CA2092106C - Three-dimensional maximum a posteriori (map) tracking - Google Patents
Three-dimensional maximum a posteriori (map) trackingInfo
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- CA2092106C CA2092106C CA002092106A CA2092106A CA2092106C CA 2092106 C CA2092106 C CA 2092106C CA 002092106 A CA002092106 A CA 002092106A CA 2092106 A CA2092106 A CA 2092106A CA 2092106 C CA2092106 C CA 2092106C
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- 238000000034 method Methods 0.000 claims abstract description 78
- 238000012545 processing Methods 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000007704 transition Effects 0.000 claims abstract description 15
- 230000003595 spectral effect Effects 0.000 abstract description 39
- NLZUEZXRPGMBCV-UHFFFAOYSA-N Butylhydroxytoluene Chemical compound CC1=CC(C(C)(C)C)=C(O)C(C(C)(C)C)=C1 NLZUEZXRPGMBCV-UHFFFAOYSA-N 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000003491 array Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 150000002500 ions Chemical class 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
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- 230000000052 comparative effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
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- 230000035755 proliferation Effects 0.000 description 1
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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
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
-
- 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
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
- G01S7/5273—Extracting wanted echo signals using digital techniques
Abstract
An automatic detection apparatus (20) and method (20a) applies the Short and Toomey algorithmic processing procedure to a frequency and beam direction windowed and time segmented set of FFT magnitude detected data, comprising time, frequency and beam direction data, to determine the presence or absence of narrowband lines indicative of target tracks. This is achieved by storing the time, frequency and beam direction data, and then processing (32, 33) this data using a predetermined three-dimensional maximum a posteriori procedure whereby individual target tracks associ-ated with each beam direction are concurrently processed, and whereby transitions are made between adjacent beam directions in order to process target tracks having a maxi-mum signal to noise ratio to provide for detection of a target (11). An output target track is generated by combining the high signal to noise ratio portions of the processed individual target tracks into a single output target track. The present invention extends the tracking capabilities that are obtained using the Short and Toomey processing pro-cedure from two dimensions to three dimensions, and this added dimension provides spatial tracking in addition to spectral tracking. The spatial tracking is performed con-currently with the spectral tracking in an array processor.
Description
20921~6 THREE-DIMENSIONAL MAXIMUM
A POSTERIORI (MAP) TRACKING
BACKGROUND
The present invention relates generally to tracking systems and methods, and more specifically, to a tracking system and method that provides for three-dimensional a posteriori tracking including spatial and spectral tracking.
With the current proliferation of array processors, multi-processors, and parallel 5 progr~mming, sonar data is beginning to overwhelm sonar data processors in the func-tional area of spatial procçssing (track linking and management across beams and other arrays of sensors). With this in mind, it would be desirable to apply a traditional data processing application (logic and decision making) to the area of array and multi-processor applications (vector arithmetic or number crunching).
A two--limen~ional a posteriori concept is disclosed in an article entitled "Detec-tion and Estimation of Frequency Random Signal," by R. D. Short and J. P. Toomey, in IEEE Transactions on Information Theory, Vol. IT-28, No. 6, November 1982.
The present invention expands on the capability of this processing concept by extending processing to three dimensions.
In a current system developed by the assignee of the present invention, the computation used to spatially cluster lines detected by multiple beams is accomplished by a general purpose computer. This is because the spatial clustering or association process primarily involves logical operations, hence is more suitable for general pur-pose computer implem~.nt~tion. This architectural design approach, however, results in 20 a sub-optimum utilization of processing resources when three-dimensional processing is required. This is particularly true since an additional level of linking and association 2 209~106 is required in order to maintain target track from node to node (an array of sensors) in the three-dimensional system.
It is therefore an objective of an aspect of the present invention to take advantage of the processing power available in an array processor by exte~;ng a two dimensional Short and Toomey processing procedure to three dimensions to provide for both spatial and frequency tracking.
SUMMARY OF THE lNV~;N'l'lON
The present invention extends the Short and Toomey processing procedure from two dimensions to three dimensions and thus provides for a three-dimensional signal processing method for use in sonar signal processing, and the like. This added dimension provides spatial tracking in addition to spectral tracking.
Spatial tracking is performed concurrently with spectral tracking in an array processor, whereas conventionally, the spatial tracking was performed in a data processor.
The present invention offloads the data processor in a typical sonar system by vectorizing the spatial tracking logic into a third dimension, using a three-dimensional maximum a posteriori (MAP) tracker, and thus frees up a data processor for applications more suited to its architecture. This folding in of the spatial tracking into the same procedure as the spectral tracking which resides in an array processor immensely increases the data throughput capability of the system.
The automatic detection process of the present invention applies the Short and Toomey procedure to a frequency windowed and time segmented set of FFT
magnitude detected data to determine the presence or absence of narrowband lines. The detected lines are then linked temporally and clustered spatially. This is achieved by processing the time, frequency and beam direction data using a predetermined three-dimensional maximum a posteriori procedure whereby individual target tracks associated with each beam direction are concurrently processed and whereby transitions are made between adjacent beam directions in order to process target tracks having a maximum signal to noise ratio to provide for detection of the target. An ouL~uL target track is generated by combining the high signal to noise ratio pardons of the proce-Cce~ individual target tracks into a single output target track. Because the procedure is mec~n;zed for implementation on a high speed array processor, the detection process is capable of handling a much higher volume of throughput data than the current operational system. The present system exhibits superior detection performance over a variety of signal lines.
The present invention increases the processing throughput and improves tracking performance. By shifting the spatial tracking from a data processor to the array processor, higher throughput rates are achievable. The present invention transforms the logic and decision processing performed in the data processor to vector processing executed in the array processor.
The three-dimensional procedure of the present invention may be implemented on an FDS (Fixed Distributed System) currently under development for the Department of the Navy. The FDS is comprised of many nodes (arrays of sensors) at different locations. Each node is comprised of a sonar array which provides input to an array processor that performs beamforming processes in accordance with the present invention. The array processors in turn provide beamformed data to data processors for spatial tracking. With the present method, the efficiency of the processing is significantly increased and the load on the data processors is reduced, thus freeing them up for functions more suited for their data processing architecture.
3a More specifically, one aspect of the present invention provides for a three-dimensional maximum a posteriori tracking method for determining a path of a target moving through space. The method comprises the following steps. (1) Storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data that are representative of a three-dimensional image of a moving target. (2) Segmenting and windowing the stored three-dimensional FFT magnitude detected data in terms of frequency and time. (3) Processing the frequency windowed and time segmented set of FFT magnitude detected data to determine the presence or absence of narrowband lines that are indicative of the target. (4) Processing the detected narrowband lines using the three-dimensional maximum a posteriori procedure to provide detection of the target.
Other aspects of this invention are as follows:
A three-dimensional maximum a posteriori tracker for determining a path of a target moving through space with varying acoustic frequency, said tracker comprising:
storage means for storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data representative of a three-dimensional image of a target moving through space, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction; processor means for processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, 2~9~106 _ 3b and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target; and display means for ouL~u~Ling the path of said target.
A three-dimensional maximum a posteriori tracking method adapted to determine a path of a target moving through space, said tracking method comprising the steps of: storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data representative of a three-dimensional image of a target moving through space with varying acoustic frequency, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction;
processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target; and ou~u~ing the path of said target.
