DESC:TECHNICAL FIELD
The present invention relates generally to phased array radar system. The invention, more particularly, relates to computing dynamic update rate for object tracking for phased array radar.
BACKGROUND
In multi-functional radar, the time is most precious for real-time applications, especially when using phased array radar. The main objective is to improve tracking performance. There are various conventional solutions available for dynamic update rate for object tracking using the different types of parameters.
For example, one of a conventional solution is proposed in CN106021697A titled as “Quick phased array radar time-energy resource combined management method” which disclose the combined management method comprises the steps of firstly establishing a maneuvering parameter offline library, and based on this, performing real-time estimation on maneuvering parameters and predicting a measurement position error variance and precision of each waveform in a waveform library; secondly performing quick computing according to a formula method so as to obtain a sampling period corresponding to each waveform, and finally selecting a waveform with the lowest resource consumption from all waveforms.
Another conventional solution is proposed in CN105510882B titled “Quick self-adapted sampling period tracking based on target maneuver parameter Estimation” discloses a quick self-adapted sampling period based on maneuver parameter Estimation, belongs to technology field. The present invention initially sets up the offline storehouse of maneuver parameter, by model probability spatial discretization, estimating the maneuver parameter under all possible model probabilistic combinations, and be saved to offline storehouse.
In another conventional solution proposed in US5960097A titled “Background adaptive target detection and tracking with multiple observation and processing stages” discloses the efficient missile detection and system, operating on data samples from a focal plane assembly (FPA) of an electro-optical sensor which is observing the earth and space, detects missiles, aircraft, resident space objects or other objects in the presence of background clutter, determines missile types and estimates missile position and velocity components in an inertial reference frame.
The conventionally available solutions have only used positional error variance and waveform selection for efficient object tracking. Thus, there is a need for an improved system and method for tracking the performance of phased array radar.
SUMMARY OF THE INVENTION
This present invention discloses a method and system for computing the dynamic update rate for object tracking. This summary is neither intended to identify essential features of the present invention nor is it intended for use in determining or limiting the scope of the present invention. For example, various embodiments herein may include one or more systems and methods to improve the object tracking performance by using dwell parameters, coverage, and behavior of the objects for a phased array radar.
In an embodiment, the present invention describes a method for computing dynamic update rate for object tracking. The method includes receiving, by a radar data processor module of a phased array radar, a plot report data obtained from a signal processor. The method includes validating, by a data validation module, by neglecting unwanted data from the received plot report data. The method further, includes selecting, by a plot centroiding module, a single plot report for a single object, and centroiding multiple report data if obtained for the same object. The method further includes, storing, by a store centroided report data module, the received single report data, and the multiple report data of the same object. The method further includes correlating, by an object correlation and association module, the received single plot report with an existing object report data stored in the object report data module. The method further includes storing, by the object report data module of the object correlation and association module, the received correlated plot report data.
The method further includes updating, by an object updation and prediction module, the current state of the object based on the associated plot report data, and predicting, by the object updation and prediction module, a new state of the object based on a dynamic update rate value and the current state of the object. The method further includes calculation of the update rate value by using a threat value, search coverage, dwell time, object load, object innovation, and an error residue values.
In another embodiment, the present invention describes a system for computing dynamic update rate for object tracking. The system comprising a radar data processor module of a phased array radar configured to receive a plot report data obtained from a signal processor. The system further includes a data validation module configured to validate the usage of the intended plot report data, by neglecting unwanted data from the received plot report data. The system also includes a plot centroiding module configured to select a single plot report data for a single object and to centroided multiple report data if obtained for the same object. A store centroided report data module (108) configured to store the received single report data and the multiple report data of the same object.
The system also includes an object correlation and association module configured to correlate the received single plot report data with an existing object report data stored in the object report data module. The object report data module of the object correlation and association module is configured to store the received correlated plot report data. The system further includes an object updation and prediction module configured to update the current state of the object based on the associated plot report data and to predict a new state of the object based on the dynamic update rate value and the current state of the object. The dynamic update rate value is computed using a threat value, search coverage, dwell time, object load, object innovation, and an error residue.
BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS
The detailed description is described with reference to the accompanying figures. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the drawings to reference like features and modules.
Fig. 1 illustrates a schematic diagram depicting the basic flow diagram on the reception of a detection report after signal processing for computing the update rate, according to an exemplary implementation of the present invention.
Fig. 2 illustrates a schematic diagram depicting the object behavior with respect to time, according to an exemplary implementation of the present invention.
Fig. 3 illustrates a schematic diagram depicting the threat value changes with respect to object behaviour, according to an exemplary implementation of the present invention.
