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Innovative Target Tracking Techniques for Modern Radar and Sonar Systems
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Innovative Target Tracking Techniques for Modern Radar and Sonar Systems

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Physical Sensors".

Deadline for manuscript submissions: closed (31 March 2020) | Viewed by 54180

Printed Edition Available!
A printed edition of this Special Issue is available here.

Special Issue Editors

Prof. Dr. Alfonso Farina

E-Mail Website
Guest Editor
Consultant, Rome, Italy
Interests: radar systems; adaptive beamforming; tracking algorithms; systems engineering
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Wei Yi

E-Mail Website1 Website2
Guest Editor
University of Electronic Science and Technology of China, School of Communication and Information Engineering, Chengdu, China
Interests: random finite set; radar signal processing; multi-target tracking; track-before-detect; sensor networks
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Due to their long-range, all-weather radar and sonar systems play important roles in both civil and defence applications. Typical examples include land, ocean, air, space monitoring, weather forecasting, air-defense, etc. Among the many applications, tracking multiple targets is an important function of radar and sonar systems.

Due to advances in engineering technologies in last decades, radar and sonar systems as well as the targets have changed significantly. Nowadays, radar and sonar systems constantly encounter a large number of targets of many different types. To cope with these challenges, the architecture of radar and sonar systems also evolve accordingly. Emerging radar and sonar systems include networked radar and sonar systems, multi-mission and cognitive systems, and multiple input multiple output (MIMO) radars. As a result, conventional target tracking developed for previous generation radar and sonar system should be suitably upgraded.

The aim of this Special Issue is to gather recent advances and developments in the target tracking field, so as to determine how they can be adapted for modern radar and sonar systems. Potential topics of interest include, but are not limited to:

  • Detection and tracking algorithms for low signal-to-noise ratio targets
  • Multiple target tracking algorithms for modern radar and sonar systems
  • Multiple target system modeling for radar and sonar systems
  • Track before detect methods for radar and sonar systems
  • Resource management for radar and sonar systems
  • Distributed data fusion architectures and methods for networked radar and sonar systems
  • Artificial intelligence for target detection and tracking in radar and sonar systems
  • Classification and identification of multiple target systems.

Prof. Dr. Alfonso Farina
Prof. Dr. Wei Yi
Guest Editors

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Published Papers (17 papers)