A three-dimensional maximum a posteriori tracking method for determining a path of a target moving through space with varying acoustic frequency, said comprising the steps of: storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data that are representative of a three-dimensional image of a moving target; segmenting and windowing the stored three-dimensional FFT magnitude detected data in terms offrequency and time; processing the frequency windowed and - 3c time segmented set of FFT magnitude detected data to determine the presence or absence of narrowband lines indicative of a target track by processing time, frequency and beam direction data using a predetermined three-dimensional maximum a posteriori procedure whereby individual target tracks associated with each beam direction are concurrently procec~ed and whereby transitions are made between adjacent beam directions in order to process target tracks having a maximum signal to noise ratio to provide for detection of said target, and whereby an output target track is generated by combining the high signal to noise ratio portions of the processed individual target tracks into a single output target track; and outputting said output target track to a display device.
- BRIEF DESCRIPTION OF THE DRAWINGS
The various features and advantages of the present invention may be more readily understood with reference to the following detailed description taken in conjunction with the accompanying drawings, wherein like reference numerals designate like structural elements, and in which:
Fig. 1 is a diagram illustrating a typical operational scenario that is useful in explaining the principles of the present invention;
Fig. 2 illustrates three dimensional target tracking in accordance with the principles of the present invention;
Fig. 3 illustrates two dimensional target tracking in accordance with conventional practices which may be used for comparative purposes in explaining the present invention;
Fig. 4 shows a flow diagram of a tracking method that provides for three-~li"~.on~ional a post~ - ;. .; tracking including spatial and spectral tracking in accordance with the principles of the present invention;
Fig. 5 shows a two--limen~ional example of the method of the present inven-5 tion; and Fig. 6 shows a ~implifi~ three-dimen~ional example of the method of the present invention.
DETAILED DESCRIPTION
Referring to the drawing figures, Fig. 1 is a diagram illustrating a typical operational scenario that is useful in explaining the principles of the present invention.
Fig. 1 shows a target 11, illustrated as a submarine, moving along a path 12. A plural-ity of time points (time 1, 2, 3, and 4) are shown along the path 12 which will be used to describe several processing procedures with rer~;lence to Figs. 2 and 3 below. A
15 plurality of plane waves 13 and the associated frequency 14 thereof are also shown relative to the position of the target 11 along its path. A sensor array 15 is located a distance away from the target 11 and three beams are shown that are generated by the sensor array 15. Each of the beams are indicative of separate bearing directions 16a, 16b, 16c, identified as beam 1 bearing, beam 2 bearing, and beam 3 bearing. As the 20 target 11 moves along the path 12 the relative strength of the signals detected along each of the bearing directions changes with time. Target tracking is achieved by pro-cessing the signals associated with each of the beam directions, as will be discussed with reference to Figs. 2 and 3.
Fig. 2 illu~ es three--limen~ional target tracking in accordance with the prin-25 ciples of the present invention, while Fig. 3 illustrates two d;mensional target trackingin accordance with conventional practices which may be used for c~ ive purposes in explaining the present invention. Fig. 2 shows three sets of data known as lofar-grams 17a, 17b, 17c, that are comprised of background noise, illustrated by the stip-pled (grey) portion of each lofargram 17a, 17b, 17c, and a target track, shown as 30 having various signal to noise ratios, indicated by the intensity of the respective portion of the tracks in each lorar~" 17a, 17b, 17c.
Referring to Fig. 3, the conventional processing procedure works as follows.
The target track shown in the first lor~ m 17a is processed to produce a first output track 18a, the first lora ~l- 17a is processed to produce a first output track 18a, the 35 second l~ra,gl~u,l 17b is processed to produce a second output track 18b, and the third l~r~gl~un 17c is processed to produce a third output track 18c. In the areas of the respective tracks that have a low signal to noise ratio, shown as dotted lines in the 2o92lo6 lora~g~ s 17a, 17b, 17c of Fig. 2, the target tracks detected in the conventional procedure of Fig. 3 have noise, in~icated by the wavy portions of the output tracks 18a, 18b, 18c identified by arrows l9a, l9b, l9c. The three respective target tracks 18a, 18b, 18c shown in Fig. 3 are then processed in the conventional procedure and a 5 single target track, in this case output track 18b, would be selected as having the highest signal to noise ratio and hence the most probable target track that is the true frequency track and bearing of the target 11. However, due to the noise contained in the output tracks 18a, 18b, 18c, there is a substantial amount of error in detecting the true bearing and frequency track of the target 11.
Referring to Fig. 2, the present invention processes the data contained in the lorarglams 17a, 17b, 17c in a dirr~ t manner than the conventional procedure andachieves improved target tracking pclrol~ ce. This is achieved as follows. In the first loral~ 17a, the initial portion of the target track has a high signal to noise ratio.
In the second lorar~ 17a, the middle portion of the target track has a high signal to 15 noise ratio. In the third lor~ lalll 17a, the last portion of the target track has a high signal to noise ratio.
In order to ~n~,l ate a more accurate target track, the present invention processes the data from each of the loral~,l~lls 17a, 17b, 17c and transitions between them to follow a track that has a ~ - - signal to noise ratio for the detected target track.
20 Thus the present invention processes time, frequency and beam direction data in order to detect the target 11. This is shown at the right of Fig. 2, wherein the first portion of the data from the first lorar~ 17a is combined with the middle portion of the data from the second lor~ll and the last portion of the third lofa~ -ll 17c for each of the three time intervals shown in Fig. 1 (time 1 to time 2, time 2 to time 3, and time 3 t time 25 4). This produces a target track that is much more accurate that one produced using conventional proces~in~ procedures.
Fig. 4 illu~ dles an ~u~lus 20 and a flow diagram for an automatic tracking method 20a that provides for three-dimensional a posteriori tracking in accordance with the principles of the present invention that includes both spatial and spectral tracking.
30 The basic method 20a comprises the following steps. The first step comprises storing time, frequency and beam direction data comprising a three-dimensional set of FFT
magnitude detected data that are representative of a three-dimensional image of a mov-ing target, as is shown in box 31. The next step comprises segmenting and windowing the stored three-dimensirnal FFT m~gnihl~le detected data in terms of frequency, beam 35 and time, as is shown in box 32. The next step comprises processing the frequency windowed and time segmented set of ~ l m~gnitude detected data to determine the presence of absence of nallowl,and lines that are indicative of the target, as is shown in 209210~
box 33. This step comprises processing the detect~l narrowband lines using a three-tlim~n~ional ll~illlulll a posteriori tracking procedure. This procedure comprises proces~ing time, frequency and beam direction data and transitioning between beam directions in order to genc.dle an output target track having the mslximllm signal to S noise ratio for the target 11. The next step is to output the detected target track for use by an operator, as is shown in box 34.
This basic method 20a may also be described in other terms well-known to those in the sonar signal processing art. The three-dimensional m~ximl-m a posteriori tracking method 20 of the present invention is adapted to determine a path of a target moving through space. The tracking method comprises the following steps. Step 1:storing sample time interval, frequency and beam direction data comprising a three-rlimen~ional set of FFT m~gnit~lde detecte~l data representative of a three-dimensional image of a target moving through space, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction. This storage is achieved in a random access memory 21, for example. Step 2: proces~sing the stored set of n~lmeri~l values by sequentially processing a predeter-mined numbel of sul)all~ys of numerical values such that numerical path values from each pixel of a previous time interval to each pixel of a current time interval are com-puted, and the largest integrated path value from one time interval to the next is deter-mined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of the target. This processing is achieved in a pro~ll-llable colll~u~e~ 22, in an array processor 22, or in a customized integrated circuit chip 22, for example. Step 3: outputting the path of the target for use by an operator. This may be achieved by the use of a sonar or other display device 23 coupled to the co-ll~u~l 22, for example.