Fig. 4 illustrates a schematic diagram depicting the innovation changes with respect to object behaviour, according to an exemplary implementation of the present invention.
Fig. 5 illustrates a schematic diagram depicting the result of calculation of an update rate using the described parameters, according to an exemplary implementation of the present invention.
Fig. 6 illustrates a method for computing dynamic update rate for object tracking, according to an exemplary implementation of the present invention.
It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative methods embodying the principles of the present invention. Similarly, it will be appreciated that any flow charts, flow diagrams, and the like represent various processes which may be substantially represented in a computer-readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.
DETAILED DESCRIPTION
The various embodiments of the present invention provide a method and system for computing dynamic update rate for object tracking. The method and system for computing the dynamic update rate with respect to search coverage and object’s dynamics, using the operational parameters of a phased array radar such as search coverage, dwell time, object load and object behaviour.
In the following description, for purpose of explanation, specific details are set forth in order to provide an understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these details. One skilled in the art will recognize that embodiments of the present disclosure, some of which are described below, may be incorporated into a number of systems.
However, the systems and methods are not limited to the specific embodiments described herein. Further, structures and devices shown in the figures are illustrative of exemplary embodiments of the present invention and are meant to avoid obscuring the present invention.
It should be noted that the description merely illustrates the principles of the present invention. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described herein, embody the principles of the present invention. Furthermore, all examples recited herein are principally intended expressly to be only for explanatory purposes to help the reader in understanding the principles of the invention and the concepts contributed by the inventor to furthering the art and are to be construed as being without limitation to such specifically recited examples and conditions. Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass equivalents thereof.
In one of the embodiments, a method for computing dynamic update rate for an object tracking, using phased array radar operational parameters and object dynamics is disclosed. The method for computing the dynamic update rate for the object tracking is based on the operational parameters of the phased array radar and the behaviour of the objects that are to be tracked.
In another embodiment, an improvement in the tracking performance of the object is disclosed. Improvement in the tracking performance is obtained by dynamically changing the update rate for Phased Array Radar. The Radar Data Processing application should be updated with the present method which can deploy in any target system for the Phased Array Radar. This approach provides distinct advantages for controlling the track beam switching dynamically based on the object behaviour. This provides an advantage in tracking the object accurately and avoid the track loss even when the object is maneuvering compared to a fixed update rate.
In another embodiment, the present invention provides the improved tracking performance, while controlling the track beam switching and allowing the update rate for each of the objects to be varied depending on the dwell parameters, coverage, and behaviour of said objects. The Phased Array Radar can direct the antenna beam into the desired direction by electronically controlling the relative phase of the antenna array. It performs surveillance and tracking in several sectors, to identify the object's appearance and track the object. In such a scenario, the scheduling method is to be designed in such a way that system resources can be efficiently utilized for surveillance and tracking, and its performance is maximized.
The radar time is a shared resource among several functions such as surveillance and tracking of the object. For object tracking, data processing is an important task where object tracking performance can be optimized. The update rate selection is based on the different scenarios, such as whether the object is coming towards the radar with a high speed, or the object begins to manoeuvre, or there is an increase in the object innovation. A high update rate can be used to track the object accurately for better engagement and assignment. A high update rate is used if the movement of an object is on less predictable conditions like manoeuvring movement, or the measurement error is more to prevent the track quality degradation or track loss. If object movement is predictable like linear motion and the measurement data is reliable, the update rate will be decreased with the cost of ignorable track quality degradation.
In another embodiment, the present invention discloses the process of correlating the received single plot report with the existing plot report, to find the received plot report belongs to the existing object or a new object.
In another embodiment, the present invention discloses the computation of the threat value. The threat value is computed using the value of the object range, object speed, object angular velocity, and object height. The value of the object range, object speed, object angular velocity and object height is obtained from an object range module, an object speed module, an object angular velocity module, and an object height module respectively.
Threat value is computed using the formula:
T_V=?(W?_R*O_TR)+ ?(W?_S*O_TS)+?(W?_?*O_T?)+?(W?_H*O_TH)
where,
? T?_V is the Object’s Threat Value.
? W?_R,W_S,W_(? ) ?and W?_(H )are the weightages of Object Range, Object Speed, Object Angular Velocity, and Object Height respectively. Weightages are assigned based on the target behaviour and sensor specifications.
The sensors (not shown) are fitted in the object range module, the object speed module, the object angular velocity module, and the object height module.
O_TR,O_TS,O_T?&O_TH are the Transformed Range, Speed, Angular Velocity, and Height of the object respectively.