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25 pages, 766 KiB  
Article
Analysis of Polynomial Nonlinearity Based on Measures of Nonlinearity Algorithms
by Mahendra Mallick and Xiaoqing Tian
Sensors 2020, 20(12), 3426; https://doi.org/10.3390/s20123426 - 17 Jun 2020
Cited by 1 | Viewed by 1937
Abstract
We consider measures of nonlinearity (MoNs) of a polynomial curve in two-dimensions (2D), as previously studied in our Fusion 2010 and 2019 ICCAIS papers. Our previous work calculated curvature measures of nonlinearity (MoNs) using (i) extrinsic curvature, (ii) Bates and Watts parameter-effects curvature, [...] Read more.
We consider measures of nonlinearity (MoNs) of a polynomial curve in two-dimensions (2D), as previously studied in our Fusion 2010 and 2019 ICCAIS papers. Our previous work calculated curvature measures of nonlinearity (MoNs) using (i) extrinsic curvature, (ii) Bates and Watts parameter-effects curvature, and (iii) direct parameter-effects curvature. In this paper, we have introduced the computation and analysis of a number of new MoNs, including Beale’s MoN, Linssen’s MoN, Li’s MoN, and the MoN of Straka, Duník, and S̆imandl. Our results show that all of the MoNs studied follow the same type of variation as a function of the independent variable and the power of the polynomial. Secondly, theoretical analysis and numerical results show that the logarithm of the mean square error (MSE) is an affine function of the logarithm of the MoN for each type of MoN. This implies that, when the MoN increases, the MSE increases. We have presented an up-to-date review of various MoNs in the context of non-linear parameter estimation and non-linear filtering. The MoNs studied here can be used to compute MoN in non-linear filtering problems. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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18 pages, 10108 KiB  
Article
Innovative Multi-Target Estimating with Clutter-Suppression Technique for Pulsed Radar Systems
by Jo-Yen Nieh and Yuan-Pin Cheng
Sensors 2020, 20(9), 2446; https://doi.org/10.3390/s20092446 - 25 Apr 2020
Cited by 3 | Viewed by 2941
Abstract
Linear frequency modulation (LFM) waveforms have high Doppler-shift endurance because of the relative wide modulation bandwidth to the Doppler variation. The Doppler shift of the moving objects, nevertheless, constantly introduces obscure detection range offsets despite the exceptional Doppler tolerance in detection energy loss [...] Read more.
Linear frequency modulation (LFM) waveforms have high Doppler-shift endurance because of the relative wide modulation bandwidth to the Doppler variation. The Doppler shift of the moving objects, nevertheless, constantly introduces obscure detection range offsets despite the exceptional Doppler tolerance in detection energy loss from LFM. An up-down-chirped LFM waveform is an efficient scheme to resolve the true target location and velocity by averaging the detection offset of two detection pairs from each single chirp LFM in opposite slopes. However, in multiple velocity-vary-target scenarios, without an efficient grouping scheme to find the detection pair of each moving target, the ambiguous detection results confine the applicability of precise target estimation by using these Doppler-tolerated waveforms. A succinct, three-multi-Doppler-shift-compensation (MDSC) scheme is applied to resolve the range and velocity of two moving objects by sorting the correct LFM detection pair of each target, even though the unresolvable scenarios of two close-by targets imply a fatal disability of detecting objects under a cluttered background. An innovative clutter-suppressed multi-Doppler-shift compensation (CS-MDSC) scheme is introduced in this research to compensate for the critical insufficient of resolving two overlapping objects with different velocities by solely MDSC. The CS-MDSC has been shown to successfully overcome this ambiguous scenario by integrating Doppler-selective moving target indication (MTI) filters to mitigate the distorting of near-zero-Doppler objects. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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25 pages, 2041 KiB  
Article
Joint Tracking and Classification of Multiple Targets with Scattering Center Model and CBMeMBer Filter
by Ronghui Zhan, Liping Wang and Jun Zhang
Sensors 2020, 20(6), 1679; https://doi.org/10.3390/s20061679 - 17 Mar 2020
Cited by 5 | Viewed by 2221
Abstract
This paper deals with joint tracking and classification (JTC) of multiple targets based on scattering center model (SCM) and wideband radar observations. We first introduce an SCM-based JTC method, where the SCM is used to generate the predicted high range resolution profile (HRRP) [...] Read more.
This paper deals with joint tracking and classification (JTC) of multiple targets based on scattering center model (SCM) and wideband radar observations. We first introduce an SCM-based JTC method, where the SCM is used to generate the predicted high range resolution profile (HRRP) with the information of the target aspect angle, and target classification is implemented through the data correlation of observed HRRP with predicted HRRPs. To solve the problem of multi-target JTC in the presence of clutter and detection uncertainty, we then integrate the SCM-based JTC method into the CBMeMBer filter framework, and derive a novel SCM-JTC-CBMeMBer filter with Bayesian theory. To further tackle the complex integrals’ calculation involved in targets state and class estimation, we finally provide the sequential Monte Carlo (SMC) implementation of the proposed SCM-JTC-CBMeMBer filter. The effectiveness of the presented multi-target JTC method is validated by simulation results under the application scenario of maritime ship surveillance. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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19 pages, 4518 KiB  
Article
Joint Dwell Time and Bandwidth Optimization for Multi-Target Tracking in Radar Network Based on Low Probability of Intercept
by Lintao Ding, Chenguang Shi, Wei Qiu and Jianjiang Zhou
Sensors 2020, 20(5), 1269; https://doi.org/10.3390/s20051269 - 26 Feb 2020
