A method for evaluating an angular position of an object recognized on the basis of radar data, the radar data being ascertained by a radar device. The method includes: ascertaining of an intrinsic speed of the radar device; ascertaining a relative speed of the recognized object in relation to the radar device, using the ascertained radar data; ascertaining at least one angular test region using the ascertained intrinsic speed and the ascertained relative speed, the at least one angular test region corresponding to possible stationary objects that have a relative speed that substantially corresponds to the ascertained relative speed; and ascertaining whether an azimuth angle of the recognized object lies in the ascertained angular test region.

Vehicles and methods for tracking an object and controlling a vehicle based on the tracked object. A Radar-Doppler (RD) map is received from the radar sensing system of the vehicle and relative acceleration of an object with respect to the vehicle is detected based on the RD map so as to provide acceleration data. A current frame of detected object data is received from a sensing system of the vehicle. When the relative acceleration has been detected, a tracking algorithm is adapted to reduce the influence of the predictive motion model or the historical state of the object and the object is tracked using the adapted tracking algorithm so as to provide adapted estimated object data based on the object tracking. One or more vehicle actuators are controlled based on the adapted estimated object data.

In implementations of systems for estimating three-dimensional trajectories of physical objects, a computing device implements a three-dimensional trajectory system to receive radar data describing millimeter wavelength radio waves directed within a physical environment using beamforming and reflected from physical objects in the physical environment. The three-dimensional trajectory system generates a cloud of three-dimensional points based on the radar, each of the three-dimensional points corresponds to a reflected millimeter wavelength radio wave within a sliding temporal window. The three-dimensional points are grouped into at least one group based on Euclidean distances between the three-dimensional points within the cloud. The three-dimensional trajectory system generates an indication of a three-dimensional trajectory of a physical object corresponding to the at least one group using a Kalman filter to track a position and a velocity a centroid of the at least one group in three-dimensions.

An example method can include generating, via the first sensor, a first group of output tracks associated with a motion of a first target object; generating, via the second sensor, a second group of output tracks associated with the motion of a second target object; analyzing, via a track analysis module, the first group of output tracks and the second group of output tracks to determine whether the first target object and the second target object are a same object to yield a determination; and, when the determination indicates that the first target object and the second target object are the same object, presenting a graphical user interface on a computing device that enables a user to select whether to display on the graphical user interface: (1) a single track from the first group of output tracks or the second group of output tracks and (2) a fused group of tracks selected from the first group of output tracks or the second group of output tracks.

An example method can include generating, via the first sensor, a first group of output tracks associated with a motion of a first target object; generating, via the second sensor, a second group of output tracks associated with the motion of a second target object; analyzing, via a track analysis module, the first group of output tracks and the second group of output tracks to determine whether the first target object and the second target object are a same object to yield a determination; and, when the determination indicates that the first target object and the second target object are the same object, presenting a graphical user interface on a computing device that enables a user to select whether to display on the graphical user interface: (1) a single track from the first group of output tracks or the second group of output tracks and (2) a fused group of tracks selected from the first group of output tracks or the second group of output tracks.

Disclosed is a method and system to provide protection for maritime vessels from multiple threat types including shoulder launched rocket propelled threats, ballistic (howitzer), and larger scale missile systems. According to an exemplary embodiment, the protection system is based on the ballistic launch (from the protected vessel) of an explosive charge(s) aimed ˜5 meters away from the vessel and ˜1 meter beneath the waterline followed by detonation to enable the formation of a water wall. Through the formation of a water wall, incident threats can be initiated (piezo fuze), and passivated through dynamic interaction with the water formation. In addition, the upward velocity of the water wall can enable an upwards rotation of the incident threat changing the orientation of the warhead jet formation (for shape charge warheads) above the vessel.

Systems and methods for operating radar systems. The methods comprise, by a processor: receiving point cloud information generated by at least one radar device; generating a radar track initializer using the point cloud information; determining whether the radar track initializer includes false information; generating a radar track for a detected object when a determination is made that the radar track initializer does not include false information; and/or using the radar track to control operations of a vehicle.

Sensors, including radar sensors, may be used to detect objects in an environment. In an example, a vehicle may include one or more radar sensors that sense objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. A plurality of radar points from one or more radar scans are associated with a sensed object and a representation of the sensed object is determined from the plurality of radar points. The representation may be compared to track information of previously-identified, tracked objects. Based on the comparison, the sensed object may be associated with one of the tracked objects, and, alternatively, the track information may be updated based on the representation. Conversely, the comparison may indicate that the sensed object is not associated with any of the tracked objects. In this instance, the representation may be used to generate a new track, e.g., for the newly-sensed object.

Sensors, including radar sensors, may be used to detect objects in an environment. In an example, a vehicle may include one or more radar sensors that sense objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. A plurality of radar points from one or more radar scans are associated with a sensed object and a representation of the sensed object is determined from the plurality of radar points. The representation may be compared to track information of previously-identified, tracked objects. Based on the comparison, the sensed object may be associated with one of the tracked objects, and, alternatively, the track information may be updated based on the representation. Conversely, the comparison may indicate that the sensed object is not associated with any of the tracked objects. In this instance, the representation may be used to generate a new track, e.g., for the newly-sensed object.

The present disclosure relates to a method and apparatus for phase unwrapping of an SAR interferogram based on an SAR offset tracking surface displacement model, in which the apparatus according to the present disclosure includes a Synthetic Aperture Radar (SAR) image acquisition unit that acquires two SAR images of a same object acquired at different times, a single look complex (SLC) image production unit that produces two SLC images corresponding to each of the two SAR images, an interferogram production unit that generates an SAR interferogram using SAR interferometry for the two SLC images, a surface displacement model production unit that produces an offset tracking surface displacement model using SAR offset tracking method for the two SLC images, an unwrapped residual interferogram generation unit that generates a residual interferogram by subtracting the SAR interferogram and the offset tracking surface displacement model, and generates an unwrapped residual interferogram by unwrapping the generated residual interferogram, and an unwrapped interferogram generation unit that generates an unwrapped SAR interferogram by adding the unwrapped residual interferogram to the offset tracking surface displacement model.