In another embodiment, the present invention provides an object innovation module configured to calculate the error residue value. The object innovation is calculated using the formula:
e = |y_n- x_n | /?Inn?_Max
where,
e is a positional residual error, yn is measurement position, xn is the predicted position and ?Inn?_Maxis maximum innnovation. Maximum innovation to be taken as 6 times the standard deviation/sensor accuracy. (White Gaussian distribution)
In another embodiment, the present invention discloses the computation of the Maximum Update Rate. The Maximum Update Rate is calculated using the formula:
T_SC = Total number of Search beams*Search Dwell Time
T_TT=Max number of objects*Track Dwell Time
T_MU=T_SC+T_TT
where,
T_MU,T_SC and? T?_TT are Maximum Update Time, Search Coverage Time, and Total objects Time, respectively.
In another embodiment, computation of Time Factor is disclosed.
The Time Factor is calculated using the formula:
T_F= ?((W?_TV*T_V)+(W_I*e))*?(1-T?_N)
where,
T_F is a time factor.
W_TV is the weightage of Threat Value.
W_I is the weightage of Object Innovation.
T_N is objects load (Load is the ratio of the number of objects present to the maximum number of objects the sensor shall track).
In another embodiment, the present invention discloses the computation of the Update Rate. The Update Rate calculation is based on the total search time and the total track time for the maximum number of objects computed in equation (5) and the time factor parameter computed in the equation (6). These values are used to compute the update rate for the specific object’s updation.
The update rate is calculated using the formula:
?Object?_TUR= T_MU (1-T_F)
where, ? Object?_TUR is the update rate for the particular object and T_F is the time factor.
In another embodiment, the present invention discloses that the plot report data is validated against permissible limits of each specified parameters, the specified parameters include range, azimuth, elevation, signal strength, noise, and filter number.
In another embodiment, the information on various moving objects is maintained by directing the beam to the predicted position with a predefined update rate or dynamic update rate. The proper controlling of the radar beam has the potential for significantly improving many aspects associated with the tracking of the multiple manoeuvring objects.
In another embodiment, the advantage of Dynamic update rate computation is the method utilizes the Radar resources efficiently and increases the stability and accuracy of object tracking compared to fixed update rate for surveillance and tracking which is the crucial purpose of Phased Array Radars.
Figure 1 illustrates a schematic diagram depicting the basic flow diagram on reception of a detection report after signal processing for computing the update rate, according to an exemplary implementation of the present invention.
In Fig. 1, the system for computing the dynamic update rate for object tracking includes a radar data processor module (102) of a phased array radar. The radar data processor module (102) is configured to receive a plot report data from a signal processor (not shown in Fig.). The received plot report data is further sent to a data validation module (104). The data validation module (104) is configured to validate the usage of the intended plot report data, by neglecting unwanted data from the received plot report data. The intended data includes but not limited to the azimuth angle of the object, range of the object, elevation angle of the object, signal, strength, etc.
The validated data is further sent to a plot centroiding module (106). The object may be detected in various range cells or various beams during surveillance, and multiple reports may be generated for the same object. To avoid multiple redundant reports, the plot centroiding module (106) is configured to select a single plot report data for a single object and centroid multiple report data if obtained for the same object. The centroided plot report data is further sent to a store centroided report data module (108). The report data module (108) is configured to store the received centroided plot report data.
The system of the present invention further includes an object correlation and association module (110). The object correlation and association module (110) is configured to correlate the received single plot report data with the existing object report data stored in the object report data module (not shown in Fig.) to find whether the centroid plot report data belongs to an existing object or a new object. The received correlated plot report data is stored by the object report data module of the object correlation and association module (110). This stored data is sent further to the object updation and prediction module (114).
The object updation and prediction module (114) is configured to receive the correlated plot report data from the object correlation and association module (110), and a data from a compute update rate module (116). The object updation and prediction module (114) update the current state of the tracking object based on the associated plot report data and predict a new state of the tracking object based on the dynamic update rate value and the current state of the tracking object.
The dynamic update rate ObjectTUR value is computed using the threat value, the search coverage time, the maximum update time, the total objects time, the dwell time, the object load, and the object innovation.
An object initiation module (112) is configured to track a new object in the space. The tracking of the new object is achieved by correlating the new object report data with the existing object report data.
A compute threat priority module (118) is configured to compute the threat value by using the value of object range, object speed, object angular velocity and object height, obtained from the object range module (124), the object speed module (126), the object angular velocity module (128), and the object height module (130) respectively.
The computation threat priority module (118) computes the threat value by using the formula:
? T?_V=?(W?_R*O_TR)+ ?(W?_S*O_TS)+?(W?_?*O_T?)+?(W?_H*O_TH)
where,
? T?_V is the Object’s Threat Value.