More particularly, the automatic detection method comprises a front-end signal line detection process co~ ~ndil~g the Short and Toomey algorithm or processing procedure disclosed in the article entitled "Detection and Estimation of Frequency Random Signal," by R. D. Short and J. P. Toomey, in the publication IEEE Transac-tions on Information Theory, Vol. IT-28, No. 6, November 1982, but which has been extended to three dimensions in accordance with the principles of the present invention.
In this configuration, the aulc ma~,c detection method first applies the Short and Toomey procedure to a frequency windowed and time se~ .,leA set of FFT m:lgnitllde detected data to dete~--~ine the p-~,sellce of absence of n~.o~lvl,alld lines. The detected lines are then clustered spatially.
Because of the fact that the Short and Toomey algorithmic procedure is mecha-nized for implement~tion on a high speed array processor, the detection procedure is 20~2106 capable of h~n-lling much higher volume of throughput data than does the prior opera-tional system. Besides exhibiting superior detection p~.rolmance over a variety of signal lines, this ability of proces~ing high volume of data using an array processor has made the Short and Toomey procedure a very desirable aut--m~tiC detection procedure.
S Fig. S shows a two-Aimçn~ional example of the method 20a of the presentinvention. In Fig. 5, each dot represents a time-frequency data point. The number adjacent the left side of each dot l~pl~sellls the value of the signal associated with the dot. The dashed and alluwed lines show the integration path through the data with respect to the tr~n~ition from a higher row to a lower row. Typically a window is set to process the data, and in this example, the window is three data points wide. That is to say, each data point in the second row can have its signal added to three data values in the preceding row: namely directly above it, to the right one data point, and to the left one data point. The largest preceding value is chosen for integration. Also the bound-ary points only integrate using two upper data point values. In addition, if two or more of the three values in the preceding row are the same, then the integration path for the data point in the sllcceeAing row is taken from the data point directly above it.
Thus, and with reference to Fig. 5, in the second row, the first two points are integrated with the second data point of the first row (value - 7), the third, fourth and fifth data points in the second row are integrated with the fourth data point in the first row (value = 8), while the sixth (value = 7) and seventh (value = 2) data points in the second row are integrated with the fifth and sixth data points in the first row, respec-tively. The integrated data values for the data points of the second row are shown below each respective point. This process continues for each of the data rows shown in this example, until a cumulative integrated value is generated for each row. Then, starting at the data point with the greatest value (value = 63), and proceeding backward (a posteriori) dlrough the data points having the highest value in each row, the target track is determined. This is illustrated by the relatively dark solid arrowed line traced through Fig. 5.
Fig. 6 shows a simplified three-(limensional example of the method 20a of the present invention. Fig. 6 shows time, frequency and beam data points associated with a moving target. Fig. 6 is more complex, since it is a three-dimensional array of data points. Only a few points are shown for clarity in Fig. 6. The procedure is exactly the same as described with reference to Fig. 5, but the additional dimension requires a window that is 3 by 3 in size, for example. The data values are shown either to the side of the respective data points, while the integrated values are shown generally below the points. The locations of the numerical values have been located so that they 2û9210~
will be more legible on the drawing. The target track is illustrated by the relatively dark solid arrowed line traced through Fig. 6.
The three-dim~n~;onal procedure of the present invention may be implemented on an FDS (Fixed Distributed System) ~ y under development for the Department 5 of the Navy. The FDS is comprised of many nodes (arrays of sensors) at different loc~tions. Each node is comprised of a sonar array which provides input to an array processor that performs beamforming processes in accordance with the present inven-- tion. The array processors in turn provide bc~l,folllled data to data processors for spatial tracking. With the present method, the efficiency of the processing is signifi-10 cantly increased and the load on the data processors is reduced, thus freeing them up for functions more suited for their data processing architecture. Array processors are clçsigne~l specifi~lly to operate optimally on vector arithmetic. The three-dimensional m~ximum a postçriori procedure is a suitable c~n-lid;~te for vector processing, as is any procedure that contains "DO loop" processing procedures.
The following is a d~t~iled sts-tçm~ont of the method 20a of the present invention that extends the maximum a posteriori procedure to three dimen~ions. As was stated above, this method is implement~ble in many ways, including both hardware and soft-ware imple~ ;ons. The following dçfinitions are employed herein.
N a m e Definiti~n t time index/units = bins f frequency index/units = bins s spatial index/units = beams NT total number of time bins NF total number of frequency bins NS total number of spatial bins pf spectral probability path index ps spatial probability path index fpath spectral path search limit spath spatial path search limit.
fmax spectral index where maximum occurs Smax spatial index where maximum occurs Cmax global maximum of cost function p(f,s) path transition probability function from time bin t-1 to t.
X(t,f,s) spectral m~gnitude bin at time bin t, frequency bin f, and spatial beam s.
Y(t,f,s) transition function C(t,f,s) cost function T(t) three-(limçn~iQnal track function 2092iO6 Tl (t) spectral component of track function T2(t) spatial co~ ollenl of track function The follo-wing six equations define the mathematical steps that implement the three--lim~n~ional tracking method 20a of the present invention. These steps may be S implem-onted in sc,rlw~, or ha~l~ale, such as by an array processor, or a customized integrated circuit chip adapted to implement the logic of the processing steps.
(1) C(t,f,s) = X(t,f,s) + Max(log[p(f+pf, s+ps)] + C(t-l,f+pf, s+ps)) - where pf = -fpath,.. , fpath, and ps = -spath, .. , spath.
(2) Y(t,f,s) = a vector cont~ining frequency and beam transition values 10 {pf, ps} at which C(t,f,s) of equation (1) attain a m~xim-lm value.
After the procedure has been applied onto an entire acoustic data set, a maxi-mum of the cost function, Cmax, is selected as follows:
(3) Cmax = Max~C(NT,f,s)), for (f = 1, ...,NF), (s = l,...,NS) and set fmax and smax equal to the value of f and s at which Cmax occurs.
Now, with the fmax and smax determine-1, the three-dimensional MAP track is compuled recursively back~-l using the path transition array Y(t,f,s) of equation (2).
A POSTERIORI (MAP) TRACKING
BACKGROUND
The present invention relates generally to tracking systems and methods, and more specifically, to a tracking system and method that provides for three-dimensional a posteriori tracking including spatial and spectral tracking.
With the current proliferation of array processors, multi-processors, and parallel 5 progr~mming, sonar data is beginning to overwhelm sonar data processors in the func-tional area of spatial procçssing (track linking and management across beams and other arrays of sensors). With this in mind, it would be desirable to apply a traditional data processing application (logic and decision making) to the area of array and multi-processor applications (vector arithmetic or number crunching).
A two--limen~ional a posteriori concept is disclosed in an article entitled "Detec-tion and Estimation of Frequency Random Signal," by R. D. Short and J. P. Toomey, in IEEE Transactions on Information Theory, Vol. IT-28, No. 6, November 1982.
The present invention expands on the capability of this processing concept by extending processing to three dimensions.
In a current system developed by the assignee of the present invention, the computation used to spatially cluster lines detected by multiple beams is accomplished by a general purpose computer. This is because the spatial clustering or association process primarily involves logical operations, hence is more suitable for general pur-pose computer implem~.nt~tion. This architectural design approach, however, results in 20 a sub-optimum utilization of processing resources when three-dimensional processing is required. This is particularly true since an additional level of linking and association 2 209~106 is required in order to maintain target track from node to node (an array of sensors) in the three-dimensional system.
