Target tracking with a network of Doppler radars

By observing a Doppler signal at several points in space, it is possible to determine the position, velocity, and acceleration of a moving target. Parameter identification for a constant-acceleration motion model is studied, and the Cramer-Rao bound on motion parameter uncertainty is obtained for phaseand frequency-based estimation strategies, with the result that the preferred strategy depends upon the sensor/target geometry and target motion. Direct identification of the constant-acceleration trajectory model from the Doppler signal requires a 9-dimensional nonlinear optimization. Exploiting symmetry in the sensing geometry, a novel trajectory representation is presented which reduces the nonlinear optimization to one in 3 dimensions, with additional parameters obtained by linear identification. Baseball tracking using a network of four Doppler radars is experimentally demonstrated.

[1]  W. R. Hahn.  Optimum signal processing for passive sonar range and bearing estimation , 1975 .

[2]  Ehud Weinstein,et al.  Estimation of differential Doppler shifts , 1979 .

[3]  Ehud Weinstein,et al.  Passive Array Tracking of a Continuous Wave Transmitting Projectile , 1980, IEEE Transactions on Aerospace and Electronic Systems.

[4]  Nadav Levanon,et al.  Some Results from Utilizing Doppler Derivatives , 1980, IEEE Transactions on Aerospace and Electronic Systems.

[5]  M. Shensa.  On the uniqueness of Doppler tracking , 1981 .

[6]  Theagenis J. Abatzoglou.  Maximum likelihood estimates for frequencies of sinusoids of unknown scaling and phase , 1981 .

[7]  E. Weinstein.  Optimal source localization and tracking from passive array measurements , 1982 .

[8]  R. J. Webster.  An Exact Trajectory Solution from Doppler Shift Measurements , 1982, IEEE Transactions on Aerospace and Electronic Systems.

[9]  E. Weinstein,et al.  Measurement of the differential Doppler shift , 1982 .

[10]  Ronald Mucci,et al.  Target parameter estimation using measurements acquired with a small number of sensors , 1983 .

[11]  Arye Nehorai,et al.  Signal subspace algorithms for the location of multiple moving sources , 1984, The 23rd IEEE Conference on Decision and Control.

[12]  D. Ohlms,et al.  Range and speed estimation from frequency measurements alone , 1986, ICASSP '86. IEEE International Conference on Acoustics, Speech, and Signal Processing.

[13]  Joseph Statman,et al.  Parameter Estimation Based on Doppler Frequency Shifts , 1987, IEEE Transactions on Aerospace and Electronic Systems.

[14]  Y. Chan,et al.  Target localization and tracking from Doppler-shift measurements , 1990 .

[15]  I.A. Getting,et al.  Perspective/navigation-The Global Positioning System , 1993, IEEE Spectrum.

[16]  T. Herring.  THE GLOBAL POSITIONING SYSTEM , 1996 .