阅读说明：本技术 基于全局最近邻(gnn)的目标跟踪和数据关联 (Global Nearest Neighbor (GNN) based object tracking and data correlation ) 是由 Q·M·莱姆 R·P·卡尔尼 N·B·塔马霍尼 于 2020-03-11 设计创作，主要内容包括：改进的GNN/DA子系统处理来自至少两个传感器的仅角度测量值(但可以使用每个传感器类似的轨迹融合框架作为本地轨迹中心,然后通过多本地轨迹融合架构将它们融合,从而复制到n个传感器)以重建由多个移动目标组成的完整战斗空间图。在某些情况下,传感器是EO/IR相机,移动目标是无人机。改进的GNN/DA用作火力控制解决方案(FCS)的一部分,可以在地面载具上或在抛射物上实施。(The improved GNN/DA subsystem processes only angle measurements from at least two sensors (but may use a similar trajectory fusion framework for each sensor as the local trajectory center and then fuse them by the multi-local trajectory fusion framework to replicate to n sensors) to reconstruct a complete battle space map composed of multiple moving objects. In some cases, the sensor is an EO/IR camera and the moving object is a drone. The improved GNN/DA is used as part of a Fire Control Solution (FCS) that can be implemented on a ground vehicle or on a projectile.)

1. An improved multi-target detection and tracking (MTT) system comprising:

two or more sensors, each sensor located on a ground vehicle such that the two or more sensors are configured to capture angle-only measurements for ground-to-air missions using a modified global nearest neighbor/data association (GNN/DA) algorithm, the modified GNN/DA comprising:

a Data Association (DA) scheme that pairs individual sets of angle-only measurements from individual targets detected by individual sensors using an Extended Kalman Filter (EKF) of individual Target State Estimators (TSEs) residing in a Track File Management (TFM) module of each ground vehicle;

an interface between an output and Fire Control System (FCS) guidance subsystem of the TFM and a weapon-to-target distribution (WTA) module for engagement of a plurality of weapons with a plurality of individual targets;

each sensor has an on-board multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system mounted thereon, wherein the multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system is configured to direct the following to transmit one or more correct track files to the guidance subsystem to complete a engagement:

processing images from the two or more sensors on each of the two or more ground vehicles in real time;

detecting one or more target position measurements for one or more individual targets using the images from the two or more sensors each located on one of the two or more ground vehicles to generate a potential target trajectory;

processing the one or more target position measurements to determine whether the one or more target position measurements from the two or more sensors each located on one of the two or more vehicles are correlated by the fire control system to a predicted target trajectory, if not, the uncorrelated target trajectories are placed in a separate file for possible new target trajectory activation/creation;

correlating the potential target tracks by a threshold system, wherein potential target tracks falling within a threshold are selected as active target tracks;

updating and maintaining an active target track as part of the Track File Management (TFM) system as target state estimates for the plurality of individual targets;

the output from the Trajectory File Management (TFM) system is fed to the weapon target distribution (WTA) system to direct each of the plurality of weapons onto a collision course with one of the one or more targets by pairing the correct active target trajectory with the correct one or more targets.

2. The improved multi-target detection and tracking (MTT) system of claim 1, wherein the two or more sensors are EO/IR cameras.

3. The improved multi-target detection and tracking (MTT) system of claim 1, wherein the ground vehicle is a tank.

4. The improved multi-target detection and tracking (MTT) system of claim 1, wherein an active target track created in the Track File Management (TFM) system is deleted if the track does not receive more than three consecutive samples of consecutive measurement updates.

5. The improved multi-target detection and tracking (MTT) system of claim 1, wherein the active Track File Management (TFM) system contains all active target tracks.