It is therefore an objective of an aspect of the present invention to take advantage of the processing power available in an array processor by exte~;ng a two dimensional Short and Toomey processing procedure to three dimensions to provide for both spatial and frequency tracking.
SUMMARY OF THE lNV~;N'l'lON
The present invention extends the Short and Toomey processing procedure from two dimensions to three dimensions and thus provides for a three-dimensional signal processing method for use in sonar signal processing, and the like. This added dimension provides spatial tracking in addition to spectral tracking.
Spatial tracking is performed concurrently with spectral tracking in an array processor, whereas conventionally, the spatial tracking was performed in a data processor.
The present invention offloads the data processor in a typical sonar system by vectorizing the spatial tracking logic into a third dimension, using a three-dimensional maximum a posteriori (MAP) tracker, and thus frees up a data processor for applications more suited to its architecture. This folding in of the spatial tracking into the same procedure as the spectral tracking which resides in an array processor immensely increases the data throughput capability of the system.
The automatic detection process of the present invention applies the Short and Toomey procedure to a frequency windowed and time segmented set of FFT
magnitude detected data to determine the presence or absence of narrowband lines. The detected lines are then linked temporally and clustered spatially. This is achieved by processing the time, frequency and beam direction data using a predetermined three-dimensional maximum a posteriori procedure whereby individual target tracks associated with each beam direction are concurrently processed and whereby transitions are made between adjacent beam directions in order to process target tracks having a maximum signal to noise ratio to provide for detection of the target. An ouL~uL target track is generated by combining the high signal to noise ratio pardons of the proce-Cce~ individual target tracks into a single output target track. Because the procedure is mec~n;zed for implementation on a high speed array processor, the detection process is capable of handling a much higher volume of throughput data than the current operational system. The present system exhibits superior detection performance over a variety of signal lines.
The present invention increases the processing throughput and improves tracking performance. By shifting the spatial tracking from a data processor to the array processor, higher throughput rates are achievable. The present invention transforms the logic and decision processing performed in the data processor to vector processing executed in the array processor.
The three-dimensional procedure of the present invention may be implemented on an FDS (Fixed Distributed System) currently under development for the Department of the Navy. The FDS is comprised of many nodes (arrays of sensors) at different locations. Each node is comprised of a sonar array which provides input to an array processor that performs beamforming processes in accordance with the present invention. The array processors in turn provide beamformed data to data processors for spatial tracking. With the present method, the efficiency of the processing is significantly increased and the load on the data processors is reduced, thus freeing them up for functions more suited for their data processing architecture.
3a More specifically, one aspect of the present invention provides for a three-dimensional maximum a posteriori tracking method for determining a path of a target moving through space. The method comprises the following steps. (1) Storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data that are representative of a three-dimensional image of a moving target. (2) Segmenting and windowing the stored three-dimensional FFT magnitude detected data in terms of frequency and time. (3) Processing the frequency windowed and time segmented set of FFT magnitude detected data to determine the presence or absence of narrowband lines that are indicative of the target. (4) Processing the detected narrowband lines using the three-dimensional maximum a posteriori procedure to provide detection of the target.
Other aspects of this invention are as follows:
A three-dimensional maximum a posteriori tracker for determining a path of a target moving through space with varying acoustic frequency, said tracker comprising:
storage means for storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data representative of a three-dimensional image of a target moving through space, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction; processor means for processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, 2~9~106 _ 3b and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target; and display means for ouL~u~Ling the path of said target.
A three-dimensional maximum a posteriori tracking method adapted to determine a path of a target moving through space, said tracking method comprising the steps of: storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data representative of a three-dimensional image of a target moving through space with varying acoustic frequency, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction;
processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target; and ou~u~ing the path of said target.
A three-dimensional maximum a posteriori tracking method for determining a path of a target moving through space with varying acoustic frequency, said comprising the steps of: storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data that are representative of a three-dimensional image of a moving target; segmenting and windowing the stored three-dimensional FFT magnitude detected data in terms offrequency and time; processing the frequency windowed and - 3c time segmented set of FFT magnitude detected data to determine the presence or absence of narrowband lines indicative of a target track by processing time, frequency and beam direction data using a predetermined three-dimensional maximum a posteriori procedure whereby individual target tracks associated with each beam direction are concurrently procec~ed and whereby transitions are made between adjacent beam directions in order to process target tracks having a maximum signal to noise ratio to provide for detection of said target, and whereby an output target track is generated by combining the high signal to noise ratio portions of the processed individual target tracks into a single output target track; and outputting said output target track to a display device.
- BRIEF DESCRIPTION OF THE DRAWINGS
The various features and advantages of the present invention may be more readily understood with reference to the following detailed description taken in conjunction with the accompanying drawings, wherein like reference numerals designate like structural elements, and in which:
Fig. 1 is a diagram illustrating a typical operational scenario that is useful in explaining the principles of the present invention;
Fig. 2 illustrates three dimensional target tracking in accordance with the principles of the present invention;
Fig. 3 illustrates two dimensional target tracking in accordance with conventional practices which may be used for comparative purposes in explaining the present invention;
Fig. 4 shows a flow diagram of a tracking method that provides for three-~li"~.on~ional a post~ - ;. .; tracking including spatial and spectral tracking in accordance with the principles of the present invention;
Fig. 5 shows a two--limen~ional example of the method of the present inven-5 tion; and Fig. 6 shows a ~implifi~ three-dimen~ional example of the method of the present invention.
DETAILED DESCRIPTION
Referring to the drawing figures, Fig. 1 is a diagram illustrating a typical operational scenario that is useful in explaining the principles of the present invention.
Fig. 1 shows a target 11, illustrated as a submarine, moving along a path 12. A plural-ity of time points (time 1, 2, 3, and 4) are shown along the path 12 which will be used to describe several processing procedures with rer~;lence to Figs. 2 and 3 below. A
15 plurality of plane waves 13 and the associated frequency 14 thereof are also shown relative to the position of the target 11 along its path. A sensor array 15 is located a distance away from the target 11 and three beams are shown that are generated by the sensor array 15. Each of the beams are indicative of separate bearing directions 16a, 16b, 16c, identified as beam 1 bearing, beam 2 bearing, and beam 3 bearing. As the 20 target 11 moves along the path 12 the relative strength of the signals detected along each of the bearing directions changes with time. Target tracking is achieved by pro-cessing the signals associated with each of the beam directions, as will be discussed with reference to Figs. 2 and 3.
Fig. 2 illu~ es three--limen~ional target tracking in accordance with the prin-25 ciples of the present invention, while Fig. 3 illustrates two d;mensional target trackingin accordance with conventional practices which may be used for c~ ive purposes in explaining the present invention. Fig. 2 shows three sets of data known as lofar-grams 17a, 17b, 17c, that are comprised of background noise, illustrated by the stip-pled (grey) portion of each lofargram 17a, 17b, 17c, and a target track, shown as 30 having various signal to noise ratios, indicated by the intensity of the respective portion of the tracks in each lorar~" 17a, 17b, 17c.
Referring to Fig. 3, the conventional processing procedure works as follows.
