DESC:TECHNICAL FIELD OF THE INVENTION

[0001] The present disclosure/invention relates generally to radar system and more particularly, to a system and method to fuse plurality of tracks of the radar system consisting of multiple radar panels (MRP).
BACKGROUND OF THE INVENTION

[0002] Generally, a radar system consisting of multiple radar channels with the non-rotating design with multiple planner active phased arrays provides 360-degree coverage. Without mechanical rotation, the radar system consisting of Multiple Radar Panels (MRP) design provides the coverage of total airspace in azimuth and elevation. The Multiple Radar Panels (MRP) consist of multiple trackers to cover total airspace of 360 degree in azimuth, where each tracker gives out tracks independently for the surveillance region covered by each phased array placed in that particular direction. The subsequent phased arrays have some significant overlap area.
[0003] In the modern air surveillance scenario, many types of radar cover a common global surveillance region to create a collective picture of the traffic. The Multiple Radar Panels (MRP) design consists of multiple radar panels covering 360 degree surveillance. Each radar panel is having an actively phased array system. Each active phased array covering the part of airspace is associated with the separate Radar Data Processing (RDP) module to track the targets in its coverage area, this way MRP design have the multiple RDP’s associated to achieve the tracking of targets in total airspace. To have a seamless and unambiguous surveillance picture, the multiple RDPs with different local tracks need to be correlated and a track identity need to be maintained for targets tracked by multiple RDPs.
[0004] One of the prior arts discloses a “Track Associator” which is a technique to associate track information. The first set of track identification data is associated with global track identifier (GID) and is broadcasted to the first tracking system and second tracking system. The second set of track identification data received from second tracking system identifies any tracks of the second tracking system that match the first set of tracking identification data.
[0005] The track associator assigns to each received track identification data, a new arbitrary and unique global track ID (GID). The GID is broadcasted by associator to all tracking systems. The tracking systems then perform respective mathematical analysis to determine which of their own local tracks align with the track identification received from associator. Each tracking system determines the track align information and send messages back to associator which include mapping that links a local track ID to global track ID. The associator updates the mapping data base and broadcasts the updated mappings to each tracking system. In this way, tracking systems have common GIDs which aids in identifying and communicating information about tracks across organizations and different tracking systems. The associator is not responsible for performing any mathematical or physical analysis on tracks to determine which tracks are similar and only individual tracking systems performs own calculations and make a decision on the track associations. This is a huge burden on the tracking systems as already the systems will be involved in generating tracks and performing tracking process and also there is a huge networked data is involved in broadcasting the data if more tracking systems are involved.
[0006] Another prior art discloses “A Method for Distributed Data Association and Multi-Target Tracking “. The technique disclosed in this prior art is for multiple sensor tracking which distributes data association and filtering process among multiple processing entities but coordinates the track estimates such that track states and covariance’s represent the equivalent of a centralized estimate. The object of this prior art is to establish a unique system track for a single aircraft in a distributed processing environment. The data will be continuously updated and broadcasted between multiple sensor processing entities.
[0007] The multiple target tracking system receives a target report from a sensor to a processing node, associates the target report with a specific track, updates the track state and covariance, and broadcasts the tracks state and covariance to the other processing nodes. The other processing nodes receive the broadcast track state and covariance information and replace their present track state and covariance with the newly received broadcast information. This way each node will be broadcasting updated track information to all other processing nodes.
[0008] Further prior art discloses a “System and Method for Correlating Primary Radar Tracks and Secondary Radar Tracks”. The technique disclosed in this prior art relates to a system and method for identifying and correlating primary radar tracks and secondary radar data with intact maintenance of track identities with enhanced accuracy. This prior art discusses about primary radar and secondary radar having collocated and rotating synchronously along with each other. The fusion module receives primary radar tracks and secondary radar data for correlating and identifying the tracks belonging to the same target. The fusion module has a two-step process where in step-1 secondary radar data will be used to generate the secondary radar tracks and step-2 the secondary radar tracks and primary radar tracks are passed on to the fusion module for identifying and correlating the tracks belonging to the same target. The correlation and identification are obtained based on the distance and kinematics checking and also with the predetermined correlation history stored in fusion module. This prior art discusses about the primary radar and secondary collocated and is applicable for synchronous radars. Further, this prior art is limited to only two sensors and it is unidirectional.
[0009] Furthermore, prior art discloses a “Method for Common Track Identification Maintenance for High Availability Radar System”. This prior art relates to a method to maintain common track identity for a redundancy system. This prior art system deals with the switching of Master-Slave configuration when one of the redundancy systems fails to operate. The tracks from redundancy systems RDP1 and RDP2 are sent to Redundancy modules (RM1 and RM2). The RM1 and RM2 communicate with each other and decide about Master and Slave configuration. The Master RM module will share the final processed output to the user. The Master RM module receives track data from RDP1 and RDP2, the received tracks will be identified and correlated as the same target. Once the identification is done the track numbers from RDP1 and RDP2 are stored in data base and a unique number will be generated by the Master RM module and the same will be shared with Slave RM module for further processing. The slave RM module will also receive RDP1 and RDP2 tracks and uses the Master RM module information for correlation purpose and maintains a similar data base of Master RM module. If Master RM module fails, then the slave RM module takes over the operation automatically and does the fusion process. After some time even if Ex-Master RM module operates it will be given slave configuration. This prior art particularly discusses about the redundancy environment where if one system fails other should take over and should have seamless output to the user. This system also shares all the information to all the RM modules in the system. For a two system of RM modules the Master-Slave configuration accurately works and for more than two RM modules the Master–Slave configuration will become more complex and sharing of data among all the RM modules will be heavy load on the network.
[0010] Therefore, there is a need in the art with a method and system to fuse the tracks of the radar system consisting of multiple radar panels (MRP) and to solve the above mentioned limitations.
SUMMARY OF THE INVENTION
[0011] An aspect of the present invention is to address at least the above-mentioned problems and/or disadvantages and to provide at least the advantages described below.
[0012] Accordingly, in one aspect of the present invention relates to a method for track to track fusion for radar system having multiple radar panels, the method comprising: receiving, by a plurality of radar panels (201, 202, 203 and 204), a plurality of plots of a target in a surveillance of the Multiple Radar Panels (MRP), providing the received plurality of plots to a Radar Data Processing (RDP) (205, 206, 207 and 208) module coupled to each radar panels (201, 202, 203 and 204) to generate plurality of tracks, receiving, by a fusion module (210), via an Ethernet switch (209), a generated plurality of tracks, wherein the fusion module (210) identifies and fuse the plurality of generated tracks correspond to same target and provides a seamless transmission picture of complete surveillance in a track display (211).
[0013] Other aspects, advantages, and salient features of the invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the invention.

BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS
[0014] 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.
[0015] Figure 1 shows a Multiple Radar Panels (MRP) system design to cover 360-degree coverage according to an exemplary implementation of the present disclosure/invention.
[0016] Figure 2 shows a system level block diagram of Fusion module in MRP design according to an exemplary implementation of the present disclosure/invention.
[0017] Figure 3 shows a flowchart of block diagram of Multiple Radar Panels (MRP) Fusion Module system according to an exemplary implementation of the present disclosure/invention.
[0018] Figure 4 shows a functional flowchart of Multiple Radar Panels (MRP) Fusion modules according to an exemplary implementation of the present disclosure/invention.
[0019] Figure 5 shows a flowchart of track to track association module according to an exemplary implementation of the present disclosure/invention.
[0020] Figure 6 shows a flowchart for clearing track from database according to an exemplary implementation of the present disclosure/invention.
[0021] Figure 7 shows a flowchart for sending track output according to an exemplary implementation of the present disclosure/invention.
[0022] 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 disclosure. Similarly, it will be appreciated that any flow charts, flow diagrams, and the like represent various processes which may be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.
DETAILED DESCRIPTION OF THE INVENTION
[0023] The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the invention as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
[0024] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the invention. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present invention are provided for illustration purpose only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.
[0025] It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a component surface” includes reference to one or more of such surfaces.
[0026] By the term “substantially” it is meant that the recited characteristic, parameter, or value need not be achieved exactly, but that deviations or variations, including for example, tolerances, measurement error, measurement accuracy limitations and other factors known to those of skill in the art, may occur in amounts that do not preclude the effect the characteristic was intended to provide.
[0027] Figures discussed below, and the various embodiments used to describe the principles of the present disclosure in this patent document are by way of illustration only and should not be construed in any way that would limit the scope of the disclosure. Those skilled in the art will understand that the principles of the present disclosure may be implemented in any suitably arranged communications system. The terms used to describe various embodiments are exemplary. It should be understood that these are provided to merely aid the understanding of the description, and that their use and definitions in no way limit the scope of the invention. Terms first, second, and the like are used to differentiate between objects having the same terminology and are in no way intended to represent a chronological order, unless where explicitly stated otherwise. A set is defined as a non-empty set including at least one element.
[0028] In the following description, for purpose of explanation, specific details are set forth in order to provide an understanding of the present disclosure. It will be apparent, however, to one skilled in the art that the present disclosure 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.
[0029] 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 presently disclosure and are meant to avoid obscuring of the presently disclosure.
[0030] 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.
[0031] The various embodiments of the present disclosure/invention describe about a system and method for track to track fusion for a radar system consisting of multiple radar panels (MRP). The present invention method effectively fuses all the tracks available from RDP outputs of multiple radar panels and provides a seamless picture of complete air surveillance. The present invention uses track to track fusion method to improve the track estimation accuracy in terms of position and kinematics. The present invention maintains unique and intact track identity for the target, provided seamless picture of complete air surveillance, Identification and fusion of corresponding track outputs of same target.
[0032] The present invention provides a system and method to fuse the RDP output of radar system consisting of MRP. The present invention method effectively fuses all the tracks available from RDP outputs of multiple radar panels and provides a seamless picture of complete air surveillance. The present invention uses track to track fusion method to improve the track estimation accuracy in terms of position and kinematics. The present invention maintains unique and intact track identity for the target, provided seamless picture of complete air surveillance, Identification and fusion of corresponding track outputs of same target.
[0033] The present invention develops a fusion module to have a common surveillance picture by fusing radar tracks in overlapped region of subsequent phased array trackers. The present invention further provides an independent fusion module which receives tracks from multiple local RDPs and does all the calculations, analysis and decisions on track to track associations for generating the unique track identity. By this way the local RDPs will reduce the burden of overhead of calculations.
[0034] The present invention provides a system and method to fuse the tracks available from RDP’s of each panel. The Multiple Radar Panels (MRP) covers and tracks the targets in complete airspace but the seamless picture can be achieved only by fusion of tracks from multiple RDP’s. The coverage of each panel is having overlapping area with the other panel coverage. The fusion module is needed as it can provide the seamless picture of the entire coverage area of MRP system. The fusion systems vary greatly depending on the particular requirement of surveillance systems.
