Utilizing negative information to track ground vehicles through move-stop-move cycles

Craig S. Agate; Robert M. Wilkerson; Kevin J. Sullivan

doi:10.1117/12.542575

9 August 2004 Utilizing negative information to track ground vehicles through move-stop-move cycles

Craig S. Agate, Robert M. Wilkerson, Kevin J. Sullivan

Proceedings Volume 5429, Signal Processing, Sensor Fusion, and Target Recognition XIII; (2004) https://doi.org/10.1117/12.542575
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

Ground vehicles can be effectively tracked using a moving target indicator (MTI) radar. However, vehicles whose velocity along the line-of-sight to the radar falls below the minimum detectable velocity (MDV) are not detected. One way targets avoid detection, therefore, is to execute a series of move-stop-move motion cycles. While a target can be acquired after beginning to move again, it may not be recognized as a target previously in track. Particularly for the case of high-value targets, it is imperative that a vehicle be continuously tracked. We present an algorithm for determining the probability that a target has stopped and an estimate of its stopped state (which could be passed to a tasker to schedule a spot synthetic aperature radar (SAR) measurement. We treat a non-detection event as evidence that can be used to update the target state probability density function (PDF). Updating the target state PDF using a non-detection event pushes the probability mass into regions of the state space in which the vehicle is either stopped or traveling at a speed such that the range-rate fails the MDV. The target state PDF updated with the non-detection events is then used to derive an estimate of the stopped target’s location. Updating the target state PDF using a non-detection event is, in general, non-trivial and approximations are required to evaluate the updated PDF. When implemented with a particle filter, however, the updating formula is simple to evaluate and still captures the subtleties of the problem.

Citation Download Citation

Craig S. Agate, Robert M. Wilkerson, and Kevin J. Sullivan "Utilizing negative information to track ground vehicles through move-stop-move cycles", Proc. SPIE 5429, Signal Processing, Sensor Fusion, and Target Recognition XIII, (9 August 2004); https://doi.org/10.1117/12.542575

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