The target track shown in the first lor~ m 17a is processed to produce a first output track 18a, the first lora ~l- 17a is processed to produce a first output track 18a, the 35 second l~ra,gl~u,l 17b is processed to produce a second output track 18b, and the third l~r~gl~un 17c is processed to produce a third output track 18c. In the areas of the respective tracks that have a low signal to noise ratio, shown as dotted lines in the 2o92lo6 lora~g~ s 17a, 17b, 17c of Fig. 2, the target tracks detected in the conventional procedure of Fig. 3 have noise, in~icated by the wavy portions of the output tracks 18a, 18b, 18c identified by arrows l9a, l9b, l9c. The three respective target tracks 18a, 18b, 18c shown in Fig. 3 are then processed in the conventional procedure and a 5 single target track, in this case output track 18b, would be selected as having the highest signal to noise ratio and hence the most probable target track that is the true frequency track and bearing of the target 11. However, due to the noise contained in the output tracks 18a, 18b, 18c, there is a substantial amount of error in detecting the true bearing and frequency track of the target 11.
Referring to Fig. 2, the present invention processes the data contained in the lorarglams 17a, 17b, 17c in a dirr~ t manner than the conventional procedure andachieves improved target tracking pclrol~ ce. This is achieved as follows. In the first loral~ 17a, the initial portion of the target track has a high signal to noise ratio.
In the second lorar~ 17a, the middle portion of the target track has a high signal to 15 noise ratio. In the third lor~ lalll 17a, the last portion of the target track has a high signal to noise ratio.
In order to ~n~,l ate a more accurate target track, the present invention processes the data from each of the loral~,l~lls 17a, 17b, 17c and transitions between them to follow a track that has a ~ - - signal to noise ratio for the detected target track.
20 Thus the present invention processes time, frequency and beam direction data in order to detect the target 11. This is shown at the right of Fig. 2, wherein the first portion of the data from the first lorar~ 17a is combined with the middle portion of the data from the second lor~ll and the last portion of the third lofa~ -ll 17c for each of the three time intervals shown in Fig. 1 (time 1 to time 2, time 2 to time 3, and time 3 t time 25 4). This produces a target track that is much more accurate that one produced using conventional proces~in~ procedures.
Fig. 4 illu~ dles an ~u~lus 20 and a flow diagram for an automatic tracking method 20a that provides for three-dimensional a posteriori tracking in accordance with the principles of the present invention that includes both spatial and spectral tracking.
30 The basic method 20a comprises the following steps. The first step comprises storing time, frequency and beam direction data comprising a three-dimensional set of FFT
magnitude detected data that are representative of a three-dimensional image of a mov-ing target, as is shown in box 31. The next step comprises segmenting and windowing the stored three-dimensirnal FFT m~gnihl~le detected data in terms of frequency, beam 35 and time, as is shown in box 32. The next step comprises processing the frequency windowed and time segmented set of ~ l m~gnitude detected data to determine the presence of absence of nallowl,and lines that are indicative of the target, as is shown in 209210~
box 33. This step comprises processing the detect~l narrowband lines using a three-tlim~n~ional ll~illlulll a posteriori tracking procedure. This procedure comprises proces~ing time, frequency and beam direction data and transitioning between beam directions in order to genc.dle an output target track having the mslximllm signal to S noise ratio for the target 11. The next step is to output the detected target track for use by an operator, as is shown in box 34.
This basic method 20a may also be described in other terms well-known to those in the sonar signal processing art. The three-dimensional m~ximl-m a posteriori tracking method 20 of the present invention is adapted to determine a path of a target moving through space. The tracking method comprises the following steps. Step 1:storing sample time interval, frequency and beam direction data comprising a three-rlimen~ional set of FFT m~gnit~lde detecte~l data representative of a three-dimensional image of a target moving through space, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction. This storage is achieved in a random access memory 21, for example. Step 2: proces~sing the stored set of n~lmeri~l values by sequentially processing a predeter-mined numbel of sul)all~ys of numerical values such that numerical path values from each pixel of a previous time interval to each pixel of a current time interval are com-puted, and the largest integrated path value from one time interval to the next is deter-mined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of the target. This processing is achieved in a pro~ll-llable colll~u~e~ 22, in an array processor 22, or in a customized integrated circuit chip 22, for example. Step 3: outputting the path of the target for use by an operator. This may be achieved by the use of a sonar or other display device 23 coupled to the co-ll~u~l 22, for example.
More particularly, the automatic detection method comprises a front-end signal line detection process co~ ~ndil~g the Short and Toomey algorithm or processing procedure disclosed in the article entitled "Detection and Estimation of Frequency Random Signal," by R. D. Short and J. P. Toomey, in the publication IEEE Transac-tions on Information Theory, Vol. IT-28, No. 6, November 1982, but which has been extended to three dimensions in accordance with the principles of the present invention.
In this configuration, the aulc ma~,c detection method first applies the Short and Toomey procedure to a frequency windowed and time se~ .,leA set of FFT m:lgnitllde detected data to dete~--~ine the p-~,sellce of absence of n~.o~lvl,alld lines. The detected lines are then clustered spatially.
Because of the fact that the Short and Toomey algorithmic procedure is mecha-nized for implement~tion on a high speed array processor, the detection procedure is 20~2106 capable of h~n-lling much higher volume of throughput data than does the prior opera-tional system. Besides exhibiting superior detection p~.rolmance over a variety of signal lines, this ability of proces~ing high volume of data using an array processor has made the Short and Toomey procedure a very desirable aut--m~tiC detection procedure.
S Fig. S shows a two-Aimçn~ional example of the method 20a of the presentinvention. In Fig. 5, each dot represents a time-frequency data point. The number adjacent the left side of each dot l~pl~sellls the value of the signal associated with the dot. The dashed and alluwed lines show the integration path through the data with respect to the tr~n~ition from a higher row to a lower row. Typically a window is set to process the data, and in this example, the window is three data points wide. That is to say, each data point in the second row can have its signal added to three data values in the preceding row: namely directly above it, to the right one data point, and to the left one data point. The largest preceding value is chosen for integration. Also the bound-ary points only integrate using two upper data point values. In addition, if two or more of the three values in the preceding row are the same, then the integration path for the data point in the sllcceeAing row is taken from the data point directly above it.
Thus, and with reference to Fig. 5, in the second row, the first two points are integrated with the second data point of the first row (value - 7), the third, fourth and fifth data points in the second row are integrated with the fourth data point in the first row (value = 8), while the sixth (value = 7) and seventh (value = 2) data points in the second row are integrated with the fifth and sixth data points in the first row, respec-tively. The integrated data values for the data points of the second row are shown below each respective point. This process continues for each of the data rows shown in this example, until a cumulative integrated value is generated for each row. Then, starting at the data point with the greatest value (value = 63), and proceeding backward (a posteriori) dlrough the data points having the highest value in each row, the target track is determined. This is illustrated by the relatively dark solid arrowed line traced through Fig. 5.
Fig. 6 shows a simplified three-(limensional example of the method 20a of the present invention. Fig. 6 shows time, frequency and beam data points associated with a moving target. Fig. 6 is more complex, since it is a three-dimensional array of data points. Only a few points are shown for clarity in Fig. 6. The procedure is exactly the same as described with reference to Fig. 5, but the additional dimension requires a window that is 3 by 3 in size, for example. The data values are shown either to the side of the respective data points, while the integrated values are shown generally below the points. The locations of the numerical values have been located so that they 2û9210~
will be more legible on the drawing. The target track is illustrated by the relatively dark solid arrowed line traced through Fig. 6.
