Tracking a convoy of multiple targets using acoustic sensor data

T. Raju Damarla

doi:10.1117/12.487528

4 August 2003 Tracking a convoy of multiple targets using acoustic sensor data

T. Raju Damarla

Proceedings Volume 5082, Acquisition, Tracking, and Pointing XVII; (2003) https://doi.org/10.1117/12.487528
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

In this paper we present an algorithm to track a convoy of several targets in a scene using acoustic sensor array data. The tracking algorithm is based on template of the direction of arrival (DOA) angles for the leading target. Often the first target is the closest target to the sensor array and hence the loudest with good signal to noise ratio. Several steps were used to generate a template of the DOA angle for the leading target, namely, (a) the angle at the present instant should be close to the angle at the previous instant and (b) the angle at the present instant should be within error bounds of the predicted value based on the previous values. Once the template of the DOA angles of the leading target is developed, it is used to predict the DOA angle tracks of the remaining targets. In order to generate the tracks for the remaining targets, a track is established if the angles correspond to the initial track values of the first target. Second the time delay between the first track and the remaining tracks are estimated at the highest correlation points between the first track and the remaining tracks. As the vehicles move at different speeds the tracks either compress or expand depending on whether a target is moving fast or slow compared to the first target. The expansion and compression ratios are estimated and used to estimate the predicted DOA angle values of the remaining targets. Based on these predicted DOA angles of the remaining targets the DOA angles obtained from the MVDR or Incoherent MUSIC will be appropriately assigned to proper tracks. Several other rules were developed to avoid mixing the tracks. The algorithm is tested on data collected at Aberdeen Proving Ground with a convoy of 3, 4 and 5 vehicles. Some of the vehicles are tracked and some are wheeled vehicles. The tracking algorithm results are found to be good. The results will be presented at the conference and in the paper.

Citation Download Citation

T. Raju Damarla "Tracking a convoy of multiple targets using acoustic sensor data", Proc. SPIE 5082, Acquisition, Tracking, and Pointing XVII, (4 August 2003); https://doi.org/10.1117/12.487528

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