An RFID tag reading system and method estimate bearings of RFID tags. When the RSSI of a primary and/or secondary RFID receive signal is below a threshold, a primary receive beam is steered in a limited scan to an array of locations distributed around the location at which the RSSI of the primary receive signal is a maximum, and the RSSI of the primary receive signal is recorded at each location. The recorded RSSIs are processed to determine an effective weighted center of distribution of the recorded RSSIs, and the bearing for the tag based on the weighted center of distribution is thus estimated.

In a method for estimating a position of a missile, an incident angle of a signal of a radar irradiated to the moving missile is calculated. The incident angle is defined by an angle between a measurement vector indicating a direction from the radar toward the missile and a movement vector indicating a moving direction of the missile. A distance compensation value from a point on a surface of the missile to an origin point of the missile is calculated based on the calculated incident angle. A distance from the radar to the origin point of the missile is calculated based on the calculated distance compensation value and a distance from the radar to the point on the surface of the missile. A position of the missile is estimated based on a position of the radar and the calculated distance from the radar to the origin point of the missile.

A computer implemented method for determining an angle of a detection comprises the following steps carried out by computer hardware components: acquiring a range rate of the detection; determining a pair of candidate angles of the detection based on the range rate; acquiring a beamvector of the detection; determining a correlation between the beamvector and a reference vector; and determining the angle of the detection based on the pair of candidate angles and based on the correlation.

A computer implemented method for determining an angle of a detection comprises the following steps carried out by computer hardware components: acquiring a range rate of the detection; determining a pair of candidate angles of the detection based on the range rate; acquiring a beamvector of the detection; determining a correlation between the beamvector and a reference vector; and determining the angle of the detection based on the pair of candidate angles and based on the correlation.

An object detection method performed by a movable device is provided. The object detection method includes emitting radio frequency signals, receiving radio frequency signals reflected by an object, obtaining N sample sequences by digitizing N radio frequency signals, N being a natural number greater than or equal to 2, from among the received radio frequency signals, obtaining a matrix including each of the N sample sequences as a column, in an order in which the radio frequency signals are received, obtaining a resulting signal by summing samples for each row of the matrix and obtaining an energy value from the resulting signal, and detecting the object based on the obtained energy value being greater than or equal to a certain threshold value.

According to one embodiment, a system includes a radar device, a storage device and a controller. The radar device is configured to transmit a first radio wave to an object in a direction of a first angle of the object. The storage device is configured to store first information capable of specifying that a radio wave is transmitted to the first angle of the object by the radar device. The controller is configured to control a direction of a second radio wave to be transmitted by the radar device after the transmission of the first radio wave to a second angle of the object different from the first angle.

According to one embodiment, a system includes a radar device, a storage device and a controller. The radar device is configured to transmit a first radio wave to an object in a direction of a first angle of the object. The storage device is configured to store first information capable of specifying that a radio wave is transmitted to the first angle of the object by the radar device. The controller is configured to control a direction of a second radio wave to be transmitted by the radar device after the transmission of the first radio wave to a second angle of the object different from the first angle.

A building radar-camera system includes a camera configured to capture one or images, the one or more images including first locations within the one or more images of one or more points on a world-plane and a radar system configured to capture radar data indicating second locations on the world-plane of the one or more points. The system includes one or more processing circuits configured to receive a correspondence between the first locations and the second locations of the one or more points, generate a sphere-to-plane homography, the sphere-to-plane homography translating between points captured by the camera modeled on a unit-sphere and the world-plane based on the correspondence between the first locations and the second locations, and translate one or more additional points captured by the camera or captured by the radar system between the unit-sphere and the world-plane based on the sphere-to-plane homography.

A building radar-camera system includes a camera configured to capture one or images, the one or more images including first locations within the one or more images of one or more points on a world-plane and a radar system configured to capture radar data indicating second locations on the world-plane of the one or more points. The system includes one or more processing circuits configured to receive a correspondence between the first locations and the second locations of the one or more points, generate a sphere-to-plane homography, the sphere-to-plane homography translating between points captured by the camera modeled on a unit-sphere and the world-plane based on the correspondence between the first locations and the second locations, and translate one or more additional points captured by the camera or captured by the radar system between the unit-sphere and the world-plane based on the sphere-to-plane homography.

A tracking device is provided, which may include a correction target area setting module configured to set an area in which an unnecessary echo tends to be generated based on a structure or behavior of a ship, as a correction target area, a correction target echo extracting module configured to extract a target object echo within the correction target area from a plurality of detected target object echoes, as a correction target echo, a scoring module configured to score a matching level between previous echo information on a target object echo and detected echo information on each of the target object echoes, based on the previous echo information, the detected echo information and the extraction result, and a determining module configured to determine a target object echo as a current tracking target by using the scored result.