6. A method of data association in a multi-weapon/multi-target system, comprising:

processing in real time images from at least one sensor mounted on a ground vehicle, wherein there are two or more vehicles, each sensor being part of a Fire Control Subsystem (FCS), the at least one sensor having mounted thereon an on-board multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system, wherein the multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system is configured to direct the following operations to transmit one or more correct track files to a guidance subsystem to complete a deal:

detecting one or more target position measurements for one or more individual targets using the image from the at least one sensor to generate a potential target track;

processing the one or more target position measurements to determine whether the one or more target position measurements from the at least one sensor are correlated by the fire control system to a predicted target trajectory, and if not, the uncorrelated target trajectories are placed in a separate file for possible new target trajectory initiation/creation;

correlating, by a threshold system, the potential target trajectories, wherein the potential target trajectories that fall within a threshold are selected as active target trajectories;

updating and maintaining the active target track as part of the Track File Management (TFM) system as a target state estimate for the individual target;

feeding the output from the Trajectory File Management (TFM) system to a weapon target distribution system (WTA);

pairing the active target trajectory with the correct individual target; and is

The output from the Trajectory File Management (TFM) system is fed to the weapon target distribution (WTA) system to direct a plurality of weapons onto collision routes with respective ones of the individual targets by pairing the correct active target trajectory with the correct individual target.

7. The data correlation method in a multi-projectile/multi-target system as claimed in claim 6, wherein the at least one sensor is an EO/IR camera.

8. A method of data correlation in a multi-projectile/multi-target system as claimed in claim 6 wherein the ground vehicle is a tank.

9. The method of data correlation in a multi-projectile/multi-target system of claim 6 wherein if new target position measurements do not persist in consecutive samples, irrelevant target trajectories are declared as clutter and no new trajectories are initiated or created.

10. The data correlation method in a multi-projectile/multi-target system of claim 6, wherein an active target trajectory created in the Trajectory File Management (TFM) system is deleted if it does not receive consecutive measurement updates of more than three consecutive samples.

Technical Field

The present invention relates to multi-target tracking (MTT), and more particularly to the use of Global Nearest Neighbor (GNN) based target tracking and data correlation techniques in many ground-to-air tasks.

Background

Solving the Data Association (DA) problem for short-range (e.g., less than about 300m height) air-to-air tasks presents certain challenges. This is especially true when only passive sensors (e.g., EO/IR sensors) are used, because it increases the complexity of GNNs when using (passive) angle-only measurements to address DA's for tracking multiple moving objects. Typically, the miss distance of conventional systems is about 30 m.

It is therefore an object of the present invention to overcome the above-mentioned disadvantages and drawbacks associated with conventional object tracking and data correlation techniques.

Disclosure of Invention

It has been recognized that multi-target detection and tracking using angle-only target sensors (i.e., passive EO/IR cameras) remains an active area of research in the presence of target dynamics uncertainty. In one embodiment of the present invention, an angle sensor-only GNN/DA solution provides a highly accurate TSE as a real-time MTT subsystem in the form of a track file or track list, capturing state vectors of multiple targets to feed a guidance subsystem and a weapon-to-target allocation (WTA) algorithm for solving the time-critical target engagement problem in multitasking.

One aspect of the invention is an improved multi-target detection and tracking (MTT) system comprising: two or more sensors, each sensor located on a ground vehicle such that the two or more sensors are configured to capture angle-only measurements for ground-to-air missions using a modified global nearest neighbor/data association (GNN/DA) algorithm, the modified GNN/DA comprising: a Data Association (DA) scheme that pairs individual sets of angle-only measurements from individual targets detected by individual sensors using an Extended Kalman Filter (EKF) of individual Target State Estimators (TSEs) residing in a Track File Management (TFM) module of each ground vehicle; an interface between an output and Fire Control System (FCS) guidance subsystem of the TFM and a weapon-to-target distribution (WTA) module for engagement of a plurality of weapons with a plurality of individual targets; each sensor has an on-board multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system mounted thereon, wherein the multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system is configured to direct the following operations to transmit one or more correct track files to the guidance subsystem to complete the engagement: processing images from two or more sensors on each of two or more ground vehicles in real time; detecting one or more target position measurements for one or more individual targets using images from two or more sensors each located on one of the two or more ground vehicles to generate a potential target trajectory; processing the one or more target position measurements to determine whether the one or more target position measurements from the two or more sensors each located on one of the two or more vehicles are correlated by the fire control system to the predicted target trajectory, and if not, the uncorrelated target trajectories are placed in a separate file for possible new target trajectory activation/creation; correlating the potential target tracks by a threshold system, wherein potential target tracks falling within a threshold are selected as active target tracks; updating and maintaining the active target tracks as part of a Track File Management (TFM) system as target state estimates for a plurality of individual targets; the output from the Trajectory File Management (TFM) system is fed to a weapon target distribution (WTA) system to direct each of the plurality of weapons onto a collision course with one of the one or more targets by pairing the correct active target trajectory with the correct one or more targets.