[0035] The present invention provides the method to handle the key issues: first maintaining the unique target track identity for a target crossing the surveillance area of one phased array to another, second issue is track correlation and fusion of track reports received from multiple phased array trackers, when target is detected in overlapped area of multiple radar panels, and third issue is maintaining the track status as alive when the track is moving from surveillance area of one radar panel coverage area to another in the case where panels does not share the common surveillance area.
[0036] The Multiple Radar Panels (MRP) panels cover a total of 360 degrees with each panel having its own covering area. The fusion module will map the four panels (could be extended to more panels) coverage area into 360 degree and divide it into ‘M’ sectors and for example ‘M’ could be 32 or 64 or any other number with which 360 degree will be divided. The tracks received from each panel are checked with azimuth (extended to range as well as elevation) and stored in corresponding ‘M’ sector. The comparison of tracks will be performed with the tracks present in nearby sectors. The update rate of each track from fusion module is ‘T’ sec for example ‘T’ could be 1 sec or 2 sec or less/more than a sec.
[0037] Each radar panel coverage is having an overlapping area with the other radar panels. The present invention fusion module provides the following details:
a) Maintaining unique track identity
b) Provide a common surveillance picture from multiple radar panels output.
c) Identification and fusion of corresponding track outputs of same target.
The challenges to be addressed by the present invention are provided below:
1) Identification and Maintenance of same system track number if target moves from Panel-1 coverage area to Panel-2 coverage area (No overlap of coverage)
2) Identification and fusion of tracks when the target is moving in common surveillance region of Panel-1 and Panel-2 (having common surveillance region)
3) Providing unique system track identity for all the tracks present in total coverage area of all the panels.
[0038] The present invention is independent of the Radar coverage area (Overlapping or Non-overlapping and amount of coverage), radar scanning patterns (Uni-directional or Bi-directional and Synchronous or Asynchronous) and location of radars (collocated or separately located).
[0039] NOMENCLATURE:
MRP–Multiple Radar Panels
RDP– Radar Data Processing
[0040] In one embodiment, the present invention provides a system and a method of fusion of tracks received from radar consisting of Multiple Radar Panels (MRP) with four or extendable with any other number of panels to cover 360 degree comprises of:
a. receiving tracks and mapping it to sector and stored in each sector.
b. comparison methodology of tracks with existing tracks in data base.
c. fusion of tracks and storage in data base.
d. intact track maintenance
e. the fusion module is robust and designed for synchronous and asynchronous radar scanning.
[0041] In one embodiment, the track received from different panels are stored in sector format based on the azimuth and could be extended to range as well as elevation received from track report.
[0042] In one embodiment, the method aids in identifying and fusion of global tracks having input tracks from different panels.
[0043] In one embodiment, the identification and correlating of Tracks from multiple radar panels corresponding to same target are obtained by comparing with mahalanobis distance, kinematics and ellipsoidal gating.
[0044] In one embodiment, the fusion module is capable to receive, and fuse tracks received from Multiple Radar Panels with synchronous radar scanning.
[0045] In one embodiment, the fusion module is capable to receive, and fuse tracks received from Multiple Radar Panels with asynchronous radar scanning.
[0046] The fusion module is capable to receive and fuse tracks received from multiple radar panels with synchronous (At the end clockwise/anticlockwise scanning of first radar panel second radar panel start scanning and so on) and asynchronous radar scanning (All radar panels scanning together).
[0047] In one embodiment, the fusion module is capable of handling unidirectional as well as bidirectional scanning. The fusion module is capable of handling unidirectional (start scanning in clockwise and the end of scan it again goes to the start position and scan in clockwise direction to the end of scan) as well as bi-directional scanning (start scanning in clockwise and the end of scan it again goes scanning in anticlockwise to the start position).
[0048] Figure 1 shows a Multiple Radar Panels (MRP) system design to cover 360-degree coverage according to an exemplary implementation of the present disclosure.
[0049] The figure shows the Multiple Radar Panels (MRP) system which has 4 radar panels and each panel has coverage area with overlapping and non-overlapping regions with each other panels. The radar panel has a phased array antenna system for each panel (101, 102, 103 and 104). The coverage area for each panel is (105, 106, 107and 108). The design of Multiple Radar Panels (MRP) has its own advantages in terms of instrumented range of the radar even with low interval time.
[0050] Figure 2 shows a system level block diagram of Fusion module in MRP design according to an exemplary implementation of the present disclosure.
