Inhalt

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   Zusammenfassung
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   Abstract
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   Contents
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   1. Introduction
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  2. Fundamentals of ground moving target indication
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   2.1 Airborne MTI radar
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   2.2 The radar signal
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   2.3 Data processing and target detection
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   2.4 Signal model
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  2.5 Space time adaptive processing
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   Fully adaptive space time processing
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   Partially adaptive space time processing
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   Performance of STAP
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   Parameter estimation
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   3. Ground moving target indication and geolocation
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  3.1 Application of space time adaptive processing to a received data set
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   Signal model of the received data set
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   Data preprocessing
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   Target detection with adjacent bin post Doppler processing
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  3.2 Parameter estimation
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   Target radial velocity
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   Target range
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   Direction of arrival estimation
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   3.3 Geolocation of detections
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   Geolocation of the detections with a plane earth assumption
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   Conversion of the Doppler measurement with a plane earth assumption
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   Geolocation with a digital elevation model
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   4. Fundamentals of target tracking
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   4.1 Probability Hypothesis Density Filter
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   4.2 Gaussian Mixture Probability Hypothesis Density Filter
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   5. Ground moving target tracking algorithm
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   5.1 Basic design choices
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  5.2 Modifications of the standard GM-PHD filter
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   State dependent detection probability
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   Association between detections and components
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   Merging with the Kullback-Leibler divergence
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   Ancestor relation
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   Immediate deletion of missed detection birth component descendants
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   Component fingerprints
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   Visualization of the GM-PHD filter results
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   Track extraction
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  5.3 Ground moving target tracking specific adaptations of the GM-PHD
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   Definition of the target state space
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   State propagation
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   Definition of the measurement space
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   Definition of the observation process
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   Jacobians of the observation process
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   Modeling of the state dependent probability of detection
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   An expression for the false alarm probability
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   5.4 Use of a digital elevation model
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   Conversion from an ENU state to a track state
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   Conversion from a track state to an ENU state
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   Error propagation
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  6. Tracking results with simulated data
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   6.1 Simulation of ground moving target detections by an airborne radar
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   6.2 Tracking results with simulated scenarios
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   Scenario 1
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   Scenario 2
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   Scenario 3
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   6.3 Example of the direct visualization of GM-PHD filter results
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   6.4 Summary
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  7. Experimental results
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   7.1 Acquisition of the dataset
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   7.2 Target detections
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   7.3 Tracking results
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   8. Tracking with signal adaptive measurement error covariance matrix
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   8.1 Proposed model for the direction of arrival measurement error
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   8.2 Experimental validation of the direction of arrival measurment error model
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   Association between detections and ground reference vehicles
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   Deviation of the radar and GPS based DOA measurements
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   Variance of the deviation between the DOA estimates
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   Experimental results
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   8.3 Tracking with measurement covariance matrix adaptation
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   8.4 Simulation results
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   8.5 Tracking results with experimental data
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   9. Conclusion
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   A. Algorithms
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  A.1 Geolocation of a target
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   Function for the geolocation based on target range and directional cosine
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   Jacobian of the geolocation function
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   Function for selecting one solution of the possible target geolocations
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   Function for a unique solution for the geolocation of the target
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  A.2 Measurable velocity component
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   Function for the measurable velocity component of a target constrained to a plane
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   Jacobian of the meausurable velocity with respect to the ENU parameters
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   Determine a unique solution for the surface velocity component: bold0mu mumu ffdottedffffv urv
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  A3. Range, radial velocity and directional cosine of a target
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   Function bold0mu mumu ffdottedffffurvE
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   Jacobian of bold0mu mumu ffdottedffffurvE
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   A.4 Clutter Doppler frequency versus range and directional cosine
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  A.5 Functions that are used by the tracking algorithm
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   Radar measurement to track measurement conversion: bold0mu mumu ffdottedffffM urv
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   Definition of the measurement function: bold0mu mumu hhdottedhhhhk
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   Track measurement based on target state including measurement errors: bold0mu mumu ffdottedffffMS
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   Track measurement based on the track state without effect of measurement noise: bold0mu mumu ffdottedffff0MS
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   Conversion of a location from 2 to 3 dimensions: bold0mu mumu ffdottedffffp3 2
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   Conversion of a velocity vector from 2 to 3 dimensions: bold0mu mumu ffdottedffffv3 2
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   Conversion of a 3d location to 2 dimensions: bold0mu mumu ffdottedffff2 3
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   Conversion of a 3d velocity vector to 2 dimensions bold0mu mumu ffdottedffffP2 E
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   Locate a target in the tracking plane based on range and DOA measurement
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   Radar measurements based on track state: bold0mu mumu ffdottedffffurvS
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   Radar measurement based on track measurement: bold0mu mumu ffdottedffffurvM
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  A.6 Jacobians of functions that are used by the tracking algorithm
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   Jacobian of the functions that converts a 3d location to a 2d location
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   Jacobian of the function that converts the range Doppler measurement to a location in the tracking plane
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   Jacobian of the function that converts the radar measurment to the track input measurement
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   Jacobian of the track measurement with respect to measurement noise
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   Jacobian of the synthetic measurement with respect to the track state in the abscence of noise
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   Jacobian of the radar measurements with respect to the track state
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   Jacobian of the radar measurement with respect to the track measurement
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  A.7 Other functions
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   Euler rotation matrix
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   Inverse Euler rotation matrix
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   Bilinear interpolation
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  A.8 Conversions with a digital elevation model
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   Mapping from the planar location to ENU location
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   Mapping from the track velocity to ENU velocity
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  A.9 Jacobians of the conversion between ENU and track coordinate systems
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   Jacobian of the location conversion with respect to the location
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   Jacobian of the location conversion with respect to the DEM model parameters
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   Jacobian of the location conversion with respect to track state and DEM model parameters
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   Jacobian of ENU velocity with resepect to the DEM parameters
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   Jacobian of ENU velocity with resepect to the track location
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   Jacobian of ENU velocity with resepect to the track velocity
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   Jacobian of the ENU velocity with respect to the entire track state and the DEM parameters
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   Jacobian of entire ENU state with respect to the entire track state and the DEM parameters
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   Bibliography