequence of motion observations of a moving object from a first set of sensors of a plurality of sensors;
calculating, based on the first sequence of motion observations, a first sequence of distance ratios for first pairs of the first set of sensors;
generating first transects based on the first sequence of distance ratios;
producing a first motion track of the moving object based on:
the first transects; and
a map comprising location information of the plurality of sensors;
determining, employing the map, a second set of sensors of the plurality of sensors located in an area in proximity of the first motion track;
receiving a second sequence of motion observations of the moving object from the second set of sensors;
calculating, based on the second sequence of motion observations, a second sequence of distance ratios for second pairs of the second set of sensors;
generating second transects based on the second sequence of distance ratios; and producing a second motion track of the moving object based on at least:
the first motion track;
the second transects; and
the map.
2. The method of claim 1 , further comprising transmitting the first motion track to the second set of sensors.
3. The method of claim 1 , further comprising receiving a third motion track of the moving object from a third set of sensors of the plurality of sensors.
4. The method of claim 1 , further comprising combining the first motion track with the second motion track.
5. The method of claim 1 , further comprising:
determining, employing the map, a third set of sensors of the plurality of sensors located in an area in proximity of the second motion track;
receiving a third sequence of motion observations of the moving object from the third set of sensors;
calculating, based on the third sequence of motion observations, a third sequence of distance ratios for third pairs of the third set of sensors;
generating third transects based on the third sequence of distance ratios; and
producing a third motion track of the moving object based on at least:
the second motion track;
the third transects; and
the map.
6. The method of claim 1 , further comprising transmitting the second motion track to an autonomous vehicle.
7. The method of claim 1 , further comprising directing, based on at least one of the first motion track and the second motion track, a steerable sensor towards a predicted location of the moving object.
8. The method of claim 1 , further comprising interrogating the moving object.
9. The method of claim 1 , further comprising employing at least one of the first motion track and the second motion track to boresight at least one of the following:
an optical retroreflector device;
an RF retroreflector device; and
a transceiver.
10. The method of claim 1 , further comprising establishing communication with the moving object.
11. The method of claim 1 , wherein at least one of the following comprises a motion vector:
the first transect; and
the second transect.
12. The method of claim 1 , wherein the first sequence of motion observations or the second sequence of motion observations comprise angle of arrival information.
13. The method of claim 1 , wherein the first sequence of motion observations or the second sequence of motion observations comprise observation time information.
14. The method of claim 1 , wherein the second set of the plurality of sensors comprise at least one sensor from the first set of the plurality of sensors.
15. The method of claim 1 , wherein the plurality of sensors comprise a multi-channel acoustic sensor.
16. The method of claim 1 , wherein the plurality of sensors comprise an optical sensor.
17. The method of claim 1 , wherein the moving object is an unmanned aerial vehicle (UAV).
18. The method of claim 1 , wherein the map further comprises an orientation of at least one of the plurality of sensors.
19. The method of claim 1 , wherein the map comprises relative distances between sensor mounting points.
20. The method of claim 1 , wherein the plurality of sensors comprise a sensor mounted on at least one of the following:
a pole;
a telephone pole;
a transmission tower; a luminaire;
a vehicle;
a building; and a tree.