The three-dim~n~;onal procedure of the present invention may be implemented on an FDS (Fixed Distributed System) ~ y under development for the Department 5 of the Navy. The FDS is comprised of many nodes (arrays of sensors) at different loc~tions. Each node is comprised of a sonar array which provides input to an array processor that performs beamforming processes in accordance with the present inven-- tion. The array processors in turn provide bc~l,folllled data to data processors for spatial tracking. With the present method, the efficiency of the processing is signifi-10 cantly increased and the load on the data processors is reduced, thus freeing them up for functions more suited for their data processing architecture. Array processors are clçsigne~l specifi~lly to operate optimally on vector arithmetic. The three-dimensional m~ximum a postçriori procedure is a suitable c~n-lid;~te for vector processing, as is any procedure that contains "DO loop" processing procedures.
The following is a d~t~iled sts-tçm~ont of the method 20a of the present invention that extends the maximum a posteriori procedure to three dimen~ions. As was stated above, this method is implement~ble in many ways, including both hardware and soft-ware imple~ ;ons. The following dçfinitions are employed herein.
N a m e Definiti~n t time index/units = bins f frequency index/units = bins s spatial index/units = beams NT total number of time bins NF total number of frequency bins NS total number of spatial bins pf spectral probability path index ps spatial probability path index fpath spectral path search limit spath spatial path search limit.
fmax spectral index where maximum occurs Smax spatial index where maximum occurs Cmax global maximum of cost function p(f,s) path transition probability function from time bin t-1 to t.
X(t,f,s) spectral m~gnitude bin at time bin t, frequency bin f, and spatial beam s.
Y(t,f,s) transition function C(t,f,s) cost function T(t) three-(limçn~iQnal track function 2092iO6 Tl (t) spectral component of track function T2(t) spatial co~ ollenl of track function The follo-wing six equations define the mathematical steps that implement the three--lim~n~ional tracking method 20a of the present invention. These steps may be S implem-onted in sc,rlw~, or ha~l~ale, such as by an array processor, or a customized integrated circuit chip adapted to implement the logic of the processing steps.
(1) C(t,f,s) = X(t,f,s) + Max(log[p(f+pf, s+ps)] + C(t-l,f+pf, s+ps)) - where pf = -fpath,.. , fpath, and ps = -spath, .. , spath.
(2) Y(t,f,s) = a vector cont~ining frequency and beam transition values 10 {pf, ps} at which C(t,f,s) of equation (1) attain a m~xim-lm value.
After the procedure has been applied onto an entire acoustic data set, a maxi-mum of the cost function, Cmax, is selected as follows:
(3) Cmax = Max~C(NT,f,s)), for (f = 1, ...,NF), (s = l,...,NS) and set fmax and smax equal to the value of f and s at which Cmax occurs.
Now, with the fmax and smax determine-1, the three-dimensional MAP track is compuled recursively back~-l using the path transition array Y(t,f,s) of equation (2).
(4) T(t-l) = T(t) + Y(t-l, Tl(t-l), T2(t-1)) Equation (4) is initi~li7e~ as follows (5) T(NT) = {fmax, Smax}
20 where T(t) is defined in equation (6).
20 where T(t) is defined in equation (6).
(6) T(t) = {Tl (t), T2(t)}, a vector specifying the MAP track in frequency bins Tl, and beam bins T2, as a function of time t.
The ~tt~he~ appendix provides the pseudo code and definitions for the three-dimensional maximum a posteriori procedure in accordance with the present invention.
Thus there has been described a new and improved tracking system and method that provide for three--lim.~n~ional a posteriori tracking using spatial and spectral track-ing. It is to be understood that the above-described embodiment is merely illustrative of some of the many specific emb~im~-nt~ which represent applications of the principles of the present invention. Clearly, numerous and other arrangements can be readily 30 devised by those skilled in the art without departing from the scope of the invention.
2as2l06 APPENDIX
This appendix provides the pseudo code and definitions for the three-dimen-sional .,.~x;,-.. ." a posteriori procedure in accordance with the present invention.
Definitions:
t time index/units = bins f frequency index/units = bins s spatial index/units = beams hv spatial (horizontal)/spectral (vertical) index for transition array: hv = 0, spectral; hv = 1, spatial.
NT total number of time bins NF total number of frequency bins NS total l~w~ of spatial bins pf spectral probability path index ps spatial probability path index max t~m~l~y variable to hold current n~ w fpath spectralpathsearchlimit spath spatial path search limit.
fmax spectral index where maximum occurs smax spatial index where ll~illlWl~ occurs p(f,s) path transition probability matrix from time bin t-1 to t.
X(t,f,s) spectral m~ nitude bin at time bin t, frequency bin f, and spatial beam s.
Y(t,f,s,hv) three--limen~ion~l MAP path transition index array at time bin t, frequency bin f, and spatial beam s, containing two values, one for hv =
O (spectral) and one for hv = 1 (spatial) Cost(t,f,s) cost function CostTemp teml)ol~y cost function Trk(t,hv) three-dimensional track matrix FOR s = 1, NS ! loop over spatial index FOR f = 1, NF ! loop over spectral index Cost(l,f,s) = X(l,f,s) ! initi~li7P, cost function array to spectral m~gnih~de values for te-np~)ldl bin 1 S ENDFOR ! end spectral loop ENDFOR ! end spatial loop FOR t = 2,NT ! loop over temporal index FOR s = 1,NS ! loop over spatial index FOR f = 1,NF ! loop over spectral index Cost(t,f,s) = Cost(t-l,f,s) ! save old Cost function ENDFOR ! end spectral loop ENDFOR ! end spatial loop FOR s = 1, NS ! loop over spatial index FOR f = 1, NF ! loop over spectral index Y(t,f,s,0) = 0 ! initi~li7e spectral Cost index array Y(t,f,s,l) = 0 ! ini~i~li7P spatial Cost index array max = -32768 ! initi~li7P, max to largest available negative number FOR ps = -spath, spath ! loop on spatial transition probability index sindex = s + ps ! form spatial cost index IF((sindex > 0) and (sindex <(NS+1))) ! check spatial bounds FOR pf = -fpath, fpath ! loop on spectral transition probability index findex = f + pf ! form spectral cost index IF( (findex > 0) and (findex <(NF+l))) ! check spectral bounds CostTemp=Cost(t-1, findex, sindex) + p(pf, ps) ! t~lllpOl~y cost lF(CostTemp > max) then ! test cost against max max=CostTemp ! update max cost Y(t-l,f,s,0) = pf ! update spectral index array Y(t-l,f,s,1) = ps ! update spatial index array ENDIF ! end max cost test ENDIF ! end spectral bounds check ENDFOR ! end spatial spatial tr~n~iticn probability loop ENDIF ! end spatial bounds check ENDFOR ! end spatial spatial transition probability loop Cost(t,f,s) = max + X(t,f,s) ! construct new cost function ENDFOR ! end spectral loop ENDFOR ! end spatial loop ENDFOR ! end lelll~l~l loop 2~92106 max = Cost(NT,1,1 ) ! initi~li7e max to cost of spectral, spatial bins 1,1 fmax = 1 ! initi~li7~o. spectral index to bin 1 smax = 1 ! ini~i~li7e spatial index to bin 1 FOR s = 1,NS ! loop over spatial index FOR f = l,NF ! loop over spectral index IF(Cost(NT,f,s) > max) then ! test for global m~ximllm fmax = f ! spectral bin where current max occurs smax = s ! spatial bin where current max occurs max = Cost(NT,f,s) ! m~gnitude of current global maximum ENDIF ! end global ma~-i-"ulll test ENDFOR ! end spatial loop ENDFOR ! end lelll~f~tl loop Trk(NT,0) = fmax ! initi~li7e spectral track to fmax Trk(NT,l) = smax ! initi~li7~ spatial track to smax FOR t = NT, 2,-1 ! loop backward through time Trk(t-l,0) = Trk(t,0) + Y(t-l, Trk(t,0), Trk(t,1),0) ! form spectral track from index 20 Trk(t-l, l) = Trk(t,l) + Y(t-l, Trk(t,0), Trk(t,1),1) ! form spatial track from index ENDFOR ! end ~empolal loop
The ~tt~he~ appendix provides the pseudo code and definitions for the three-dimensional maximum a posteriori procedure in accordance with the present invention.