[0051] The figure illustrates the system level block diagram of the Multiple Radar Panels (MRP) Fusion system. The phased array systems (201, 202, 203 and 204) will generate plots for the targets in the surveillance of MRP. The plots are fed to RDPs attached to each phased array system. Each RDP will form tracks for targets under the surveillance of each phased array system. 205, 206, 207 and 208 are the trackers (RDP’s) for each panel (i.e., For Panel-1, 205 corresponds to RDP-1, for Panel-2, 206 corresponds to RDP-2, for Panel-3, 207 corresponds to RDP-3 and for Panel-4, 208 corresponds to RDP-4). The plots received from each panel (Panel-1, Panel-2, Panel-3 and Panel-4) will form tracks (respectively in 205, 206, 207 & 208). The tracks data is sent via Ethernet through Ethernet switch (209). The track data is pumped to fusion module (210) and the fusion module identifies and fuse the tracks correspond to the same target provides a seamless transmission picture of complete surveillance in the track display (211).
[0052] In one embodiment, the present invention relates to a method for track to track fusion for radar system having multiple radar panels, the method comprising: receiving, by a plurality of radar panels (201, 202, 203 and 204), a plurality of plots of a target in a surveillance of the Multiple Radar Panels (MRP), providing the received plurality of plots to a Radar Data Processing (RDP) (205, 206, 207 and 208) module coupled to each radar panels (201, 202, 203 and 204) to generate plurality of tracks, receiving, by a fusion module (210), via an Ethernet switch (209), a generated plurality of tracks, wherein the fusion module (210) identifies and fuse the plurality of generated tracks correspond to same target and provides a seamless transmission picture of complete surveillance in a track display (211).
[0053] Figure 3 shows a flowchart of the block diagram of Multiple Radar Panels (MRP) Fusion Module system according to an exemplary implementation of the present disclosure.
[0054] The figure illustrates the flow chart of the block diagram of Multiple Radar Panels (MRP) fusion module system. The tracks from each panel are collected at (301, 302, 303 and 304) and are stored in (305, 306, 307 and 308). The track data sent by the MRPs are converted and mapped to the sectors based on the azimuth (extended to range as well as elevation) into 360 degree surveillance. The tracks received will be stored into respective sectors. The tracks from sectors will be selected and compared with the existing global tracks in the correlation module (312). The input track received will be checked for respective sector and will be checked for existing tracks stored in nearby sectors stored in memory. The existing tracks will be time aligned and checked for positional and kinematics closeness. If found matching, then the input track will be passed to track fusion at (313). At track fusion, the input track details will be fused and integrated with the matched existing global track. Then the track will be passed on to track maintenance module where the unique global track number is assigned at (314). Delete, by a delete track module (309), the existing global track, based on the ‘N’ scans/ ‘Tm’ secs, where ‘N’ scans refer to number of scans track without getting any update from the local RDP's and ‘Tm’ secs is configurable parameter refer to amount of time track is not updated from local RDPs. The track database and memory management is done at module (310) and sending of track to the user/display will be done at (311).
[0055] In one embodiment, wherein identifying and fusing the plurality of generated tracks comprising the steps of: receiving, by a track data receive modules (305, 306, 307 and 308), a plurality of input tracks (301, 302, 303 and 304) of the target from the Radar Data Processing (RDP) (205, 206, 207 and 208) of the plurality radar panels and storing the received plurality of tracks into respective sectors, converting and mapping the received plurality of input tracks to sectors based on azimuth, extended to range and elevation, into 360 degree surveillance, selecting and comparing each of input tracks with plurality of existing global tracks in a correlation module (312), wherein each received track is checked for respective sector and for existing tracks stored in nearby sectors stored in a memory, checking each received input track with the existing tracks for time alignment and for positional and kinematics closeness, sending the received input track to track fusion (313) module for fusion and integration with the matched existing global track, if the received input track matches with any one of the existing global track, sending the integrated track to a track number maintenance module (314) and assigning a unique global track number to the integrated track by the track number maintenance module (314) and sending, by a send track module (311), the integrated track to a user/display.
[0056] Figure 4 shows a functional flowchart of Multiple Radar Panels (MRP) Fusion modules according to an exemplary implementation of the present disclosure.
[0057] The figure depicts the functional flow of Multiple Radar Panels (MRP) fusion modules. It comprises of 3 threads: Thread 1 (401) is for correlation and fusion module (402). Thread 2 (403) is for track deletion module (404). Thread 3 (405) is for sending track to display module (406). All the 3 threads will be executed parallel with respective sectors.
[0058] Figure 5 shows a flowchart of track to track association module according to an exemplary implementation of the present disclosure.
