According to examples of the presently disclosed subject matter, there is provided a system for estimating a source location of a projectile, comprising an optics an optics subsystem, a radar subsystem and a processor. The processor is adapted to use range and velocity measurements obtained from dat
According to examples of the presently disclosed subject matter, there is provided a system for estimating a source location of a projectile, comprising an optics an optics subsystem, a radar subsystem and a processor. The processor is adapted to use range and velocity measurements obtained from data provided by the radar subsystem, a source direction and an event start time obtained from data provided by the optical subsystem and a predefined kinematic model for the projectile for estimating a range to a source location of the projectile.
대표청구항▼
1. A system for estimating a source location of a projectile, comprising: an optics subsystem configured to detect the launch of the projectile substantially immediately after the launch of the projectile;a radar subsystem configured to provide range and velocity measurements of the projectile; anda
1. A system for estimating a source location of a projectile, comprising: an optics subsystem configured to detect the launch of the projectile substantially immediately after the launch of the projectile;a radar subsystem configured to provide range and velocity measurements of the projectile; anda processor configured to: obtain an event start time and a source direction based on data related to the launch provided by the optics subsystem, said obtaining being not based on range measurements provided by the radar subsystem, wherein said event start time is an estimate of the time of said launch of said projectile, andestimate a range to a source location of the projectile based on: range and velocity measurements of the projectile provided by the radar subsystem,said source direction,said event start time, anda predefined kinematic model for the projectile. 2. The system according to claim 1, wherein the processor is configured to take into account predefined operational parameters of the system or of any of its components and/or environmental parameters in order to calculate a certainty range and direction boundaries for the source location. 3. The system according to claim 2, further comprising one or more of the following: a wind-velocity sensor;an air temperature sensor; andan air pressure sensor. 4. The system according to claim 1, wherein the launch of the projectile is related to and is coincident with an event that has an optical signature which is detectable by the optics subsystem. 5. The system according to claim 4, wherein the optical signature is associated with a muzzle flash or an ignition of a propellant. 6. The system according to claim 1, wherein the projectile can be headed towards the radar subsystem. 7. The system according to claim 1, wherein the processor is configured to provide the radar subsystem with initialization settings that are based on the source direction and the event start time that were obtained from the data provided by the optics subsystem. 8. The system according to claim 1, further comprising at least one of a GPS receiver module and an INS module which is configured to provide a self location of the system, and wherein the processor is configured to determine the source location further based on the self location of the system. 9. The system according to claim 8, wherein in case the system is mobile and is moving during a flight of the projectile, the processor is configured to take into account a movement of the system when determining the range to the source location and when estimating the source location. 10. The system according to claim 1, wherein based on the projectile's velocity that was measured by the radar subsystem at the given instant, the processor is configured to perform a mathematical backward extrapolation of the projectile's velocity down to the event start time. 11. The system according to claim 10, wherein the kinematic model is based on an assumption that the projectile's velocity which was measured by the radar subsystem at a given instant is constant throughout the projectile's flight and was maintained by the projectile from a launch thereof. 12. The system according to claim 1, wherein the radar subsystem is configured to obtain a plurality of range and velocity measurements for the projectile at a plurality of different instants during a flight of the projectile, and the processor is configured to use the obtained plurality of range and velocity measurements for estimating the range to the source location. 13. The system according to claim 1, wherein the processor is configured to assume, in parallel, multiple kinematic models, calculate based on each one of the multiple kinematic models a back projection extrapolation, and choose from a resulting plurality of back projection extrapolations one or more back projection extrapolations that best match the measured data. 14. The system according to claim 1, wherein the predefined kinematic model includes two or more multiple phases, and wherein at least two phases of the two or more multiple phases different phases of the kinematic model are associated with a different velocity of the projectile. 15. The system according to claim 14, wherein the different velocities of the projectile with which the at least two phases of the kinematic model are associated, are based on an assumption of a certain acceleration/deceleration of the projectile during different respective periods of a flight of the projectile. 16. The system according to claim 1, wherein in case the processor determines that a measured velocity of the projectile is less than a minimum closing-in velocity threshold, the projectile is considered be non-threatening. 