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Pi_0102 4-May-15 pg. 1 Collaborative Signal Processing for Sensor Networks Stephen R. Blatt BAE SYSTEMS 16 January 2002.

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Presentation on theme: "Pi_0102 4-May-15 pg. 1 Collaborative Signal Processing for Sensor Networks Stephen R. Blatt BAE SYSTEMS 16 January 2002."— Presentation transcript:

1 Pi_0102 4-May-15 pg. 1 Collaborative Signal Processing for Sensor Networks Stephen R. Blatt stephen.r.blatt@baesystems.com BAE SYSTEMS 16 January 2002 This material is based upon work supported by the Space and Naval Warfare Systems Center - San Diego and DARPA IXO under Contract No. N66001-00-C-8054

2 Pi_0102 4-May-15 pg. 2 BAE SYSTEMS/MIT Collaborative Signal Processing Tasks Networked Tracking - BAE SYSTEMS –improve data association between nodes Distributed Network Processing - MIT –lower field power requirements

3 Pi_0102 4-May-15 pg. 3 Agenda Algorithm SITEX 02 Data Collection Results of data analysis to date –Tripwire algorithm –Personnel detection Future plans

4 Pi_0102 4-May-15 pg. 4 Sensor system must reduce multiple node data to single output Two vehicles passing through 13 node cluster

5 Pi_0102 4-May-15 pg. 5 Situational Awareness Processing Overview Data Association Target Localization Feature Estimation Multi- frame tracking Node processing Output: target # target ID position Processed Node Data Situational Awareness # targets

6 Pi_0102 4-May-15 pg. 6 Data Association Using Tripwire From tripwire nodes, bearing to target is same at infinity, and opposite at crossing Can resolve multiple targets Estimate position between nodes based on size of bearing difference 1 2

7 Pi_0102 4-May-15 pg. 7 Aberdeen Dec 00 Tripwire Diamond configuration –100m spacing each axis

8 Pi_0102 4-May-15 pg. 8 Example over 13 transits Time, sec Position, m Bearing

9 Pi_0102 4-May-15 pg. 9 SITEX 02 Node Locations 12 thru 14 November Nodes 7, 8, 9, 10, 11, 13, 14, 16 Average Node Separation = 41.6m

10 Pi_0102 4-May-15 pg. 10 BAE SYSTEMS Sensor System 3 microphone array 1-axis or 3-axis seismic array a/d, fs = 1024 Hz on-node processing & storage fusion on gateway node

11 Pi_0102 4-May-15 pg. 11 Software Configuration MIUGS Senserv calculate bearing sends bearing via serial link log to file WINS 2.0 BearingServer puts data into twrec repository BearingClient get twrec data, publishes via diffusion logs to local file Tripwire subscribes to all nodes logs all bearings to file run tripwire logs positions to file outputs data RS-232

12 Pi_0102 4-May-15 pg. 12 Node Pairs and Gates B C D I E H G F

13 Pi_0102 4-May-15 pg. 13 Tracking results: baseline system 14 Nov, > 2300 GMT

14 Pi_0102 4-May-15 pg. 14 Tracking results - baseline system Y, m Time, seconds

15 Pi_0102 4-May-15 pg. 15 Tracking results - Tripwire Y, m Time, seconds

16 Pi_0102 4-May-15 pg. 16 Multiple Single Vehicle Passes - Baseline Tracking Y position, meters Time, seconds past midnight

17 Pi_0102 4-May-15 pg. 17 Multiple Single Vehicle Passes - Tripwire Y position, meters, 200m span Time, seconds past midnight

18 Pi_0102 4-May-15 pg. 18 SITEX 02 Results - Two Targets - Baseline Tracking Y position, meters (50m per box) Time, seconds past midnight (5s per box)

19 Pi_0102 4-May-15 pg. 19 SITEX 02 Results - Two Targets Tripwire Estimated target separation = 40m - 50m Time, seconds past midnight (5s per box) Y position, meters (50m per box)

20 Pi_0102 4-May-15 pg. 20 Tripwire Analysis Status Analyzing data for 12, 13, 14 Nov Awaiting log, video, ground truth information Second configuration for 15 Nov 65/H 47/C 9/B 1/ E 70/I 54/D 41/F 44/G

21 Pi_0102 4-May-15 pg. 21 Tripwire Algorithm Effectiveness Provides accurate position Provides accurate count for target spacing > node spacing Low processing requirements on node –avoids combinatorial explosion (e.g. LOB intersection) since small potential number of targets Scalable over number of nodes –one report per target But –Dependent on good data from nodes –Not helpful when target is outside node grid

22 Pi_0102 4-May-15 pg. 22 SITEX 02 Personnel Analysis 12 Nov - column of 342 Marines –West to intersection, paused, then went North

23 Pi_0102 4-May-15 pg. 23 Personnel Tracking Set-up 3 axis geophones deployed to east of road E - 30m F - 23m G - 12m H - 13m

24 Pi_0102 4-May-15 pg. 24 SITEX 02 Personnel Analysis Troops moving SW to NE

25 Pi_0102 4-May-15 pg. 25 SITEX 02 Personnel Analysis

26 Pi_0102 4-May-15 pg. 26 Future Work Analyze additional SITEX 02 data –bearing tripwire –doppler tripwire Data Quality Evaluation –comparing data from cooperating nodes to identify nodes with bad data Cued aerial observer –UAV or parachute viewer –photo, targeting

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