One embodiment of an improved multi-target detection and tracking (MTT) system is where two or more sensors are EO/IR cameras. In some cases, the ground vehicle is a tank.

Another embodiment of an improved multi-target detection and tracking (MTT) system is to delete active target tracks created in a Track File Management (TFM) system if they do not receive consecutive measurement updates of more than three consecutive samples. In some cases, the active Track File Management (TFM) system contains all active target tracks.

Another aspect of the present invention is a data association method in a multi-weapon/multi-target system, comprising: processing in real time images from at least one sensor mounted on a ground vehicle, wherein there are two or more vehicles, each sensor being part of a Fire Control Subsystem (FCS), at least one sensor having mounted thereon an on-board multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system, wherein the multi-target detection and tracking (MTT), Data Association (DA), and Track File Management (TFM) system is configured to direct the following operations to transmit one or more correct track files to a guidance subsystem to complete a engagement: detecting one or more target position measurements for one or more individual targets using images from at least one sensor to generate a potential target trajectory; processing the one or more target position measurements to determine whether the one or more target position measurements from the at least one sensor are correlated by the fire control system to the predicted target trajectory, and if not, the uncorrelated target trajectories are placed in a separate file for possible new target trajectory initiation/creation; correlating the potential target tracks by a threshold system, wherein potential target tracks falling within a threshold are selected as active target tracks; updating and maintaining the active target tracks as part of a Track File Management (TFM) system as target state estimates for individual targets; the output from the Trajectory File Management (TFM) system is fed to a weapon target distribution (WTA) system to guide a plurality of weapons onto collision routes with a respective plurality of individual targets by pairing the correct active target trajectory with the correct individual target.

One embodiment of the data correlation method in a multi-projectile/multi-target system is where at least one sensor is an EO/IR camera. In some embodiments, the ground vehicle is a tank.

Another embodiment of the data correlation method in a multi-projectile/multi-target system is where if new target position measurements do not persist in consecutive samples, irrelevant target trajectories are declared clutter (clutters) and no new trajectories are initiated or created.

Yet another embodiment of the data correlation method in a multi-projectile/multi-target system is where a track is deleted if an active target track created in the Track File Management (TFM) system does not receive consecutive measurement updates of more than three consecutive samples.

These aspects of the invention are not meant to be exclusive and other features, aspects, and advantages of the invention will be apparent to those of ordinary skill in the art when read in conjunction with the following description, the appended claims, and the accompanying drawings.

Drawings

The foregoing and other objects, features and advantages of the invention will be apparent from the following description of particular embodiments of the invention, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.

FIG. 1 is a diagram of one embodiment of a system according to the principles of the present invention.

Fig. 2 is a diagram of one embodiment of a system according to the principles of the present invention.

FIG. 3 is a diagram of one embodiment of a multi-target tracking (MTT) system according to the principles of the present invention.

Fig. 4A, 4B, and 4C are block diagrams of one embodiment of a system of the present invention.

Fig. 5A, 5B, and 5C are diagrams of position error estimates in the x, y, and z directions, respectively, for one embodiment of the system of the present invention.

FIG. 6 illustrates the validation of one embodiment of improved Global Nearest Neighbor (GNN) for multiple sensor fusion and tracking in accordance with the principles of the present invention.

FIGS. 7A, 7B, and 7C are diagrams of velocity error estimates in the x, y, and z directions, respectively, for one embodiment of the system of the present invention.