[0059] The figure illustrates the flowchart for track to track association of MRP Fusion system. The tracks from each panel are collected at (501) from the modules (305, 306, 307 and 308). The sector will be calculated from the input track data received from 312. With reference to the sector computed, the existing global tracks available nearby sectors are compared with the input track received at (502). The input track number is checked with global track at (503) if the track number received is already assigned in the existing global tracks list and the track number found available, it indicates that the input track number received is already available from previous scans. Then the input track received will be checked for ‘already fused’ at (504) which means that the input track is already fused with other radar panel tracks from previous scans of same target i.e., the global track list consists of fused information of tracks received from multiple radar panels. Once the ‘already fusion’ check is found true, then the input track and global track data will be time aligned at (505) for comparing the positional and kinematics gates of input track and global track. If the positional and kinematics gate is satisfying at (506) then the input track will be appended/added into the global track list and the fused data will be updated in global track list at (507) with the latest information. If the gate is not satisfied at (506), then the miscount parameter is incremented at (509) for the track number in the global track. And if the miscount parameter is greater than or equal to threshold say ‘2’ at (510) then the track number in the global track will be removed from the global track list. Now the input track will be forwarded to check with other existing tracks in nearby sectors at (519) with positional and kinematics gate matching after time alignment. If found satisfying gate at (520), then the global track list will be checked for presence of track number from the same radar panel or not. If input track and existing track are from same radar panel then the existing track miss count will be checked at (522) means that the already existing track is not received from past many scans and the input track might be the new track number created for the target. And if the global track list does not have the track from the panel of input track, then the track number will be added to the temporary list at (523) and if the same track number is associated for continuously for 2 scans checked at (524) then the input track will be added to the fused information of global track with latest information at (525). If the gate is found not satisfied at (520) then the new track will be created, and new global track will be initiated with one single track from the panel at (508). If the input track is found not fused with existing global track at (504) then the input track will be time aligned with the matched existing global track and compared for positional and kinematics matching at (512). If gate is found satisfactory at (513) then the input track data will be kept hold at (514) and will be checked with the other existing global tracks present in the nearby sectors at (515). If the gate is found satisfactory between the input track and the existing global track at (516) then the input track will be fused with existing global track with the latest information at (517). If the gate is not found satisfactory at (516) then the input track will be updated with the matched global track found at (503) and modified with the latest information at (518). If the input track number is not assigned to any global track number at (503), then the input track number will be checked with other existing global tracks in nearby sectors at (519) and checked for gate satisfaction at (520), if gate is found satisfactory then the global track will be checked for same radar panel track as input track received. If input track and existing global track have same panel track then the miscount of existing global track from the same panel will be checked at (522) and if found greater than ‘2’ or if the input track panel and existing global track panel does not match that means no track has been assigned for the panel. For both the cases the input track will be updated with the global track with the latest information at (525). If the existing global track form the same panel have a miscount less than ‘2’ then the input track will be added to temporary list and checked for continuation of association for more than 2 scans at (524). If input track come associates more than 2 scans, then the input track will be updated with the latest information at (525) and appended/added into the track list history at (508).
[0060] In one embodiment, the step of selecting and comparing each of input tracks with plurality of existing global tracks in a correlation module (312) comprising: receiving (501), input tracks from each panel via track data receive modules (305, 306, 307 and 308), and calculating sector from the input track data received (312), comparing (502), the existing global tracks stored in nearby sectors with the sector computed for each input track, checking (503), whether each input track number received is already assigned in the existing global track list and if available, indicating that the input track number received is available from previous scans, checking (504), whether matched existing global track is already fused with other radar panel tracks from previous scans of same target, where the global track list comprises of fused information of tracks received from multiple radar panels, checking (505) the received input track with the matched existing global track for time alignment, if the received track is fused, and comparing the received input track with the matched existing global track for positional and kinematics closeness; and appending (506) the received input track into the matched existing global track list, if the received input track positional and kinematics is matching with the positional and kinematics and updating (507) the latest fused data in the global track list.
[0061] The method further comprises incrementing (509) a miscount parameter for the track number in the global track, if the positional and kinematics of the received input track is not matching with the positional and kinematics of matched existing global tracks and removing (511) the track number in the global track list, if the miscount parameter is greater than or equal to threshold ‘2’ and forwarding (519) the input track to compare positional and kinematics closeness with other nearby existing global tracks and wherein if the miscount parameter is lesser than threshold, then input track is not used for new global track creation and for modifying existing global track.
