| CPC G01S 13/931 (2013.01) [G01S 13/58 (2013.01)] | 18 Claims |
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1. A method for operating a radar system, comprising:
obtaining, by a processor, radar scan data for a first scan performed by a first radar device of the radar system and radar scan data for a second scan performed by the first radar device or a second device of the radar system;
defining a search window using coordinates expressed in a range-azimuth reference frame, the range-azimuth reference frame being based on a time difference between the first scan and the second scan;
identifying, by the processor, a detection pair comprising a first detection in the radar scan data for the first scan and a second detection in the radar scan data for the second scan using the search window;
obtaining, by the processor, a 2D initial particle velocity using positions of the first and second detections of the detection pair;
using, by the processor, the 2D initial particle velocity to obtain a projected range rate for the second detection of the detection pair; and
creating, by the processor, a particle when the projected range rate matches a range rate associated with the second detection of the detection pair by a certain amount, wherein the particle is assigned the position of the first detection of the detection pair and the 2D initial particle velocity as a range rate.
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