17. The system according to claim 1, wherein the optics subsystem and the radar subsystem are in alignment with one another, and a co-registration between the optics subsystem and the radar subsystem is accurate at every field direction within a common field of view of the optics subsystem and the radar subsystem. 18. The system according to claim 1, wherein the optics subsystem and the radar subsystem are configured to implement a common timing reference. 19. A method of estimating a source location of a projectile, comprising: using a range and velocity measurements from a radar subsystem, anda source direction and an event start time calculated based on data provided by an optics subsystem on the launch of the projectile, but not based on range measurements provided by the radar subsystem, wherein said optics subsystem is configured to detect the launch of the projectile substantially immediately after the launch of the projectile, wherein said event start time is an estimate of the time of said launch of said projectile, anda predefined kinematic model for the projectile for estimating a range to a source location of the projectile. 20. The method according to claim 19, further comprising computing a certainty range and direction boundaries for the source location, and taking into account predefined operational parameters of the system or of any of its components and/or environmental parameters, and wherein the estimating a range to a source location of the projectile further comprises taking into account the certainty range, the direction boundaries and the operational parameters of the system or of any of its components and/or the environmental parameters when estimating the range to the source location. 21. The method according to claim 19, wherein the launch of the projectile is related to and is coincident with an event that has an optical signature which is detectable by the optics subsystem, and wherein the optical signature is associated with a muzzle flash or an ignition of a propellant. 22. The method according to claim 19, further comprising configuring the radar subsystem with initialization settings that are based on the source direction and the event start time that were obtained from the data provided by the optics subsystem. 23. The method according to claim 19, further comprising obtaining a self location of the system, and wherein the estimating of a range to a source location of the projectile is further based on the self location of the system. 24. The method according to claim 23, wherein the estimating of a range to a source location of the projectile further comprises taking into account a movement of the system when estimating the range to the source location. 25. The method according to claim 19, wherein the kinematic model is based on an assumption that the projectile's velocity which was measured by the radar subsystem at a given instant is constant throughout the projectile's flight and was maintained by the projectile from a launch thereof. 26. The method according to claim 19, further comprising obtaining a plurality of range and velocity measurements for the projectile at a plurality of different instants during a flight of the projectile, and wherein estimating the range to the source location comprises using the obtained plurality of range and velocity measurements for estimating the range to the source location. 27. The method according to claim 19, wherein the estimating a range to the source location comprises assuming, in parallel, multiple kinematic models; calculating based on each one of the multiple kinematic models a back projection extrapolation; and selecting from a resulting plurality of back projection extrapolations one or more back projection extrapolations that best match the measured data. 28. The method according to claim 19, wherein the predefined kinematic model includes two or more multiple phases, and wherein at least two phases of the two or more multiple phases of the kinematic model are associated with a different velocity of the projectile. 29. The method according to claim 28, where the different velocities of the projectile with which the at least two phases of the kinematic model are associated, are based on an assumption of a certain acceleration/deceleration of the projectile during different respective periods of a flight of the projectile. 30. The method according to claim 29, further comprising determining whether a measured velocity of the projectile is less than a minimum closing-in velocity threshold, and in case the measured velocity of the projectile is less than a minimum closing-in velocity threshold, terminating the estimating of the range to the source location. 31. The method according to claim 19, further comprising implementing a co-registration among the optics subsystem and the radar subsystem. 32. The method according to claim 19, further comprising implementing a common timing reference among the optics subsystem and the radar subsystem. 33. The system according to claim 1, wherein said projectile is a powered projectile; and wherein said predefined kinematic model assumes that a launch of the powered projectile occurs at said event start time. 34. The system according to claim 18, wherein timings of said optics subsystem and said radar subsystem, are substantially precisely synchronized, and wherein said optics subsystem is operating in the SWIR band. 35. The method according to claim 19, adapted for estimating of the source location of a powered projectile; and wherein the method comprising utilizing said kinematic model for estimating the source location of the powered projectile whereby the kinematic model assumes that the launch of the projectile occurs at said event start time. 36. The method according to claim 32, comprising synchronizing the timings of said optics subsystem and said radar subsystem, wherein said optics subsystem is operating in the SWIR band at a rate higher than approximately 200 Hz.
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이 특허에 인용된 특허 (7)
Smith Thomas, Acousto-optic weapon location system and method.
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