Multi-Sensor Multi-Target Data Fusion, Tracking and Identification Techniques for Guidance and ...

307 Pages·2002·45.89 MB·English

ADVISORY GROUP FOR AEROSPACE RESEARCH & DEVELOPMENT
(1
a
7 RUE ANCELLE, 92200 NEUILLY-SUR-SEINE, FRANCE
Multi-Sensor Multi-Target Data Fusion,
Tracking and Identification Techniques for
Guidance and Control Applications
(les Techniques de poursuite et d'identifidon multi-cibles ii
base de fusion multi-sensew appliqudes au guidage et au
pilotage)
This AGARDogroph has been sponsored by the Misswn System Panel of AGARD.
I
NORTH ATLANTIC TREATY 0RQANUATN)N
I
'
Q, 4 - - '57
Publlshed October lOS6
DMffbutlona nd Availability on Bgck Cover

I AGARD-AG-337
ADVISORY GROUP FOR AEROSPACE RESEARCH & DEVELOPMENT
7 RUE ANCELLE, 92200 NEUILLY-SUR-SEINE, FRANCE
AGARDograph 337
Multi-Sensor Multi-Target Data Fusion,
Tracking and Identification Techniques for
Guidance and Control Applications
(les Techniques de poursuite et d’identification multi-cibles h base de fusion
multi-senseur appliqukes au guidage et au pilotage)
Edited by
Dr. David Liang, Dr. Steve Butler, Dr. Carlos Garriga, Dr. Bruno Mazzetti, Mr. Thieny Uring
and Dr. Heinz Winter
This AGARDograph has been sponsored by the Mission Systems Panel of AGARD.
North Atlantic Treaty Organization
Organisation du Traite de I’Atlantique Nord
I
The Mission of AGARD
According to its Charter, the mission of AGARD is to bring together the leading personalities of the NATO nations in the
fields of science and technology relating to aerospace for the following purposes:
- Recommending effective ways for the member nations to use their research and development capabilities for the
common benefit of the NATO community;
- Providing scientific and technical advice and assistance to the Military Committee in the field of aerospace research
and development (with particular regard to its military application);
- Continuously stimulating advances in the aerospace sciences relevant to strengthening the common defence posture;
- Improving the co-operation among member nations in aerospace research and development;
- Exchange of scientific and technical information;
- Providing assistance to member nations for the purpose of increasing their scientific and technical potential;
- Rendering scientific and technical assistance, as requested, to other NATO bodies and to member nations in
connection with research and development problems in the aerospace field.
The highest authority within AGARD is the National Delegates Board consisting of officially appointed senior
representatives from each member nation. The mission of AGARD is carried out through the Panels which are composed of
experts appointed by the National Delegates, the Consultant and Exchange Programme and the Aerospace Applications
Studies Programme. The results of AGARD work are reported to the member nations and the NATO Authorities through the
AGARD series of publications of which this is one.
Participation in AGARD activities is by invitation only and is normally limited to citizens of the NATO nations.
The content of this publication has been reproduced
directly from material supplied by AGARD or the authors.
Published October 1996
Copyright 0 AGARD 1996
All Rights Reserved
ISBN 92-836-003 1-2
Printed by Canada Communication Group
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ii
Multi-Sensor Multi-Target Data Fusion,
Tracking and Identification Techniques
for Guidance and Control Applications
(AGARD AG-337)
Executive Summary
The aim of this AGARDograph is to provide a quick overview of practical advances in multi-sensor,
multi-target tracking (MSMTT) technology and applications. In order that this AGARDograph could
serve as a useful reference for those involved in the design, development, simulation, and applications
of the techniques and technology, we have encouraged our authors to take, as much as possible, a
tutorial approach. This will provide the general summary of the MSMTT techniques and technology
with emphasis towards practical implementation.