Cited by 16 | Viewed by 2480
Abstract
Radar network systems have been demonstrated to offer numerous advantages for target tracking. In this paper, a low probability of intercept (LPI)-based joint dwell time and bandwidth optimization strategy is proposed for multi-target tracking in a radar network. Since the Bayesian Cramer–Rao lower [...] Read more.
Radar network systems have been demonstrated to offer numerous advantages for target tracking. In this paper, a low probability of intercept (LPI)-based joint dwell time and bandwidth optimization strategy is proposed for multi-target tracking in a radar network. Since the Bayesian Cramer–Rao lower bound (BCRLB) provides a lower bound on parameter estimation, it can be utilized as the accuracy metric for target tracking. In this strategy, in order to improve the LPI performance of the radar network, the total dwell time consumption of the underlying system is minimized, while guaranteeing a predetermined tracking accuracy. There are two adaptable parameters in the optimization problem: one for dwell time, and the other for bandwidth allocation. Since the nonlinear programming-based genetic algorithm (NPGA) can solve the nonlinear problem well, we develop a method based upon NPGA to solve the resulting problem. The simulation results demonstrate that the proposed strategy has superiority over traditional algorithms, and can achieve a better LPI performance of this radar network. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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14 pages, 3912 KiB  
Article
Batch Processing through Particle Swarm Optimization for Target Motion Analysis with Bottom Bounce Underwater Acoustic Signals
by Raegeun Oh, Taek Lyul Song and Jee Woong Choi
Sensors 2020, 20(4), 1234; https://doi.org/10.3390/s20041234 - 24 Feb 2020
Cited by 7 | Viewed by 3453
Abstract
A target angular information in 3-dimensional space consists of an elevation angle and azimuth angle. Acoustic signals propagating along multiple paths in underwater environments usually have different elevation angles. Target motion analysis (TMA) uses the underwater acoustic signals received by a passive horizontal [...] Read more.
A target angular information in 3-dimensional space consists of an elevation angle and azimuth angle. Acoustic signals propagating along multiple paths in underwater environments usually have different elevation angles. Target motion analysis (TMA) uses the underwater acoustic signals received by a passive horizontal line array to track an underwater target. The target angle measured by the horizontal line array is, in fact, a conical angle that indicates the direction of the signal arriving at the line array sonar system. Accordingly, bottom bounce paths produce inaccurate target locations if they are interpreted as azimuth angles in the horizontal plane, as is commonly assumed in existing TMA technologies. Therefore, it is necessary to consider the effect of the conical angle on bearings-only TMA (BO-TMA). In this paper, a target conical angle causing angular ambiguity will be simulated using a ray tracing method in an underwater environment. A BO-TMA method using particle swarm optimization (PSO) is proposed for batch processing to solve the angular ambiguity problem. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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27 pages, 3022 KiB  
Article
Adaptive Estimation of Spatial Clutter Measurement Density Using Clutter Measurement Probability for Enhanced Multi-Target Tracking
by Seung Hyo Park, Sa Yong Chong, Hyung June Kim and Taek Lyul Song
Sensors 2020, 20(1), 114; https://doi.org/10.3390/s20010114 - 23 Dec 2019
Cited by 2 | Viewed by 2714
Abstract
The point detections obtained from radars or sonars in surveillance environments include clutter measurements, as well as target measurements. Target tracking with these data requires data association, which distinguishes the detections from targets and clutter. Various algorithms have been proposed for clutter measurement [...] Read more.
The point detections obtained from radars or sonars in surveillance environments include clutter measurements, as well as target measurements. Target tracking with these data requires data association, which distinguishes the detections from targets and clutter. Various algorithms have been proposed for clutter measurement density estimation to achieve accurate and robust target tracking with the point detections. Among them, the spatial clutter measurement density estimator (SCMDE) computes the sparsity of clutter measurement, which is the reciprocal of the clutter measurement density. The SCMDE considers all adjacent measurements only as clutter, so the estimated clutter measurement density is biased for multi-target tracking applications, which may result in degraded target tracking performance. Through the study in this paper, a major source of tracking performance degradation with the existing SCMDE for multi-target tracking is analyzed, and the use of the clutter measurement probability is proposed as a remedy. It is also found that the expansion of the volume of the hyper-sphere for each sparsity order reduces the bias of clutter measurement density estimates. Based on the analysis, we propose a new adaptive clutter measurement density estimation method called SCMDE for multi-target tracking (MTT-SCMDE). The proposed method is applied to multi-target tracking, and the improvement of multi-target tracking performance is shown by a series of Monte Carlo simulation runs and a real radar data test. The clutter measurement density estimation performance and target tracking performance are also analyzed for various sparsity orders. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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22 pages, 1239 KiB  
Article
Multi-Target Localization and Tracking Using TDOA and AOA Measurements Based on Gibbs-GLMB Filtering
by Zhengwang Tian, Weifeng Liu and Xinfeng Ru
Sensors 2019, 19(24), 5437; https://doi.org/10.3390/s19245437 - 10 Dec 2019
Cited by 7 | Viewed by 3497
Abstract