[0062] The method further comprises wherein if the positional and kinematics closeness of the received input track is found matching (520) with any one of the existing global tracks, checking the global track list for presence that the track number is from the same radar panel or not, if the input track and existing global track list contain the track from same radar panel, then the miscount of existing global track from the same panel is checked (522) and if found greater than ‘2’, then, input track is used for fusion with existing track (525), and if the global track list is not having the track from the panel of input track, then the track number is added (523) to the temporary list and if the same track number is associated for continuously for 2 scans checked at (524) then the input track is added to the fused information of global track with latest information at (525).
[0063] The method further comprises creating (521) a new track, if the positional and kinematics closeness of the received input track is not matching (520) with any one of the existing global tracks, and new global track is initiated with one single track from the panel at (508).
[0064] The method further comprises wherein if matched existing global track is found as not a fused track at (504) then the input track is time aligned with the matched existing global track and compared (512) for positional and kinematics matching and if the positional and kinematics closeness of the received input track is found matching (513) with the matched existing track, holding (514) the input track data and checking (515) the input track data with the other existing global tracks from another radar panels present in the nearby sectors and if the positional and kinematics closeness is found matching (516) between the input track and the existing global track, fusing (517) the input track with existing global track with the latest information, and wherein if the positional and kinematics closeness is not matching (516), then the input track will be updated with the matched global track found at (503) and modified with the latest information at (518).
[0065] The method further comprises wherein if the input track number is not assigned (503) to any global track number, then the input track is checked (519) with other existing global tracks in nearby sectors and checked (520) for positional and kinematics closeness, if positional and kinematics closeness is matching, then the global track is checked for same radar panel track as input track received, and if input track and existing global track have same panel track then the miscount of existing global track from the same panel is checked at (522) and if found greater than ‘2’ or if the input track panel and existing global track panel does not match that means no track has been assigned for the panel.
[0066] The method further comprises wherein updating (525) the input track with the global track with the latest information, wherein if the existing global track form the same panel have a miscount less than ‘2’ then the input track is added to temporary list and checked (524) for continuation of association for more than 2 scans, wherein if input track come associates more than 2 scans, then the input track is updated with the latest information at (525) and added into the track list history at (508).
[0067] Figure 6 shows a flowchart for clearing track from database according to an exemplary implementation of the present disclosure.
[0068] The figure illustrates the flow chart to clear the track data from data base. The tracks stored in sector are collected at (602). The track delete flag or the difference of time between last update of track and present time is calculated and checked for condition at (604). If track difference of time is more than ‘N’ say for example 5 scans if scan time is available or the delete flag is available in track update then the track is deleted from the sector data base or based on the amount of time the track has not updated will be parameters considered to delete the track from memory at (603), otherwise the miss count of track is updated at (605). The waiting time is computed at (606) and no process will be done during the waiting time at (607) to maintain synchronous with the radar panels.
[0069] Figure 7 shows a flowchart for sending track output according to an exemplary implementation of the present disclosure.
[0070] The figure illustrates the flow chart for sending the fused track data of MRP system. The track from each sector is collected at (702). Each track is encoded as CAT048 packet at (703), the encoded track is sent through LAN at (704). Wait time is calculated at (705) and there will be no process till wait time at (706) to maintain synchronous with the radar panels and all the tracks are sent out from the sector.
[0071] Figures are merely representational and are not drawn to scale. Certain portions thereof may be exaggerated, while others may be minimized. Figures illustrate various embodiments of the invention that can be understood and appropriately carried out by those of ordinary skill in the art.
[0072] In the foregoing detailed description of embodiments of the invention, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby incorporated into the detailed description of embodiments of the invention, with each claim standing on its own as a separate embodiment.
[0073] It is understood that the above description is intended to be illustrative, and not restrictive. It is intended to cover all alternatives, modifications and equivalents as may be included within the spirit and scope of the invention as defined in the appended claims. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the invention should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein,” respectively.