Many examples of sensor fusion involve the methodology of merging various track files taken from
different sensors. This allows for more consistent, accurate, and reliable tracks than might be possible
with any of the individual systems acting alone. Section I relates to the important use of sensor fusion
prior to establishing a firm track file. By combining raw sensor information, greater discrimination of
targets from background may be possible from the augmented body of available information.
Tracking and fusion with multiple sensors deals with integration and correlation of data from diverse
sources in order to arrive at the best possible situational assessment. In Section 11, we present the
tutorial on representative data association and filtering techniques, and also address some of the key
initiation issues, approaches and track management methodology that simplify and enhance the
practical implementation.
Section Ill presents different types of classification algorithms, Bayesian Belief Networks, and Neural
Networks covering the complete Automatic Target Recognition process, including fusion, segmentation
and classification, that are very promising for real-time, or quasi-real-time systems applications.
Section IV covers the handling of Automatic Target Recognition (ATR) test data, deals with an
effective tool to support the development of precision guided munitions, and presents a study of target
acquisition and sensor cueing in air-to-air environment. The last Section presents several practical
examples of MSMTT applications.
iii
Les techniques de poursuite et d’identification
multi-cibles B base de fusion multi-senseur
appliqukes au guidage et au pilotage
(AGARD AG-337)
Synth&se
Cette AGARDographie offre un bref aperqu des avanckes concrktes rCalisCes dans le domaine des
technologies et des applications de la poursuite multicible/multisenseur (MSMTT). Nos auteurs ont ktC
encouragks B adopter, dans la mesure du possible, une approche, afin que cette AGARDographie puisse
servir d’ouvrage de rkfkrence B tous ceux qui sont associCs B la conception, au dkveloppement, B la
simulation et aux applications des diffkrentes techniques et technologies mises en jeu. Ainsi, cet
ouvrage fournit un rCsumk gknkral des techniques et des technologies MSMTT en mettant l’accent sur
les modalitts pratiques de leur mise en oeuvre.
Dans beaucoup de cas, le fusionnement des senseurs fait appel B une mithodologie qui permet le
regroupement de certains fichiers de poursuite obtenus de differents senseurs. Cette technique permet
d’obtenir des pistes plus homogknes, plus fidkles et plus fiables que celles obtenues par un quelconque
systkme particulier, fonctionnant seul. La section I concerne l’application trks importante du
fusionnement des senseurs en vue de l’ktablissement d’un fichier de poursuite validC. Le volume accru
d’informations rksultant de la fusion des donntes brutes des senseurs permet souvent une meilleure
discrimination de la cible par rapport au bruit de fond.
La poursuite et la fusion B l’aide de senseurs multiples consistent dans l’intkgration et la corrClation de
donnkes de sources diverses afin d’aboutir B la meilleure Cvaluation possible de la situation. La
section I1 prCsente un cours sur les techniques d’association et de filtrage des donnCes representatives et
examine en m2me temps certaines questions clCs concernant l’initiation B la gestion de la poursuite, les
diffkrentes approches B adopter et la mkthodologie permettant de simplifier et faciliter sa mise
en oeuvre.
La section I11 prksente difftrents types d’algorithmes de classification, de rkseaux de croyances de
Bayes, et de rCseaux neuronaux couvrant l’ensemble du processus de reconnaissance automatique de la
cible, y compris la fusion, la segmentation et la classification. Ces ClCments s’annoncent trks
prometteurs pour des applications systkmes en temps rkel ou quasi-rCel.