This paper deals with mobile multi-target detection and tracking. In the traditional method, there are uncertainties such as misdetection and false alarm in the measurement data, and it will be inevitable having to deal with the data association. To solve the target trajectory [...] Read more.
This paper deals with mobile multi-target detection and tracking. In the traditional method, there are uncertainties such as misdetection and false alarm in the measurement data, and it will be inevitable having to deal with the data association. To solve the target trajectory and state estimation problem under a cluttered environment, this paper proposes a non-concurrent multi-target acoustic localization tracking method based on the Gibbs-generalized labelled multi-Bernoulli (Gibbs-GLMB) filter and considers an acoustic array of a fixed arrangement for the tracking of targets by joint time difference of arrival (TDOA) and angle of arrival (AOA) measurements. Firstly, the TDOAs are calculated by using the generalized cross-correlation algorithm (GCC) and the AOAs are derived from the received signal directions. Secondly, we assume the independence of the targets and fuse the measurements which are used to track the multiple targets via the Gibbs-GLMB filter. Finally, the effectiveness of the method is verified by Monte Carlo simulation experiments. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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18 pages, 561 KiB  
Article
Anti-Clutter Gaussian Inverse Wishart PHD Filter for Extended Target Tracking
by Yuan Huang, Liping Wang, Xueying Wang and Wei An
Sensors 2019, 19(23), 5140; https://doi.org/10.3390/s19235140 - 23 Nov 2019
Cited by 2 | Viewed by 2518
Abstract
The extended target Gaussian inverse Wishart probability hypothesis density (ET-GIW-PHD) filter overestimates the number of targets under high clutter density. The reason for this is that the source of measurements cannot be determined correctly if only the number of measurements is used. To [...] Read more.
The extended target Gaussian inverse Wishart probability hypothesis density (ET-GIW-PHD) filter overestimates the number of targets under high clutter density. The reason for this is that the source of measurements cannot be determined correctly if only the number of measurements is used. To address this problem, we proposed an anti-clutter filter with hypothesis testing, we take into account the number of measurements in cells, the target state and spatial distribution of clutter to decide whether the measurements in cell are clutter. Specifically, the hypothesis testing method is adopted to determine the origination of the measurements. Then, the likelihood functions of targets and clutter are deduced based on the information mentioned above, resulting in the likelihood ratio test statistic. Next, the likelihood ratio test statistic is proved to be subject to a chi-square distribution and a threshold corresponding to the confidence coefficient is introduced and the measurements below this threshold are considered as clutter. Then the correction step of ET-GIW-PHD is revised based on hypothesis testing results. Extensive experiments have demonstrated the significant performance improvement of our proposed method. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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15 pages, 1063 KiB  
Article
Tracking Multiple Marine Ships via Multiple Sensors with Unknown Backgrounds
by Cong-Thanh Do, Tran Thien Dat Nguyen and Weifeng Liu
Sensors 2019, 19(22), 5025; https://doi.org/10.3390/s19225025 - 18 Nov 2019
Cited by 6 | Viewed by 2044
Abstract
In multitarget tracking, knowledge of the backgrounds plays a crucial role in the accuracy of the tracker. Clutter and detection probability are the two essential background parameters which are usually assumed to be known constants although they are, in fact, unknown and time [...] Read more.
In multitarget tracking, knowledge of the backgrounds plays a crucial role in the accuracy of the tracker. Clutter and detection probability are the two essential background parameters which are usually assumed to be known constants although they are, in fact, unknown and time varying. Incorrect values of these parameters lead to a degraded or biased performance of the tracking algorithms. This paper proposes a method for online tracking multiple targets using multiple sensors which jointly adapts to the unknown clutter rate and the probability of detection. An effective filter is developed from parallel estimation of these parameters and then feeding them into the state-of-the-art generalized labeled multi-Bernoulli filter. Provided that the fluctuation of these unknown backgrounds is slowly-varying in comparison to the rate of measurement-update data, the validity of the proposed method is demonstrated via numerical study using multistatic Doppler data. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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21 pages, 1939 KiB  
Article
Optimal Target Assignment with Seamless Handovers for Networked Radars
by Juhyung Kim, Doo-Hyun Cho, Woo-Cheol Lee, Soon-Seo Park and Han-Lim Choi
Sensors 2019, 19(20), 4555; https://doi.org/10.3390/s19204555 - 19 Oct 2019
Cited by 7 | Viewed by 2796
Abstract
This paper proposes a binary linear programming formulation for multiple target assignment of a radar network and demonstrates its applicability to obtain optimal solutions using an off-the-shelf mixed-integer linear programming solver. The goal of radar resource scheduling in this paper is to assign [...] Read more.
