A multi-target tracking method applicable to a cluttered environment includes a prediction step, a classification step, an updating step, a pruning and extracting step, a generation step, a supplement step and a combining step. A multi-target tracking system applicable to a cluttered environment is also provided. The present invention has the characteristic of a fast processing speed, and at the same time, effectively solves the problem that the existing method fails to provide state estimation for a new target in the initial few moments after the new target appears.

Embodiments described herein provide for the improved detection of target(s) in the vicinity of cluttered environments such as wind farms, and for the reduction of false alarms resulting from wind turbines and other complex structures in such environments. Maximum amplitude readings of all non-zero Doppler frequency bins are determined for each resolution cell under test during a dwell and used to determine an aggregate threshold value. In one embodiment, the aggregate threshold value and an existing threshold value are compared and the higher value applied. A tracking sample period and a transition state delay are introduced to determine when the aggregate threshold value for each resolution cell under test should be updated.

Embodiments described herein provide for the improved detection of target(s) in the vicinity of cluttered environments such as wind farms, and for the reduction of false alarms resulting from wind turbines and other complex structures in such environments. Maximum amplitude readings of all non-zero Doppler frequency bins are determined for each resolution cell under test during a dwell and used to determine an aggregate threshold value. In one embodiment, the aggregate threshold value and an existing threshold value are compared and the higher value applied. A tracking sample period and a transition state delay are introduced to determine when the aggregate threshold value for each resolution cell under test should be updated.

A system adaptively filters out a representation of an object from a radar frame captured by a radar device, where a maximum signal strength at zero velocity is obtained in a range bin comprising a detection of the object in range Doppler representations of a set of radar frames captured during a time period before the radar frame. A motion vector is obtained representing a determined magnitude and direction of motion of the radar device at the time when the radar frame was captured. The motion of the radar device is due to an oscillatory movement of the radar device. A range Doppler representation of the radar frame is produced and a direction vector representing a direction from the radar device to the object is determined. A radial relative velocity between the object and the radar device is determined based on the obtained motion vector and the determined direction vector.

A system adaptively filters out a representation of an object from a radar frame captured by a radar device, where a maximum signal strength at zero velocity is obtained in a range bin comprising a detection of the object in range Doppler representations of a set of radar frames captured during a time period before the radar frame. A motion vector is obtained representing a determined magnitude and direction of motion of the radar device at the time when the radar frame was captured. The motion of the radar device is due to an oscillatory movement of the radar device. A range Doppler representation of the radar frame is produced and a direction vector representing a direction from the radar device to the object is determined. A radial relative velocity between the object and the radar device is determined based on the obtained motion vector and the determined direction vector.

A method begins by one or more processing modules of one or more computing devices of a radar system determining whether a radar signature varies cyclically with time, and when the radar signature varies cyclically with time the method continues with the one or more processing modules collecting state telemetry information for the radar signature, along with a signal representation for the radar system. The state telemetry information includes rotation angle, yaw angle and rotation rate for the object responsible for the observed radar signature and the signal representation for the radar system includes data sufficient to determine an I/Q signal for the radar system. The method then determines a characterized radar signature for the object responsible for the radar signature and based on the state telemetry and the signal representation, substantially removes the radar signature from radar data.

A method of detecting motion by way of a motion detection system comprising a radar apparatus (1) in signal communication with a monitoring and control unit (2), the radar apparatus (1) being configured to generate an electromagnetic signal for illuminating a predetermined monitored space (5); the method comprising the steps of: i) performing (8) at least one scan cycle on the monitored space (5) by means of the radar apparatus (1); (ii) detecting and identifying (9) at least one moving object (6, 7) in the monitored space (5); (iii) locating (10) at least one semi-static zone (S) in the monitored space (5); and (iv) generating (11) an alarm signal only upon detection of at least one moving object (6, 7) in the monitored space, outside the at least one semi-static zone (S).

A non-line of sight obstacle detection and localization system and method of detecting and localizing a non-line of sight object include receiving reflections at a detection system of a moveable platform, the reflections including direct and multipath reflections, identifying the reflections associated with static targets to retain the reflections associated with moving targets, and distinguishing between line of sight objects and non-line of sight objects among the moving targets. The method also includes localizing the non-line of sight objects relative to the platform and indicating approaching non-line of sight objects among the non-line of sight objects, the approaching non-line of sight objects moving toward the platform on a path that intersects the platform.

A non-line of sight obstacle detection and localization system and method of detecting and localizing a non-line of sight object include receiving reflections at a detection system of a moveable platform, the reflections including direct and multipath reflections, identifying the reflections associated with static targets to retain the reflections associated with moving targets, and distinguishing between line of sight objects and non-line of sight objects among the moving targets. The method also includes localizing the non-line of sight objects relative to the platform and indicating approaching non-line of sight objects among the non-line of sight objects, the approaching non-line of sight objects moving toward the platform on a path that intersects the platform.

A method of radar detection of targets in an environment, comprising cyclically obtaining a detection profile that associates with each position in the protected area an amount of radar signal that has been reflected, and detecting targets from the detection profile in different modes. A base mode is used for a first series of cycles and is insensitive to motionless targets and sensitive to dynamic targets that move between different locations in the protected area. When the base mode detects a target, two additional modes are started, which are active in different areas. In first areas, a fine movement detection mode is used, which also neglects motionless targets and may be more sensitive than the base mode. In second areas, a presence mode detects both dynamic and motionless targets. When neither the presence mode nor the fine movement mode detects any target for a sufficient time, no people in danger are deemed to be present in the area and the base mode may be restored.