Thus there has been described a new and improved tracking system and method that provide for three--lim.~n~ional a posteriori tracking using spatial and spectral track-ing. It is to be understood that the above-described embodiment is merely illustrative of some of the many specific emb~im~-nt~ which represent applications of the principles of the present invention. Clearly, numerous and other arrangements can be readily 30 devised by those skilled in the art without departing from the scope of the invention.
2as2l06 APPENDIX
This appendix provides the pseudo code and definitions for the three-dimen-sional .,.~x;,-.. ." a posteriori procedure in accordance with the present invention.
Definitions:
t time index/units = bins f frequency index/units = bins s spatial index/units = beams hv spatial (horizontal)/spectral (vertical) index for transition array: hv = 0, spectral; hv = 1, spatial.
NT total number of time bins NF total number of frequency bins NS total l~w~ of spatial bins pf spectral probability path index ps spatial probability path index max t~m~l~y variable to hold current n~ w fpath spectralpathsearchlimit spath spatial path search limit.
fmax spectral index where maximum occurs smax spatial index where ll~illlWl~ occurs p(f,s) path transition probability matrix from time bin t-1 to t.
X(t,f,s) spectral m~ nitude bin at time bin t, frequency bin f, and spatial beam s.
Y(t,f,s,hv) three--limen~ion~l MAP path transition index array at time bin t, frequency bin f, and spatial beam s, containing two values, one for hv =
O (spectral) and one for hv = 1 (spatial) Cost(t,f,s) cost function CostTemp teml)ol~y cost function Trk(t,hv) three-dimensional track matrix FOR s = 1, NS ! loop over spatial index FOR f = 1, NF ! loop over spectral index Cost(l,f,s) = X(l,f,s) ! initi~li7P, cost function array to spectral m~gnih~de values for te-np~)ldl bin 1 S ENDFOR ! end spectral loop ENDFOR ! end spatial loop FOR t = 2,NT ! loop over temporal index FOR s = 1,NS ! loop over spatial index FOR f = 1,NF ! loop over spectral index Cost(t,f,s) = Cost(t-l,f,s) ! save old Cost function ENDFOR ! end spectral loop ENDFOR ! end spatial loop FOR s = 1, NS ! loop over spatial index FOR f = 1, NF ! loop over spectral index Y(t,f,s,0) = 0 ! initi~li7e spectral Cost index array Y(t,f,s,l) = 0 ! ini~i~li7P spatial Cost index array max = -32768 ! initi~li7P, max to largest available negative number FOR ps = -spath, spath ! loop on spatial transition probability index sindex = s + ps ! form spatial cost index IF((sindex > 0) and (sindex <(NS+1))) ! check spatial bounds FOR pf = -fpath, fpath ! loop on spectral transition probability index findex = f + pf ! form spectral cost index IF( (findex > 0) and (findex <(NF+l))) ! check spectral bounds CostTemp=Cost(t-1, findex, sindex) + p(pf, ps) ! t~lllpOl~y cost lF(CostTemp > max) then ! test cost against max max=CostTemp ! update max cost Y(t-l,f,s,0) = pf ! update spectral index array Y(t-l,f,s,1) = ps ! update spatial index array ENDIF ! end max cost test ENDIF ! end spectral bounds check ENDFOR ! end spatial spatial tr~n~iticn probability loop ENDIF ! end spatial bounds check ENDFOR ! end spatial spatial transition probability loop Cost(t,f,s) = max + X(t,f,s) ! construct new cost function ENDFOR ! end spectral loop ENDFOR ! end spatial loop ENDFOR ! end lelll~l~l loop 2~92106 max = Cost(NT,1,1 ) ! initi~li7e max to cost of spectral, spatial bins 1,1 fmax = 1 ! initi~li7~o. spectral index to bin 1 smax = 1 ! ini~i~li7e spatial index to bin 1 FOR s = 1,NS ! loop over spatial index FOR f = l,NF ! loop over spectral index IF(Cost(NT,f,s) > max) then ! test for global m~ximllm fmax = f ! spectral bin where current max occurs smax = s ! spatial bin where current max occurs max = Cost(NT,f,s) ! m~gnitude of current global maximum ENDIF ! end global ma~-i-"ulll test ENDFOR ! end spatial loop ENDFOR ! end lelll~f~tl loop Trk(NT,0) = fmax ! initi~li7e spectral track to fmax Trk(NT,l) = smax ! initi~li7~ spatial track to smax FOR t = NT, 2,-1 ! loop backward through time Trk(t-l,0) = Trk(t,0) + Y(t-l, Trk(t,0), Trk(t,1),0) ! form spectral track from index 20 Trk(t-l, l) = Trk(t,l) + Y(t-l, Trk(t,0), Trk(t,1),1) ! form spatial track from index ENDFOR ! end ~empolal loop
Claims (7)
1. A three-dimensional maximum a posteriori tracker for determining a path of a target moving through space with varying acoustic frequency, said tracker comprising:
storage means for storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data representative of a three-dimensional image of a target moving through space, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction;
processor means for processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target;
and display means for outputting the path of said target.
storage means for storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT magnitude detected data representative of a three-dimensional image of a target moving through space, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction;
processor means for processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target;
and display means for outputting the path of said target.
2. The tracker of Claim 1 wherein said processor means for processing the stored set of numerical values comprises an array processor.
3. The tracker of Claim 1 wherein said storage means for storing sample time interval, frequency and beam direction data comprises a memory.
4. The tracker of Claim 1 wherein said display means for outputting the path of said target comprises a display.
5. A three-dimensional maximum a posteriori tracking method adapted to determine a path of a target moving through space, said tracking method comprising the steps of:
storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT
magnitude detected data representative of a three-dimensional image of a target moving through space with varying acoustic frequency, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction;
processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target; and outputting the path of said target.
storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT
magnitude detected data representative of a three-dimensional image of a target moving through space with varying acoustic frequency, which data comprises a set of numerical values representative of sample time interval versus frequency data for each beam direction;
processing the stored set of numerical values by sequentially processing a predetermined number of subarrays of numerical values such that numerical path values from each numerical value of a previous time interval to each numerical value of a current time interval are computed, and the largest integrated path value from one time interval to the next is determined, and the path through the entire set of numerical values that has the maximum integrated numerical value is indicative of the path of said target; and outputting the path of said target.
6. The tracker of Claim 5 wherein said means for processing the stored set of numerical values comprises an array processor.