,CLAIMS:

1. A method for track to track fusion for radar system having multiple radar panels, the method comprising:
receiving, by a plurality of radar panels (201, 202, 203 and 204), a plurality of plots of a target in a surveillance of the Multiple Radar Panels (MRP);
providing the received plurality of plots to a Radar Data Processing (RDP) (205, 206, 207 and 208) module coupled to each radar panels (201, 202, 203 and 204) to generate plurality of tracks;
receiving, by a fusion module (210), via an Ethernet switch (209), a generated plurality of tracks, wherein the fusion module (210) identifies and fuse the plurality of generated tracks correspond to same target and provides a seamless transmission picture of complete surveillance in a track display (211).

2. The method as claimed in claim 1, wherein identifying and fusing the plurality of generated tracks comprising the steps of:
receiving, by a track data receive modules (305, 306, 307 and 308), a plurality of input tracks (301, 302, 303 and 304) of the target from the Radar Data Processing (RDP) (205, 206, 207 and 208) of the plurality radar panels and storing the received plurality of tracks into respective sectors;
converting and mapping the received plurality of input tracks to sectors based on azimuth, extended to range and elevation, into 360 degree surveillance;
selecting and comparing each of input tracks with plurality of existing global tracks in a correlation module (312), wherein each received track is checked for respective sector and for existing tracks stored in nearby sectors stored in a memory;
checking each received input track with the existing tracks for time alignment and for positional and kinematics closeness;
sending the received input track to track fusion (313) module for fusion and integration with the matched existing global track, if the received input track matches with any one of the existing global track;
sending the integrated track to a track number maintenance module (314) and assigning a unique global track number to the integrated track by the track number maintenance module (314); and
sending, by a send track module (311), the integrated track to a user/display.