Detailed Description

In certain embodiments of the present invention, a sensor (e.g., an EO/IR camera) mounted on a ground vehicle (e.g., a tank) captures measurements of multiple moving objects (e.g., unmanned aerial vehicles UAV) in its field of view (FOV). In some cases, these measurements do not have a tag/identity associated with each of them at the sensor output level, and are not ready to support the proper format of guidance, navigation, and control (GN & C) systems for engagement execution. In some embodiments, some measurements originate from real targets and some are not (e.g., clutter or friend platforms). To process these "unlabeled" only angle measurements (i.e., azimuth and elevation) and correctly reconstruct or estimate the trajectories of these objects/targets from these two angle measurements, the following conditions are required: 1) selecting a robust (robust) Target State Estimator (TSE) design and implementing it in a multi-Extended Kalman Filter (EKF) trajectory file system to accurately estimate the motion trajectories of individual targets and manage them frame-by-frame to support real-time engagement decisions; and 2) implementing the correct Data Association (DA) function to implement the correct measurements for each individual Target State Estimate (TSE) pair to implement the correct TSE track updates.

In one embodiment of the present invention, an improved GNN-based DA algorithm is employed, with a specific setting on a threshold, and with a number of robust angle-only EKF implementations as a track file management system to address track file management for detecting and tracking multiple moving targets observed by a sensor (e.g., EO/IR camera).

Global Nearest Neighbor (GNN) based designs are well known in the field of multi-target tracking (MTT); however, correct use of GNNs in short-range over-the-air applications is challenging for the following reasons: 1) the sensor, EO/IR camera, angle-only threshold needs to be selected and adjusted; 2) DA logic setting, allowing a plurality of TSEs to keep the motion tracks thereof in a high-precision manner; and 3) constructing the TSE in the dynamic track file management system and supporting correct engagement decision. In one embodiment of the present invention, the GNN-based design achieves a high accuracy picture with a single sensor (e.g., an EO/IR camera) and captures frame-by-frame motion of multiple moving objects observed by the sensor. In certain embodiments, the interface between a multi-target tracking (MTT) framework and a single projectile guidance, navigation, and control (GNC) subsystem allows for dynamic interaction between target sensors, as part of the MTT and weapon-to-target distribution (WTA) framework, and guidance subsystem actions that successfully achieve engagement mission targets.

In one embodiment, the improved GNN/DA exists as a real-time solution, used as part of a Fire Control Subsystem (FCS), and it may be implemented on the weapon or on the ground as part of the FCS. Such solutions currently do not exist for angle-only EO/IR sensors to detect, track, and provide high precision TSE solutions for guidance laws in the presence of MTT.

Referring to fig. 1, a diagram of one embodiment of a system according to the principles of the present invention is shown. More specifically, one embodiment of a system according to the principles of the present invention having an improved global nearest neighbor/data association (GNN/DA) as a key component of a Fire Control Solution (FCS) is shown with one or more vehicles (2, 2') located on the ground, each separated from the other by a distance 4. One or more ground vehicles are in two-way communication 6 with one or more air vehicles 8. In some cases, these one or more aerial vehicles are friend drones that act as aerial battle space data collections and forward their field collected data to ground vehicles via a data link as shown by dashed line 10. A single sensor (e.g., EO/IR camera) FOV captures multiple moving (e.g., drone) targets (14, 14'), illustrated within a separate target space (12, 12') for each ground-based vehicle. This data was fused and integrated using a modified GNN/DA subsystem as shown in fig. 4. In one embodiment, the improved GNN/DA algorithm of the present invention is implemented using a many-to-many engagement modeling and simulation system, the results of which are shown in FIG. 6.

In certain embodiments, the system of the present invention is implemented as an onboard GNN/DA software block as part of an FCS residing on a ground vehicle, interacting with a weapon-to-target distribution (WTA) block (e.g., a ground and onboard combination) as an integral component of an overall weapon guidance, navigation, and control (GNC) system to achieve multiple simultaneous target engagement capabilities, referred to as Multiple Simultaneous Engagement Technology (MSET) capabilities.