This paper proposes a binary linear programming formulation for multiple target assignment of a radar network and demonstrates its applicability to obtain optimal solutions using an off-the-shelf mixed-integer linear programming solver. The goal of radar resource scheduling in this paper is to assign the maximum number of targets by handing over targets between networked radar systems to overcome physical limitations such as the detection range and simultaneous tracking capability of each radar. To achieve this, time windows are generated considering the relation between each radar and target considering incoming target information. Numerical experiments using a local-scale simulation were performed to verify the functionality of the formulation and a sensitivity analysis was conducted to identify the trend of the results with respect to several parameters. Additional experiments performed for a large-scale (battlefield) scenario confirmed that the proposed formulation is valid and applicable for hundreds of targets and corresponding radar network systems composed of five distributed radars. The performance of the scheduling solutions using the proposed formulation was better than that of the general greedy algorithm as a heuristic approach in terms of objective value as well as the number of handovers. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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25 pages, 1516 KiB  
Article
GLMB Tracker with Partial Smoothing
by Tran Thien Dat Nguyen and Du Yong Kim
Sensors 2019, 19(20), 4419; https://doi.org/10.3390/s19204419 - 12 Oct 2019
Cited by 8 | Viewed by 3991
Abstract
In this paper, we introduce a tracking algorithm based on labeled Random Finite Sets (RFS) and Rauch–Tung–Striebel (RTS) smoother via a Generalized Labeled Multi-Bernoulli (GLMB) multi-scan estimator to track multiple objects in a wide range of tracking scenarios. In the forward filtering stage, [...] Read more.
In this paper, we introduce a tracking algorithm based on labeled Random Finite Sets (RFS) and Rauch–Tung–Striebel (RTS) smoother via a Generalized Labeled Multi-Bernoulli (GLMB) multi-scan estimator to track multiple objects in a wide range of tracking scenarios. In the forward filtering stage, we use the GLMB filter to generate a set of labels and the association history between labels and the measurements. In the trajectory-estimating stage, we apply a track management strategy to eliminate tracks with short lifespan compared to a threshold value. Subsequently, we apply the information of trajectories captured from the forward GLMB filtering stage to carry out standard forward filtering and RTS backward smoothing on each estimated trajectory. For the experiment, we implement the tracker with standard GLMB filter, the hybrid track-before-detect (TBD) GLMB filter, and the GLMB filter with objects spawning. The results show improvements in tracking performance for all implemented trackers given negligible extra computational effort compared to standard GLMB filters. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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15 pages, 4662 KiB  
Article
DOA Tracking Based on Unscented Transform Multi-Bernoulli Filter in Impulse Noise Environment
by Sun-yong Wu, Jun Zhao, Xu-dong Dong, Qiu-tiao Xue and Ru-hua Cai
Sensors 2019, 19(18), 4031; https://doi.org/10.3390/s19184031 - 18 Sep 2019
Cited by 11 | Viewed by 3059
Abstract
Aiming at the problem of multiple-source direction of arrival (DOA) tracking in impulse noise, this paper models the impulse noise by using the symmetric α stable (SαS) distribution, and proposes a DOA tracking algorithm based on the Unscented Transform Multi-target Multi-Bernoulli [...] Read more.
Aiming at the problem of multiple-source direction of arrival (DOA) tracking in impulse noise, this paper models the impulse noise by using the symmetric α stable (SαS) distribution, and proposes a DOA tracking algorithm based on the Unscented Transform Multi-target Multi-Bernoulli (UT-MeMBer) filter framework. In order to overcome the problem of particle decay in particle filtering, UT is adopted to select a group of sigma points with different weights to make them close to the posterior probability density of the state. Since the α stable distribution does not have finite covariance, the Fractional Lower Order Moment (FLOM) matrix of the received array data is employed to replace the covariance matrix to formulate a MUSIC spatial spectra in the MeMBer filter. Further exponential weighting is used to enhance the weight of particles at high likelihood area and obtain a better resampling. Compared with the PASTD algorithm and the MeMBer DOA filter algorithm, the simulation results show that the proposed algorithm can more effectively solve the issue that the DOA and number of target are time-varying. In addition, we present the Sequential Monte Carlo (SMC) implementation of the UT-MeMBer algorithm. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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20 pages, 3657 KiB  
Article
Refining Inaccurate Transmitter and Receiver Positions Using Calibration Targets for Target Localization in Multi-Static Passive Radar
by Yongsheng Zhao, Dexiu Hu, Yongjun Zhao, Zhixin Liu and Chuang Zhao
Sensors 2019, 19(15), 3365; https://doi.org/10.3390/s19153365 - 31 Jul 2019
Cited by 2 | Viewed by 2513
Abstract
Transmitter and receiver position errors have been known to significantly deteriorate target localization accuracy in a multi-static passive radar (MPR) system. This paper explores the use of calibration targets, whose positions are known to the MPR system, to counter the loss in target [...] Read more.
Transmitter and receiver position errors have been known to significantly deteriorate target localization accuracy in a multi-static passive radar (MPR) system. This paper explores the use of calibration targets, whose positions are known to the MPR system, to counter the loss in target localization accuracy arising from transmitter/receiver position errors. This paper firstly evaluates the Cramér–Rao lower bound (CRLB) for bistatic range (BR)-based target localization with calibration targets, which analytically indicates the potential of calibration targets in enhancing localization accuracy. After that, this paper proposes a novel closed-form solution, which includes two steps: calibration step and localization step. Firstly, the calibration step is devoted to refine the inaccurate transmitter and receiver locations using the BR measurements from the calibration targets, and then in the calibration step, the target localization can be accurately achieved by using the refined transmitter/receiver positions and the BR measurements from the unknown target. Theoretical analysis and simulation results indicate that the proposed method can attain the CRLB at moderate measurement noise level, and exhibits the superiority of localization accuracy over existing algorithms. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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17 pages, 2279 KiB  