La section IV couvre le traitement des donnkes de test des systkmes de reconnaissance automatique de
la cible (ATR). Un outil efficace d’aide au dCveloppement des engins guidCs de prCcision est prksentC,
ainsi qu’une etude sur l’acquisition de la cible et l’alignement des senseurs en environnement air-air. La
dernikre section prksente un certain nombre d’exemples concrets d’applications MSMTT.
iv
Contents
Page
Executive Summary iii
Synthkse iv
Mission Systems Panel vii
General Introduction viii
Reference
SECTION I: MULTI-SENSOR PHENOMENOLOGY AND SENSOR SIGNAL
PROCESSING
Introduction 1
by Dr. S. Butler
Multi-Frequency Phenomenology Fusion via an Ultra-Broadband Hybrid Sensor Technology 3
Enhancing Surveillance and Target Classificationm) Performance
by R.F. Ogrodnik
Interactive Integration of Passive Infrared and Radar Horizon Surveillance Sensors to 14
Extend Acquisition and Firm Track Ranges
by S.R. Horman, R.A. Stapleton, K.C. Hepfer, R.M. Headley and J.K. Stapleton
The Fusion of an IR Search and Track with Existing Sensors to Provide a Tracking System 32
for Low Observability Targets
by P.V. Coates
The Application of MMW/IR Sensor Fusion to Tactical U.S. Air Force Weapon Systems 48
by J.W. Watson, S. Amphay and B. Sundstrom
SECTION 11: DATA ASSOCIATION AND TRACKING TECHNIQUES
Introduction 65
by Dr. D.F. Liang
A Practical Overview of Multiple Target Tracking Algorithms 67
by S.S. Lim and D.F. Liang
Ballistic Missile Track Initiation from Satellite Observations with Extrapolation to Impact 76
by M. Yeddanapudi, Y. Bar-Shalom, K.R. Pattipati and S. Deb
Application of Multiple Hypothesis Tracking to Multi-Radar Air Defense Systems 96
by S.S. Blackman, R.J. Dempster and T.S. Nichols
Multisensor Tracking and Fusion with MTI Radars 121
by K.-C. Chang and Y. Bar-Shalom
V
System-Level Track Fusion for Command and Control 130
by M.P. Dana and J.L. Dana
SECTION 111: PIXEL AND SYMBOL LEVEL IMAGE FUSION, TARGET
CLASSIFICATION AND RECOGNITION
Introduction 147
by Dr. C.A. Gamga
Classification par fusion de donnCes incertaines multi-senseurs 149
by A. Appriou
The Use of Bayesian Belief Networks to Fuse Continuous and Discrete Information for 160
Target Recognition, Tracking, and Situation Assessment
by L. Stewart and P. McCarty Jr.
Grey Level Segmentation with Selectable Number of Discrimination Levels Using Hopfield- 166
Like Neural Networks with Constraint Satisfaction Criteria
by A. Domingo and J. Santamaria
Scene/Object Classification and Segmentation Using Multispectral Data Fusion 174
by L.E. Lazofson, T.J. Kuzma, H.C. Choe, E.B. Preston and J.D. Chovan
SECTION IV: SIMULATION AND PERFORMANCE EVALUATIONS
Introduction 185
by Dr. B. Mazzetti
Benchmarking ATR Test Data 187
by A. Hauter, V. Diehl, A. Williams, G. Orsak and M. Sore11
The Modular Algorithm Concept Evaluation Tool (Macet) Workstation 203
by J. Watson, B. Williams, S. Talele and S. Amphay
Studies and Simulations on Sensor Fusion and Cueing for Fighter Application 224
by M. Avalle
SECTION V: DATA FUSION FOR GUIDANCE AND CONTROL APPLICATIONS
Introduction 233
by Dr. D.F. Liang
Air Defence Radar Surveillance Systems Tracking Assessment 235
by S.S. Lim, D.F. Liang and M. Blanchette
Low Cost Multi-Sensor Suites for Surveillance and Weapon Guidance 251
by B.R. Suresh
Sensor Data Fusion for Air to Air Situation Awareness Beyond Visual Range 268
by C.A. Noonan
Multi-Sensor Data Fusion in Command and Control and the Merit of Artificial Intelligence 284
by R.G. Zuidgeest
vi
Mission Systems Panel
Chairman: Mr. J.K Ramage Deputy Chairman: Prof Dr Heinz Winter
Chief, Flight Control Systems Branch Director,
WWFIGS, Bldg 146 Institut fur Flugfuhrung fur Luft
2210 Eighth St, Ste 11 und Raumfahrt e.V. Flughafen
Wright-Patterson AFB, OH 45433-7521 Postfach 32 671
United States D-38022 Braunschweig
Germany
TECHNICAL PROGRAMME
Programme Director and Editor: Dr David F Liang
Head, Space Systems and Technology
Defence Research Establishment Ottawa
Department of National Defence
Shirley Bay, Ottawa K1A OZ4
Canada
PANEL EXECUTIVE
Lieutenant-Colonel P. Fortabat, FAF
Mail from Europe: Mail from USA and Canada:
AGARD-OTAN AGARD-N AT0
Attn: MSP Executive Attn: MSP Executive
7, rue Ancelle PSC 116
F-92200 Neuilly-sur-Seine APO AE 09777
France
Tel: [phone]
Telex: 610176 (France)
Telefax: 33 (1) 47 38 67 20/57 99
ACKNO WLEDGEMENTRUCMERCIEMENTS
The Programme Director and the Mission Systems Panel wish to express their appreciation to all authors who contributed to
this AGARDograph and made its publication possible.