Referring to fig. 1 and 7, a plurality of guided projectiles 18 are commanded to engage with respective targets 14, 14' (e.g., drones), using a multi-target trajectory file output by the proposed GNN/DA block, by feeding these trajectory files to the guidance and WTA of the projectiles to properly identify and locate one or more moving targets for engagement. In accordance with the WTA principles of the present disclosure, a complex many-to-many engagement simulation has been validated by an onboard EO/IR camera as a sensor on a ground vehicle platform (see FIG. 6).

Referring to FIG. 2, a schematic diagram of one embodiment of a multi-EO/IR camera fusion system is shown, in accordance with the principles of the present invention. More specifically, the multiple passive EO/IR sensors collect MTT measurements because multiple sets of azimuth and elevation angles (i.e., relative geometric angles from each individual target to individual sensor state vectors) are the outputs of the multiple target sensors. The plurality of measurement frames 18 captured within the FOV of the sensor at each output capture period captures one or more moving objects 22. In one embodiment, the sensor is an EO/IR camera mounted on a ground vehicle.

Referring to fig. 2, a plurality of moving objects in space are captured as angular measurements (i.e., azimuth and elevation, [ α β ]24) relative to a single EO/IR camera on the ground. These sets of angle measurements (not labeled, which is why they need to be "sorted" or correlated by the DA function with the correct TSE) are not directly correlated with the existing trajectory files computed by the GNN/DA subsystem. In certain embodiments, the DA function appropriately pairs each set of angle measurements with the correct TSE residing in the GNN/DA subsystem's tracking file for appropriate TSE updates using the newly provided angle-only measurements. This then produces a set of multi-target state estimates 26, where the TSE passes the AO EKF. These TSEs are used to support real-time engagement decisions 28 (i.e., dynamic weapon-to-target distribution). In certain embodiments of the system, multiple targets are attacked by multiple projectiles such that there is a many-to-many correlation, leveraging the number of projectiles available to avoid situations where two or more projectiles are attacking the same target and thus missing as many targets as possible.

Referring to FIG. 3, a diagram of one embodiment of a multi-target tracking (MTT) system is shown, in accordance with the principles of the present invention. More specifically, the individual sensors 30, each mounted on a different vehicle, collectively form a set of distributed sensors 32. These distributed sensors 32 perform data preprocessing and measurement value formation steps within a sensor processing module 34. The sensor processing module output is fed to the modified GNN/DA framework 46, including the sensor measurement to target estimation fusion module (i.e., the front end of the DA) 36 and the threshold calculation module 44.

Referring to FIG. 3, track initiation, validation, and deletion are managed in the track maintenance module 38. Filtering and prediction are performed in the EKF module 42. In some cases, only the angle EKF calculation has six states or has nine states. In some embodiments, the process is iterative such that multiple moving objects are tracked. Once the trajectory is confirmed, data is sent to guidance and control for the weapon to target and sensor switching process 40. In some cases, single picture compilation using multiple track fusion actions occurs at a local data fusion center located on each vehicle.

In one embodiment of the GNN algorithm of the present invention, a six-state or nine-state model is used, where the function [ X _ k _ new, P _ k _ new, ekf _ out ] ═ GNN _ DA (X _ k, P _ k, y _ k, Q, R, dT)

% Global Nearest Neighbor (GNN) data correlation

% parameter

gateLevel 1 pi/180; % angle error threshold

[trackNum，state]＝size(X_k)；

[nMeas，sizeMeas]＝size(y_k)；

% 1) Allocate memory for GNN DA processors

% initializing parameters of the current time step

X_k_new＝zeros(size(X_k))；

P_k_new＝zeros(size(P_k))；

Z_k＝zeros(size(X_k))；

G_EKF_comp＝zeros(state，sizeMeas，trackNum)；

ekf_out＝zeros(size(X_k))；

fovCount ═ 0; % used to evaluate fov statistics

DistM ═ 1000 ions (trackNum, nmes); % TrackNum and the number of measurements are in some cases identical

