Extended Kalman Doppler tracking and model determination for multi-sensor short-range radar

Abstract

Abstract. A tracking solution for collision avoidance in industrial machine tools based on short-range millimeter-wave radar Doppler observations is presented. At the core of the tracking algorithm there is an Extended Kalman Filter (EKF) that provides dynamic estimation and localization in real-time. The underlying sensor platform consists of several homodyne continuous wave (CW) radar modules. Based on In-phase-Quadrature (IQ) processing and down-conversion, they provide only Doppler shift information about the observed target. Localization with Doppler shift estimates is a nonlinear problem that needs to be linearized before the linear KF can be applied. The accuracy of state estimation depends highly on the introduced linearization errors, the initialization and the models that represent the true physics as well as the stochastic properties. The important issue of filter consistency is addressed and an initialization procedure based on data fitting and maximum likelihood estimation is suggested. Models for both, measurement and process noise are developed. Tracking results from typical three-dimensional courses of movement at short distances in front of a multi-sensor radar platform are presented.

Vehicle Localization Using Doppler Shift and Time of Arrival Measurements in a Tunnel Environment

“…The same approach is used to compute the user velocity by using the speed of satellites derived from the information contained in broadcast or precise ephemeris [ 52 ]. Moreover, radar and sonar technologies use the same signal characteristic for velocity estimation [ 53 , 54 ].…”

“…The measurement model is nonlinear; thus, we use EKF, which uses first-order linearization to turn a nonlinear problem into a linear one. According to [ 53 ], first-order linearization of the nonlinear Doppler function is assumed to be sufficient when it is possible to have some assumptions for the considered scenarios. In the tunnel scenario, this equation depends on the tunnel’s known physical limitations, the speed limit of the vehicles, an accurate initialization of variables, and covariance matrices information about the possible range of the required variables.…”

Multi-UAV Doppler Information Fusion for Target Tracking Based on Distributed High Degrees Information Filters

“…In this paper, Doppler range, range rate, and bearing signal are assumed to be observable and used as the measurement sequentially during all simulations. Comparative results are then illustrated and discussed in the last section [12].…”

Directional sensitivity of track initialisation of a multistatic Doppler‐only passive radar network

“…In Maasdorp et al [23], significant amounts of real data are used in the coherent receiving mode of a frequency modulated signal. Track initialisation was tested, for example, using maximum likelihood estimation [24][25][26]. With direction of arrival information, track accuracy can be improved and even the number of needed bistatic ranges can be decreased for the aircraft location [27].…”