Article
Refined PHD Filter for Multi-Target Tracking under Low Detection Probability
by Sen Wang, Qinglong Bao and Zengping Chen
Sensors 2019, 19(13), 2842; https://doi.org/10.3390/s19132842 - 26 Jun 2019
Cited by 19 | Viewed by 3026
Abstract
Radar target detection probability will decrease as the target echo signal-to-noise ratio (SNR) decreases, which has an adverse influence on the result of multi-target tracking. The performances of standard multi-target tracking algorithms degrade significantly under low detection probability in practice, especially when continuous [...] Read more.
Radar target detection probability will decrease as the target echo signal-to-noise ratio (SNR) decreases, which has an adverse influence on the result of multi-target tracking. The performances of standard multi-target tracking algorithms degrade significantly under low detection probability in practice, especially when continuous miss detection occurs. Based on sequential Monte Carlo implementation of Probability Hypothesis Density (PHD) filter, this paper proposes a heuristic method called the Refined PHD (R-PHD) filter to improve multi-target tracking performance under low detection probability. In detail, this paper defines a survival probability which is dependent on target state, and labels individual extracted targets and corresponding particles. When miss detection occurs due to low detection probability, posterior particle weights will be revised according to the prediction step. Finally, we transform the target confirmation problem into a hypothesis test problem, and utilize sequential probability ratio test to distinguish real targets and false alarms in real time. Computer simulations with respect to different detection probabilities, average numbers of false alarms and continuous miss detection durations are provided to corroborate the superiority of the proposed method, compared with standard PHD filter, Cardinalized PHD (CPHD) filter and Cardinality Balanced Multi-target Multi-Bernoulli (CBMeMBer) filter. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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17 pages, 2379 KiB  
Article
Doppler Data Association Scheme for Multi-Target Tracking in an Active Sonar System
by Yu Yao, Junhui Zhao and Lenan Wu
Sensors 2019, 19(9), 2003; https://doi.org/10.3390/s19092003 - 29 Apr 2019
Cited by 4 | Viewed by 2897
Abstract
In many wireless sensors, the target kinematic states include location and Doppler information that can be observed from a time series of range and velocity measurements. In this work, we present a tracking strategy for comprising target velocity components as part of the [...] Read more.
In many wireless sensors, the target kinematic states include location and Doppler information that can be observed from a time series of range and velocity measurements. In this work, we present a tracking strategy for comprising target velocity components as part of the measurement supplement procedure and evaluate the advantages of the proposed scheme. Data association capability can be considered as the key performance for multi-target tracking in an active sonar system. Then, we proposed an enhanced Doppler data association (DDA) scheme which exploits target range and target velocity components for linear multi-target tracking. If the target velocity measurements are not incorporated into target kinematic state tracking, the linear filter bank for the combination of target velocity components can be implemented. Finally, a significant enhancement in the multi-target tracking capability provided by the proposed DDA scheme with the linear multi-target combined probabilistic data association method is demonstrated in a sonar underwater scenario. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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15 pages, 4363 KiB  
Article
Direction of Arrival Estimation Using Two Hydrophones: Frequency Diversity Technique for Passive Sonar
by Peng Li, Xinhua Zhang and Wenlong Zhang
Sensors 2019, 19(9), 2001; https://doi.org/10.3390/s19092001 - 29 Apr 2019
Cited by 9 | Viewed by 3370
Abstract
The traditional passive azimuth estimation algorithm using two hydrophones, such as cross-correlation time-delay estimation and cross-spectral phase estimation, requires a high signal-to-noise ratio (SNR) to ensure the clarity of the estimated target trajectory. This paper proposes an algorithm to apply the frequency diversity [...] Read more.
The traditional passive azimuth estimation algorithm using two hydrophones, such as cross-correlation time-delay estimation and cross-spectral phase estimation, requires a high signal-to-noise ratio (SNR) to ensure the clarity of the estimated target trajectory. This paper proposes an algorithm to apply the frequency diversity technique to passive azimuth estimation. The algorithm also uses two hydrophones but can obtain clear trajectories at a lower SNR. Firstly, the initial phase of the signal at different frequencies is removed by calculating the cross-spectral density matrix. Then, phase information between frequencies is used for beamforming. In this way, the frequency dimension information is used to improve the signal processing gain. This paper theoretically analyzes the resolution and processing gain of the algorithm. The simulation results show that the proposed algorithm can estimate the target azimuth robustly under the conditions of a single target (SNR = −16 dB) and multiple targets (SNR = −10 dB), while the cross-correlation algorithm cannot. Finally, the algorithm is tested by the swell96 data and the South Sea experimental data. When dealing with rich frequency signals, the performance of the algorithm using two hydrophones is even better than that of the conventional broadband beamforming of the 64-element array. This further validates the effectiveness and advantages of the algorithm. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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Review