res＝ones(trackNum，nMeas，sizeMeas)；

% 2) estimation of State Using 6-State MCS EKF

for i＝1:trackNum

X_in＝X_k(i，:)'；

P_in＝P_k(:，:，i)；

y_in＝y_k(i，:)'；

[X_out，P_out，y_p，S，K，Z_out]＝ekf_6(X_in，P_in，Q，R，dT，y_in)；

X_k_new(i，:)＝X_out'；

P_k_new(:，:，i)＝P_out；

Z_k(i，:)＝Z_out'；

G_EKF_comp(:，:，i)＝K；

ekf_out(i，:)＝X_out'；

% 3) statistical distances and residues

For j＝1:nMeas

y_m＝y_k(j，:)'；

if any(y_m)

fovCount＝fovCount+1；

[ DistM (i, j), res (i, j,:) ], gaussian _ prob (y _ m, y _ p, S, 2); % i is track index, j is valid data index end

% 4) application threshold

DistLabels ═ DistM < gateLevel; % threshold satisfaction criterion

end

% 5) track assignment

For i ═ 1 trackNum

ValidAssociatedInd＝find(DistLabels(i，:))；

if-estimate (ValidAssatedInd)% passes the threshold test

if numel(ValidAssociatedInd)>1

[～，midx]＝min(DistM(i，ValidAssociatedInd))；

% reduces ValidAssatedInd to 1 with the smallest tag

ValidAssociatedInd＝ValidAssociatedInd(midx)；

end

% 6) propagation estimation states based on trajectory assignment

K＝G_EKF_comp(:，:，i)；

e＝squeeze(res(i，ValidAssociatedInd，:))；

Z _ temp ═ Z _ K (i,:' + K × e; % update prediction state estimation (n x 1)

X_k_temp＝f_x(Z_temp)；

X_k_new(i，:)＝X_k_temp'；

end

function[p，y_hat]＝gaussian_prob(y_m，y_p，S，use_log)

％p＝gaussian_prob(x，m，C，use_log)

% y _ m seeker measurement (az, el)

% y _ p EKF estimate (az _ hat, el _ hat)

S output covariance matrix for% EKF

% multivariate Density evaluation with mean vector m and covariance

% input vector x.

% vectorized version: where X is the matrix of the column vectors and p is

% probability vector per vector.

% design and analysis of modern tracking System Blackman & Popoli, 1999

if narg<4

use_log＝0；

end

M＝s(y_p)；

denom ═ M/2 ^ (M/2) × sqrt (abs (det (s))); % 354 pages.

y_hat＝y_m-y_p；

d2 ═ y _ hat'. S ^ (-1). y _ hat; % 329 Page equation 6.7

switch use_log

case 0

number＝exp(-0.5*d2)；

p is numer/denom; % 335 pages.

case 1

p ═ -0.5 × d2-log (denom); % of the formula (6.29)

case 2

p＝d2；

otherwise

error ('unsupported log type')

end

Referring to fig. 4A-4C, block diagrams of one embodiment of the system of the present invention are shown. More specifically, the flow chart illustrates how angle-only measurement information from two EO/IR cameras is processed and fused at a single local trajectory fusion center and then globally fused to generate a total trajectory file for the entire battle space. In fig. 4A, a pair of sensors (50, 52) are shown processing the target state real data and outputting FOV markers and angle measurements (e.g., Az, E1). The first GNN/DA module 54 processes data from the first sensor 50, the second GNN/DA module 56 processes data from the second sensor, and so on. In fig. 4B, a 6-state 58 and a 9-state 60 multi-sensor trajectory fusion module is implemented. In FIG. 4C, these modules generate global trajectories that are fed into a global trajectory fusion module 62 for use in guidance and control, such as for weapon-to-target and sensor switching processes.

Referring to fig. 5A, 5B and 5C, there are shown graphs of position error estimates in the x, y and z directions, respectively, for one embodiment of the system of the present invention. More specifically, the position estimation error 80 between the ideal Data Association (DA) of the present invention and the GNN DA is rare. GNN/DA is almost equal to ideal DA, miss distance is less than one meter. Fig. 5A shows five target TSE position error estimates in the x-direction, in meters. FIG. 5B shows five target TSE position error estimates in the y-direction, in meters. FIG. 5C shows five target TSE position error estimates in the z-direction, in meters.