? W?_R,W_S,W_(? ) ?and W?_H are the weightages of Object Range, Object Speed, Object Angular Velocity, and Object Height, respectively. Weightages are assigned based on the target behaviour and sensors specification.
O_TR,O_TS,O_T? & O_TH are the Transformed Range, Speed, Angular Velocity, and Height of the object respectively.
The sensors are installed on the object range module (124), the object speed module (126), the object angular module (128), and the object height module (130).
The object innovation module (120) calculates the error residue value by using the formula:
e = |y_n- x_n | /?Inn?_Max
where,
e is a positional residual error, yn is measurement position, xn is the predicted position and ?Inn?_Max is the Maximum Innovation. Maximum innovation shall be taken as 6 times the standard deviation/sensor accuracy. (White Gaussian distribution)
The Maximum Update time is calculated using the formula:
T_SC = Total number of Search beams*Search Dwell Time

T_TT=Max number of objects*Track Dwell Time
T_MU=T_SC+T_TT
where,
T_MU,T_SC and T_TT are Maximum Update Time, Search Coverage Time, and Total objects Time Respectively.
The Time Factor is calculated using the formula:
T_F= ?((W?_TV*T_V)+(W_I*e))*?(1-T?_N)
where,
T_F is time factor.
W_(TV )is the weightage of Threat Value.
W_I is the weightage of Object Innovation.
T_(N )is objects load. (Load is the ratio of number of objects present to the maximum number of objects the sensor shall track)
The Update Rate ObjectTUR calculation is based on total search time and the total track time for the maximum number of objects computed in equation (5) and the time factor parameter computed in equation (6). The values are used to compute the update rate for the specific object’s updation.
? Object?_TUR= T_MU (1-T_F)
where, ? Object?_TUR is the update rate for the particular object and T_F is the time factor.

Figure 2 illustrates a schematic diagram depicting the object behaviour with respect to time, according to an exemplary implementation of the present invention. Through the object behaviour, the update rate selection is measured. Like, a high update rate can be used to track the object accurately for better engagement and assignment, the error residue and the object behaviour like approaching of the object towards the radar with high speed, or if the object begins to manoeuvre.
Fig. 3 illustrates a schematic diagram depicting the threat value changes with respect to the object behaviour, according to an exemplary implementation of the present invention.
The graph represented in Fig. 3 shows that the value of the threat changes with respect to the object behaviour.? T?_V is the Object’s Threat Value. W_R,W_S,W_? ?and W?_H are the weightages of Object Range, Object Speed, Object Angular Velocity, and Object Height respectively. Weightages are assigned based on the target behaviour and sensor specifications.
The values O_TR,O_TS,O_( T?) &? O?_TH are the Transformed Range, Speed, Angular Velocity, and Height of the object respectively.
Fig. 4 illustrates a schematic diagram depicting the innovation changes with respect to object behaviour, according to an exemplary implementation of the present invention.
The graph in Fig. 4 discloses how the values of innovation changes with respect to the object behavior. The computation of Object Innovation is calculated as
e= |y_n-x_n | /?Inn?_Max
where e is a positional residual error, yn is measurement position, xn is the predicted position and Inn_Max is the Maximum Innovation. Maximum innovation shall be taken as 6 times the standard deviation/sensor accuracy. (as per white Gaussian distribution).
Figure 5 illustrates a schematic diagram depicting the result of the calculation of update rate using the described parameters, according to an exemplary implementation of the present invention.
The update rate based on total search time and the total track time for the maximum number of objects computed, and the time factor parameter computed in shall be used to compute the update rate for the specific object’s updation.
?Object?_TUR= T_MU (1-T_F)
where, ? Object?_TUR is the update rate for the particular object and T_F is the time factor.
Fig. 6 illustrates a method for computing dynamic update rate for object tracking, according to an exemplary implementation of the present invention.
Referring now to Fig. 6 which illustrates a flowchart (600) of a for computing dynamic update rate for an object tracking, according to an exemplary implementation of the present invention. The flow chart (600) of Fig. 6 is explained below with reference to Fig.1 as described above.
At step 602, receiving, by a radar data processor (102) of a phased array radar, a plot report data obtained from a signal processor module (102).
At step 604, validating, by a data validation module (104), by neglecting unwanted data from the received plot report data.
At step 606, selecting, by a plot centroiding module (106), a single plot report for a single object and centroiding multiple report data if obtained for the same object.
At step 608, storing, by a store centroided report data module (108), the received single report data and the multiple report data of the same object.
