SE510844C2 - Automatisk kompensering av systematiska fel vid målföljning med flera sensorer - Google Patents

Automatisk kompensering av systematiska fel vid målföljning med flera sensorer

Info

Publication number
SE510844C2
SE510844C2 SE9704012A SE9704012A SE510844C2 SE 510844 C2 SE510844 C2 SE 510844C2 SE 9704012 A SE9704012 A SE 9704012A SE 9704012 A SE9704012 A SE 9704012A SE 510844 C2 SE510844 C2 SE 510844C2
Authority
SE
Sweden
Prior art keywords
bias
target
estimation method
parameters
measurements
Prior art date
Application number
SE9704012A
Other languages
English (en)
Swedish (sv)
Other versions
SE9704012D0 (sv
SE9704012L (sv
Inventor
Egils Sviestins
Original Assignee
Celsiustech Syst Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Celsiustech Syst Ab filed Critical Celsiustech Syst Ab
Priority to SE9704012A priority Critical patent/SE510844C2/sv
Publication of SE9704012D0 publication Critical patent/SE9704012D0/xx
Priority to EP98951870A priority patent/EP1027617B1/fr
Priority to DK98951870T priority patent/DK1027617T3/da
Priority to CZ20001424A priority patent/CZ298223B6/cs
Priority to US09/530,666 priority patent/US6359586B1/en
Priority to AU97707/98A priority patent/AU737185B2/en
Priority to DE69837278T priority patent/DE69837278D1/de
Priority to IL13531798A priority patent/IL135317A/en
Priority to PCT/SE1998/001927 priority patent/WO1999023506A1/fr
Priority to CA002309427A priority patent/CA2309427C/fr
Publication of SE9704012L publication Critical patent/SE9704012L/
Publication of SE510844C2 publication Critical patent/SE510844C2/sv
Priority to NO20002273A priority patent/NO334261B1/no

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/66—Sonar tracking systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Gyroscopes (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
SE9704012A 1997-11-03 1997-11-03 Automatisk kompensering av systematiska fel vid målföljning med flera sensorer SE510844C2 (sv)

Priority Applications (11)

Application Number Priority Date Filing Date Title
SE9704012A SE510844C2 (sv) 1997-11-03 1997-11-03 Automatisk kompensering av systematiska fel vid målföljning med flera sensorer
CA002309427A CA2309427C (fr) 1997-11-03 1998-10-26 Procede d'estimation de la justesse d'un systeme de poursuite de cible
US09/530,666 US6359586B1 (en) 1997-11-03 1998-10-26 Bias estimating method for a target tracking system
DK98951870T DK1027617T3 (da) 1997-11-03 1998-10-26 Biasestimeringsfremgangsmåde til et målsporingssystem
CZ20001424A CZ298223B6 (cs) 1997-11-03 1998-10-26 Zpusob odhadu systematické odchylky u systému sledování cíle
EP98951870A EP1027617B1 (fr) 1997-11-03 1998-10-26 Procede d'estimation de la justesse d'un systeme de poursuite de cible
AU97707/98A AU737185B2 (en) 1997-11-03 1998-10-26 Bias estimating method for a target tracking system
DE69837278T DE69837278D1 (de) 1997-11-03 1998-10-26 Verfahren zum schätzen der vorspannung eines zielverffolgungssystems
IL13531798A IL135317A (en) 1997-11-03 1998-10-26 A biased assessment method for a goal tracking system
PCT/SE1998/001927 WO1999023506A1 (fr) 1997-11-03 1998-10-26 Procede d'estimation de la justesse d'un systeme de poursuite de cible
NO20002273A NO334261B1 (no) 1997-11-03 2000-04-28 Fremgangsmåte for å estimere bias for et målfølgningssystem

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9704012A SE510844C2 (sv) 1997-11-03 1997-11-03 Automatisk kompensering av systematiska fel vid målföljning med flera sensorer

Publications (3)

Publication Number Publication Date
SE9704012D0 SE9704012D0 (sv) 1997-11-03
SE9704012L SE9704012L (sv) 1999-05-04
SE510844C2 true SE510844C2 (sv) 1999-06-28

Family

ID=20408841

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9704012A SE510844C2 (sv) 1997-11-03 1997-11-03 Automatisk kompensering av systematiska fel vid målföljning med flera sensorer

Country Status (11)

Country Link
US (1) US6359586B1 (fr)
EP (1) EP1027617B1 (fr)
AU (1) AU737185B2 (fr)
CA (1) CA2309427C (fr)
CZ (1) CZ298223B6 (fr)
DE (1) DE69837278D1 (fr)
DK (1) DK1027617T3 (fr)
IL (1) IL135317A (fr)
NO (1) NO334261B1 (fr)
SE (1) SE510844C2 (fr)
WO (1) WO1999023506A1 (fr)