3. The method as claimed in claim 2, further comprising deleting, by a delete track module (309), the existing global track, based on the ‘N’ scans/ ‘Tm’ secs, where ‘N’ scans refer to number of scans track without getting any update from the local RDP's and ‘Tm’ secs is configurable parameter refer to amount of time track is not updated from local RDPs.

4. The method as claimed in claim 1 and 2, wherein the fusion module (210, 313) receives, and fuse tracks received from Multiple Radar Panels with synchronous and asynchronous radar scanning and handles unidirectional as well as bidirectional scanning.

5. The method as claimed in claim 1 and 2, wherein the step of selecting and comparing each of input tracks with plurality of existing global tracks in a correlation module (312) comprising:
receiving (501), input tracks from each panel via track data receive modules (305, 306, 307 and 308), and calculating sector from the input track data received (312);
comparing (502), the existing global tracks stored in nearby sectors with the sector computed for each input track;
checking (503), whether each input track number received is already assigned in the existing global track list and if available, indicating that the input track number received is available from previous scans;
checking (504), whether matched existing global track is already fused with other radar panel tracks from previous scans of same target, where the global track list comprises of fused information of tracks received from multiple radar panels;
checking (505) the received input track with the matched existing global track for time alignment, if the received track is fused, and comparing the received input track with the matched existing global track for positional and kinematics closeness; and
appending (506) the received input track into the matched existing global track list, if the received input track positional and kinematics is matching with the positional and kinematics and updating (507) the latest fused data in the global track list.

6. The method as claimed in claim 5, wherein incrementing (509) a miscount parameter for the track number in the global track, if the positional and kinematics of the received input track is not matching with the positional and kinematics of matched existing global tracks and removing (511) the track number in the global track list, if the miscount parameter is greater than or equal to threshold ‘2’ and forwarding (519) the input track to compare positional and kinematics closeness with other nearby existing global tracks; and
wherein if the miscount parameter is lesser than threshold, then input track is not used for new global track creation and for modifying existing global track.

7. The method as claimed in claim 5 and 6, wherein if the positional and kinematics closeness of the received input track is found matching (520) with any one of the existing global tracks, checking the global track list for presence that the track number is from the same radar panel or not.

8. The method as claimed in claim 5 and 7, wherein if the input track and existing global track list contain the track from same radar panel, then the miscount of existing global track from the same panel is checked (522) and if found greater than ‘2’, then, input track is used for fusion with existing track (525).

9. The method as claimed in claim 5 and 7, wherein if the global track list is not having the track from the panel of input track, then the track number is added (523) to the temporary list and if the same track number is associated for continuously for 2 scans checked at (524) then the input track is added to the fused information of global track with latest information at (525).

10. The method as claimed in claim 6, wherein creating (521) a new track, if the positional and kinematics closeness of the received input track is not matching (520) with any one of the existing global tracks, and new global track is initiated with one single track from the panel at (508).

11. The method as claimed in claim 5, wherein if matched existing global track is found as not a fused track at (504) then the input track is time aligned with the matched existing global track and compared (512) for positional and kinematics matching.
12. The method as claimed in claim 5 and 11, wherein if the positional and kinematics closeness of the received input track is found matching (513) with the matched existing track, holding (514) the input track data and checking (515) the input track data with the other existing global tracks from another radar panels present in the nearby sectors.

13. The method as claimed in claim 5 and 11, wherein if the positional and kinematics closeness is found matching (516) between the input track and the existing global track, fusing (517) the input track with existing global track with the latest information; and
wherein if the positional and kinematics closeness is not matching (516), then the input track will be updated with the matched global track found at (503) and modified with the latest information at (518).

14. The method as claimed in claim 5, wherein if the input track number is not assigned (503) to any global track number, then the input track is checked (519) with other existing global tracks in nearby sectors and checked (520) for positional and kinematics closeness, if positional and kinematics closeness is matching, then the global track is checked for same radar panel track as input track received;
wherein if input track and existing global track have same panel track then the miscount of existing global track from the same panel is checked at (522) and if found greater than ‘2’ or if the input track panel and existing global track panel does not match that means no track has been assigned for the panel.

15. The method as claimed in claim 5 and 14, wherein updating (525) the input track with the global track with the latest information, wherein if the existing global track form the same panel have a miscount less than ‘2’ then the input track is added to temporary list and checked (524) for continuation of association for more than 2 scans, wherein if input track come associates more than 2 scans, then the input track is updated with the latest information at (525) and added into the track list history at (508).