At step 610, correlating, by an object correlation and association module (110), the received single plot report with an existing object report data stored in an object report data module.
At step 612, storing, by the object report module of the object correlation and association module (110), the received correlated plot report data.
At step 614, updating, by an object updation and prediction module (114), the current state of the object based on the associated plot report data, and
At step 616, predicting, by the object updation and prediction module (114), a new state of the object based on a dynamic update rate value and the current state of the object.
It should be noted that the description merely illustrates the principles of the present invention. It will thus be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described herein, embody the principles of the present invention.
Furthermore, all examples recited herein are principally intended expressly to be only for explanatory purposes to help the reader in understanding the principles of the invention and the concepts contributed by the inventor to furthering the art and are to be construed as being without limitation to such specifically recited examples and conditions. Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass equivalents thereof.

Reference Numerals:
Radar data processor module: 102
Data Validation Module: 104
Plot Centroiding Module:106
Store Centroided Reports Data Module: 108
Correlation and Association Module:110
Object Initiation Module:112
Object Updation and Prediction Module:114
Compute Update Rate Module:116
Compute Threat Priority Module:118
Object Innovation Moduel:120
Object Load Module:122
Object Range Module:124
Object Speed Module:126
Object Angular Velocity:128
Object Height Module:130

,CLAIMS:
1. A method for computing dynamic update rate for an object tracking, the method comprising:
receiving, by a radar data processor module (102) of a phased array radar, a plot report data obtained from a signal processor;
validating, by a data validation module (104), by neglecting unwanted data from the received plot report data;
selecting, by a plot centroiding module (106), a single plot report for a single object and centroiding for the multiple report data if obtained for the same object;
storing, by a store centroided report data module (108), the received single report data and the multiple report data of the same object.
correlating, by an object correlation and association module (110), the received single plot report with an existing object report data stored in an object report data module.
storing, by the object report data module of the object correlation and association module (110), the received correlated plot report data;
updating, by an object updation and prediction module (114), the current state of the object based on the associated plot report data, and
predicting, by the object updation and prediction module (114), a new state of the object based on a dynamic update rate value and the current state of the object;
wherein the dynamic update rate value is calculated using a threat value, search coverage, dwell time, object load, and object innovation.
2. The method as claimed in claim 1, wherein, computing the threat value using the value of object range, object speed, object angular velocity and object height.
3. The method as claimed in claim 1, wherein the process of correlating of the received single plot report with the existing plot report is performed to find if received plot report belongs to the existing object or a new object.
4. The method as claimed in claim 1, wherein the object tracking is performed accurately by using the radar parameters.
5. A system for computing dynamic update rate for an object tracking, the system comprising:
a radar data processor module (102) of a phased array radar configured to receive a plot report data obtained from a signal processor;
a data validation module (104) configured to validate the usage of the intended plot report data, by neglecting unwanted data from the received plot report data;
a plot centroiding module (106) configured to select a single plot report data for a single object and centroiding for multiple report data if obtained for the same object;
a store centroided report data module (108) configured to store the received single report data and the multiple report data of the same object;
an object correlation and association module (110) configured to correlate the received single plot report data with an existing object report data stored in an object report data module, wherein the object report data module of the object correlation and association module (110) stores the received correlated plot report data;
an object updation and prediction module (114) configured to update the current state of the object based on the associated plot report data, and
to predict a new state of the object based on the dynamic update rate value and the current state of the object;
wherein the dynamic update rate value is computed using a threat value, search coverage time, maximum update time, total objects time, dwell time, object load, and object innovation.
6. The system as claimed in claim 5, wherein the system comprises an object initiation module (112), wherein the object initiation module (112) is configured to track a new object in the space.
7. The system as claimed in claim 6, wherein the tracking of the new object is achieved by correlating the new object report data with the existing object report data.
8. The system as claimed in claim 5, wherein the plot report data is validated against permissible limits of each specified parameters, the specified parameters include range, azimuth, elevation, signal strength, noise, and filter number.
9. The system as claimed in claim 1, wherein the threat value is calculated by using the value of object range, object speed, object angular velocity and object height, obtained from an object range module (124), an object speed module (126), an object angular velocity module (128), and an object height module (130) respectively.
10. The system as claimed in claim 1 comprises an object innovation module (122) configured to calculate the error residue value.
11. The system as claimed in claim 5, wherein the threat value is computed at compute threat priority module (118).
12. The system as claimed in claim 5, wherein the dynamic update rate is computed at a compute rate module (116).
13. The system as claimed in claim 12, wherein the compute rate module (116) is configured to receive the computed threat value, the object innovation value, and the object load value.