Le Directeur du Programme et la Commission missions et systbmes tiennent 2 remercier tous les auteurs qui contribuhrent 2 la
rkalisation et la publication de cette AGARDographie.
GENERAL INTRODUCTION
Startling advances in stealthy, high speed, accurate weapon and target systems have imposed stringent requirements on the
performance of advanced surveillance, detection, tracking, identification, and classification systems to support military
guidance and control applications. The effectiveness of advanced weapon systems as well as the defence against them will be
highly dependent upon the timely availability of accurate battle-sphere sensor and intelligence information. The utilization of
any single sensor will no longer be sufficient to cope with increasingly demanding operational requirements and challenging
mission environment. The effective use of multiple and multi-spectral sensors has become increasingly important for
situational assessment, planning support and command and control operational decisions. The importance of timeliness and
accuracy requirements was clearly demonstrated in Desert Storm operations.
Therefore the development and fielding of effective multi-sensor, multi-target tracking (MSMTT) systems together with the
associated classification and identification systems becomes essential for effective detection, tracking and identification of
increasingly sophisticated targets in challenging threat environments.
The aim of this AGARDOGRAPH is to provide a quick overview of practical advances in this broad but important area of
MSMTT technology and applications. In order that this AGARDOGRAPH could serve as a useful reference for those
involved in the design, development, simulation, and applications of the techniques and technology, we have encouraged our
authors to take, as much as possible, a tutorial approach. This will provide the general summary of the MSMTT techniques
and technology with emphasis towards practical implementations.
Even though in recent years there have been numerous conferences and books published on this subject, this
AGARDOGRAPH has the advantage of having been able to identify contributions from government, defence, academic, and
industrial establishments within all NATO nations. Therefore this AGARDOGRAPH has attempted to present specific
advances and applications made in recent years on both sides of the Atlantic. There are many other excellent contributions
I
I which we would love to have included, but we were constrained by a limited budget and a fixed schedule for publication.
This AGARDOGRAPH is organized into the following five Sections:
- Section I: Multi-Sensor Phenomenology and Sensor Signal Processing;
- Section 11: Data Association and Tracking Techniques;
- Section 111: Pixel and Symbol Level Image Fusion, Target Classification and Recognition;
- Section IV: Simulation and Performance Evaluations; and
- Section V: Data Fusion for Guidance and Control Applications.
The Editorial Committee consists of Dr. Steve Butler of the U.S., Dr. Carlos Garriga of Spain, Dr. David Liang of Canada,
Dr. Bruno Mazzetti of Italy, Mr. Thierry Uring of France, and Dr. Heinz Winter of Germany.
Dr. David F. Liang
Head, Space Systems and Technology
Defence Research Establishment Ottawa
Department of National Defence
Shirley Bay, Ottawa
Canada KIA OD.