7. A three-dimensional maximum a posteriori tracking method for determining a path of a target moving through space with varying acoustic frequency, said comprising the steps of:
storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT
magnitude detected data that are representative of a three-dimensional image of a moving target;
segmenting and windowing the stored three-dimensional FFT magnitude detected data in terms of frequency and time;
processing the frequency windowed and time segmented set of FFT magnitude detected data to determine the presence or absence of narrowband lines indicative of a target track by processing time, frequency and beam direction data using a predetermined three-dimensional maximum a posteriori procedure whereby individual target tracks associated with each beam direction are concurrently processed and whereby transitions are made between adjacent beam directions in order to process target tracks having a maximum signal to noise ratio to provide for detection of said target, and whereby an output target track is generated by combining the high signal to noise ratio portions of the processed individual target tracks into a single output target track; and outputting said output target track to a display device.
storing sample time interval, frequency and beam direction data comprising a three-dimensional set of FFT
magnitude detected data that are representative of a three-dimensional image of a moving target;
segmenting and windowing the stored three-dimensional FFT magnitude detected data in terms of frequency and time;
processing the frequency windowed and time segmented set of FFT magnitude detected data to determine the presence or absence of narrowband lines indicative of a target track by processing time, frequency and beam direction data using a predetermined three-dimensional maximum a posteriori procedure whereby individual target tracks associated with each beam direction are concurrently processed and whereby transitions are made between adjacent beam directions in order to process target tracks having a maximum signal to noise ratio to provide for detection of said target, and whereby an output target track is generated by combining the high signal to noise ratio portions of the processed individual target tracks into a single output target track; and outputting said output target track to a display device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US07/855,283 US5425136A (en) | 1992-03-23 | 1992-03-23 | Three-dimensional maximum a posteriori (map) tracking |
| US855,283 | 1992-03-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2092106A1 CA2092106A1 (en) | 1993-12-19 |
| CA2092106C true CA2092106C (en) | 1996-08-13 |
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| CA002092106A Expired - Fee Related CA2092106C (en) | 1992-03-23 | 1993-03-22 | Three-dimensional maximum a posteriori (map) tracking |
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| US (1) | US5425136A (en) |
| JP (1) | JP2642297B2 (en) |
| AU (1) | AU648712B2 (en) |
| CA (1) | CA2092106C (en) |
| FR (1) | FR2689270B1 (en) |
| GB (1) | GB2265462B (en) |
| HK (1) | HK37796A (en) |
| IL (1) | IL104923A (en) |
| TW (1) | TW215122B (en) |
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| US5765166A (en) * | 1996-04-23 | 1998-06-09 | Raytheon Company | Use of symmetric multiprocessors for multiple hypothesis tracking |
| US6236365B1 (en) | 1996-09-09 | 2001-05-22 | Tracbeam, Llc | Location of a mobile station using a plurality of commercial wireless infrastructures |
| US7764231B1 (en) | 1996-09-09 | 2010-07-27 | Tracbeam Llc | Wireless location using multiple mobile station location techniques |
| US9134398B2 (en) | 1996-09-09 | 2015-09-15 | Tracbeam Llc | Wireless location using network centric location estimators |
| DE19925580B4 (en) * | 1999-06-04 | 2010-09-09 | Eads Deutschland Gmbh | Level and bearing angle-based detection and segmentation of programs in the HF range |
| DE19925923A1 (en) * | 1999-06-08 | 2000-12-28 | Daimler Chrysler Ag | Allocating directional results involves segmenting signal in time-frequency domain after successful evaluation of azimuth angles of individual sampled values of received signal |
| US10684350B2 (en) | 2000-06-02 | 2020-06-16 | Tracbeam Llc | Services and applications for a communications network |
| US10641861B2 (en) | 2000-06-02 | 2020-05-05 | Dennis J. Dupray | Services and applications for a communications network |
| US9875492B2 (en) | 2001-05-22 | 2018-01-23 | Dennis J. Dupray | Real estate transaction system |
| US6937746B2 (en) * | 2001-05-31 | 2005-08-30 | Northrop Grumman Corporation | System and method for automatic recognition of formations in moving target indication data |
| DE10129726C2 (en) * | 2001-06-20 | 2003-08-28 | Stn Atlas Elektronik Gmbh | Method for determining target data |
| US6816109B1 (en) | 2003-08-04 | 2004-11-09 | Northrop Grumman Corporation | Method for automatic association of moving target indications from entities traveling along known route |
| US20090312036A1 (en) | 2008-06-16 | 2009-12-17 | Skyhook Wireless, Inc. | Methods and systems for improving the accuracy of expected error estimation in location determinations using a hybrid cellular and wlan positioning system |
| US9538493B2 (en) | 2010-08-23 | 2017-01-03 | Finetrak, Llc | Locating a mobile station and applications therefor |
| US9055289B2 (en) * | 2011-11-23 | 2015-06-09 | Korea Institute Of Science And Technology | 3D display system |
| CN104833958B (en) * | 2015-04-03 | 2017-05-17 | 西北大学 | Mobile sensor array AOA detection sum-difference algorithm |
| CN106707271B (en) * | 2015-11-16 | 2019-04-16 | 南京理工大学 | A kind of adaptive angleonly tracking method based on digital phase-locked loop |
| CN108614268B (en) * | 2018-04-26 | 2021-12-07 | 中国人民解放军91550部队 | Acoustic tracking method for low-altitude high-speed flying target |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4333170A (en) * | 1977-11-21 | 1982-06-01 | Northrop Corporation | Acoustical detection and tracking system |
| US4182173A (en) * | 1978-08-23 | 1980-01-08 | General Electric Company | Duplex ultrasonic imaging system with repetitive excitation of common transducer in doppler modality |
| US4559602A (en) * | 1983-01-27 | 1985-12-17 | Bates Jr John K | Signal processing and synthesizing method and apparatus |
| NL8900985A (en) * | 1989-04-20 | 1990-11-16 | Hollandse Signaalapparaten Bv | ACOUSTIC DETECTION DEVICE. |
| JP3086693B2 (en) * | 1989-07-06 | 2000-09-11 | 株式会社東芝 | Ultrasound diagnostic equipment |
| US5016641A (en) * | 1989-11-13 | 1991-05-21 | Advanced Technology Laboratories, Inc. | Spectral interpolation of ultrasound Doppler signal |
| US5262785A (en) * | 1992-04-30 | 1993-11-16 | General Electric Co. | Small target doppler detection system |
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1993
- 1993-03-02 IL IL10492393A patent/IL104923A/en not_active IP Right Cessation
- 1993-03-11 GB GB9305035A patent/GB2265462B/en not_active Expired - Fee Related
- 1993-03-16 TW TW082101948A patent/TW215122B/zh active
- 1993-03-18 AU AU35332/93A patent/AU648712B2/en not_active Ceased
- 1993-03-19 FR FR9303219A patent/FR2689270B1/en not_active Expired - Fee Related
- 1993-03-22 CA CA002092106A patent/CA2092106C/en not_active Expired - Fee Related
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1996
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| GB9305035D0 (en) | 1993-04-28 |
| GB2265462A (en) | 1993-09-29 |
| IL104923A (en) | 1996-01-31 |
| AU648712B2 (en) | 1994-04-28 |
| HK37796A (en) | 1996-03-15 |
| AU3533293A (en) | 1993-09-30 |
| JPH06148324A (en) | 1994-05-27 |
| CA2092106A1 (en) | 1993-12-19 |
| US5425136A (en) | 1995-06-13 |
| FR2689270A1 (en) | 1993-10-01 |
| TW215122B (en) | 1993-10-21 |
| JP2642297B2 (en) | 1997-08-20 |
| FR2689270B1 (en) | 1995-04-28 |
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