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US6225942B1 (en) * 1999-07-30 2001-05-01 Litton Systems, Inc. Registration method for multiple sensor radar
US6940565B2 (en) * 2000-08-26 2005-09-06 Lg.Philips Lcd Co., Ltd. Liquid crystal display device and fabricating method thereof
US6795590B1 (en) * 2000-09-22 2004-09-21 Hrl Laboratories, Llc SAR and FLIR image registration method
US6486661B2 (en) * 2001-02-12 2002-11-26 Delphi Technologies, Inc. Sensor bias drift compensation
CA2507636C (fr) * 2003-02-03 2012-04-03 Saab Ab Procede de commande d'une antenne radar
US7183969B2 (en) * 2004-12-22 2007-02-27 Raytheon Company System and technique for calibrating radar arrays
US7358892B2 (en) * 2005-04-04 2008-04-15 Raytheon Company System and method for coherently combining a plurality of radars
US7991550B2 (en) * 2006-02-03 2011-08-02 GM Global Technology Operations LLC Method and apparatus for on-vehicle calibration and orientation of object-tracking systems
US20070182623A1 (en) * 2006-02-03 2007-08-09 Shuqing Zeng Method and apparatus for on-vehicle calibration and orientation of object-tracking systems
NL1032520C2 (nl) * 2006-09-15 2008-03-18 Thales Nederland Bv Werkwijze en systeem voor het volgen van een object.
US8054215B2 (en) * 2007-11-30 2011-11-08 Lockheed Martin Corporation Precision registration for radar
EP2332017B1 (fr) * 2008-09-03 2016-03-30 BAE Systems PLC Estimation de l'état d'au moins une cible
FR2939904B1 (fr) * 2008-12-16 2015-08-07 Thales Sa Methode de traitement de poursuite multi-capteur a temps de latence reduit
EP2209018A1 (fr) * 2009-01-15 2010-07-21 Nederlandse Organisatie voor toegepast-natuurwetenschappelijk Onderzoek TNO Procédé pour estimer la caractéristique du mouvement d'un objet à partir d'un signal radar, système informatique et produit de programme informatique
US8818702B2 (en) * 2010-11-09 2014-08-26 GM Global Technology Operations LLC System and method for tracking objects
US9041589B2 (en) * 2012-04-04 2015-05-26 Caterpillar Inc. Systems and methods for determining a radar device coverage region
US10175348B2 (en) * 2014-10-08 2019-01-08 Src, Inc. Use of range-rate measurements in a fusion tracking system via projections
JP6702562B2 (ja) * 2017-03-03 2020-06-03 株式会社東芝 マルチセンサシステム、センサバイアス推定装置、センサバイアス推定方法及びセンサバイアス推定プログラム
EP3415943A1 (fr) * 2017-06-13 2018-12-19 Veoneer Sweden AB Estimation d'erreur pour un système de détection d'environnement de véhicule
JP7012955B2 (ja) * 2017-10-13 2022-01-31 三菱重工業株式会社 位置標定システム、および位置標定方法
JP6986980B2 (ja) * 2018-01-18 2021-12-22 三菱電機株式会社 追尾処理装置及び追尾処理方法
JP6861663B2 (ja) * 2018-04-06 2021-04-21 三菱電機株式会社 センサ装置、誤差検出方法および誤差検出プログラム
US11022511B2 (en) 2018-04-18 2021-06-01 Aron Kain Sensor commonality platform using multi-discipline adaptable sensors for customizable applications
US11327155B2 (en) 2018-12-21 2022-05-10 Robert Bosch Gmbh Radar sensor misalignment detection for a vehicle
WO2020148894A1 (fr) * 2019-01-18 2020-07-23 三菱電機株式会社 Dispositif d'évaluation de l'état de mouvement
CN112285694B (zh) * 2020-10-16 2022-08-30 四川九洲电器集团有限责任公司 一种机动目标二次雷达航迹探测方法
CN117288243B (zh) * 2023-09-06 2026-04-28 中国科学院数学与系统科学研究院 基于双主动传感器多目标等效零偏补偿及有效性评估方法

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US5313212A (en) * 1992-10-19 1994-05-17 Hughes Aircraft Company Track filter bias estimation

Also Published As

Publication number Publication date
NO20002273L (no) 2000-05-03
CZ20001424A3 (cs) 2000-08-16
CA2309427A1 (fr) 1999-05-14
IL135317A (en) 2004-05-12
US6359586B1 (en) 2002-03-19
DE69837278D1 (de) 2007-04-19
SE9704012D0 (sv) 1997-11-03
CA2309427C (fr) 2008-09-23
EP1027617B1 (fr) 2007-03-07
NO334261B1 (no) 2014-01-20
IL135317A0 (en) 2001-05-20
EP1027617A1 (fr) 2000-08-16
AU737185B2 (en) 2001-08-09
AU9770798A (en) 1999-05-24
DK1027617T3 (da) 2007-07-09
CZ298223B6 (cs) 2007-07-25
NO20002273D0 (no) 2000-04-28
SE9704012L (sv) 1999-05-04
WO1999023506A1 (fr) 1999-05-14

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