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14 pages, 1819 KiB  
Review
Adaptive Echolocation and Flight Behaviors in Bats Can Inspire Technology Innovations for Sonar Tracking and Interception
by Clarice Anna Diebold, Angeles Salles and Cynthia F. Moss
Sensors 2020, 20(10), 2958; https://doi.org/10.3390/s20102958 - 23 May 2020
Cited by 5 | Viewed by 7071
Abstract
Target tracking and interception in a dynamic world proves to be a fundamental challenge faced by both animals and artificial systems. To track moving objects under natural conditions, agents must employ strategies to mitigate interference and conditions of uncertainty. Animal studies of prey [...] Read more.
Target tracking and interception in a dynamic world proves to be a fundamental challenge faced by both animals and artificial systems. To track moving objects under natural conditions, agents must employ strategies to mitigate interference and conditions of uncertainty. Animal studies of prey tracking and capture reveal biological solutions, which can inspire new technologies, particularly for operations in complex and noisy environments. By reviewing research on target tracking and interception by echolocating bats, we aim to highlight biological solutions that could inform new approaches to artificial sonar tracking and navigation systems. Most bat species use wideband echolocation signals to navigate dense forests and hunt for evasive insects in the dark. Importantly, bats exhibit rapid adaptations in flight trajectory, sonar beam aim, and echolocation signal design, which appear to be key to the success of these animals in a variety of tasks. The rich suite of adaptive behaviors of echolocating bats could be leveraged in new sonar tracking technologies by implementing dynamic sensorimotor feedback control of wideband sonar signal design, head, and ear movements. Full article
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
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