Referring to fig. 6, a validation of one embodiment of an improved GNN for multi-sensor fusion and tracking according to the principles of the present invention is shown. In one embodiment, the system is used for short-range (less than about 300m height) air tasks. In some cases, two EO/IR sensors are mounted on two emitters (on respective ground vehicles) and they are tracking multiple drones. The high-precision TSEs of these drones are transmitted to the guidance law subsystem to effectively engage with ten weapons, successfully hitting ten targets (as shown by the high fidelity in many-to-many engagement simulations). More specifically, each launcher 90, 92 has five weapons (e.g., projectiles, ammunition, bullets). In this simulation, a miss distance criterion of 3m or less was used. In one embodiment, sixteen moving objects (eight within the field of view of each sensor) are used, ten of which are classified as targets 94. Each target is attacked by only one weapon, every fifth from each transmitter. The system provides communication between various weapons in order to achieve accurate engagement.

One embodiment of the system of the present invention robustly processes angle-only sensor measurements in the presence of multiple target motions affected by their dynamic uncertainties (i.e., their origin, target death or generation, etc.) and provides a highly accurate track file solution and temporal connection to the FCS, which acts as a real-time software block, to allow multiple weapons to engage multiple targets.

The ability to maintain a highly accurate track file in the presence of the above-mentioned MTT uncertainties (i.e., clutter, target death, target generation, target acceleration uncertainty, etc.), while providing measurements only through passive sensors to report scene conditions is a key improvement in the context of Multiple Simultaneous Engagement Technology (MSET) missions.

Referring to fig. 7A, 7B and 7C, there are shown graphs of velocity error estimates in the x, y and z directions, respectively, for one embodiment of the system of the present invention. More specifically, the velocity estimation error between the 100 ideal Data Association (DA) of the present invention and the GNN DA is rare. GNN/DA is almost equal to ideal DA, miss distance is less than one meter. Fig. 7A shows five target TSE velocity error estimates in the x-direction, in meters. Fig. 7B shows five target TSE velocity error estimates in the y-direction, in meters. Fig. 7C shows five target TSE velocity error estimates in the z-direction, in meters.

The computer readable medium as described herein may be a data storage device or an element such as a magnetic disk, magneto-optical disk, or flash drive. Further, it should be understood that the term "memory" herein is intended to encompass various types of suitable data storage media, whether permanent or temporary, such as transitory electronic storage, non-transitory computer-readable media, and/or computer-writable media.

From the foregoing, it will be appreciated that the invention may be implemented as computer software which may be provided on a storage medium or via a transmission medium such as a local or wide area network, for example the internet. It is to be further understood that, because some of the constituent system components and method steps depicted in the accompanying figures may be implemented in software, the actual connections between the system components (or the process steps) may differ depending upon the manner in which the present invention is programmed. Given the teachings of the present invention provided herein, one of ordinary skill in the related art will be able to contemplate these and similar implementations or configurations of the present invention.

It is to be understood that the present invention may be implemented in various forms of hardware, software, firmware, special purpose processes, or a combination thereof. In one embodiment, the present invention may be implemented in software as an application program tangibly embodied on a program storage device readable by a computer. The application program may be uploaded to, and executed by, a machine comprising any suitable architecture.

While various embodiments of the present invention have been described in detail, it is apparent that modifications and adaptations of those embodiments will occur to and are readily apparent to those skilled in the art. It is to be expressly understood, however, that such modifications and adaptations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various other related ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items, and is to be construed in a limiting sense using only the terms "consisting of … …" and "consisting of … …".

The foregoing descriptions of embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. It is intended that the scope of the invention be limited not by this detailed description, but rather by the claims appended hereto.

A number of embodiments have been described. Nevertheless, it will be understood that various modifications may be made without departing from the scope of the invention. Although the operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results.

While the principles of the invention have been described herein, it is to be understood by those skilled in the art that this description is made only by way of example and not as a limitation as to the scope of the invention. In addition to the exemplary embodiments shown and described herein, other embodiments are also contemplated as falling within the scope of the present invention. Modifications and substitutions by one of ordinary skill in the art are considered to be within the scope of the present invention.