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下一代雷达的传感Sensor Fusion and Tracking for Next Generation Radar.pdf

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下一代雷达的传感器融合与跟踪

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Sensor Fusion and Tracking for

Next Generation Radar

Abhishek Tiwari

Pilot Engineering

Signal Processing and Communication

Agenda

• Target Tracking & Evaluation Metrics,

• Tracking Extended Objects & Large

number of Objects

• Passive Sensor Angle Only Tracking

• Closed-loop Multifunction

Radar

• Multisensor Detection

Generation & Fusion

• Localization

Sensor Fusion and

Tracking

Self- awareness Situational awareness

Accelerometer, Magnetometer,

Gyro, GPS…

Radar, Camera, IR, Sonar, Lidar,

…

Signal and Image

Processing

Control

Sensor Fusion and Tracking is…

Timeline of Technology Advances

Military

Commercial Ubiquitous

Today

Timeline

Multi-sensor Fusion

for Autonomous Systems

Computer Vision

for Transportation

Multi-object

tracking

Localization

Air Traffic Control

Fusion Combines the Strengths of Each Sensor

Sensor 1

measurement at time

step k

Sensor 2

measurement at

time step k

Fused

estimate at

time step k

Fused estimate

at time step k-1

Predicted estimate

at time step k

Cross range

Down range

Sensor 1

Measurement

Sensor 2

measurement

Track (fused

estimate)

Ellipse

represents

uncertainty

Legend

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