Patent ID: 7924213

Claim:
A method of tracking an object, the method comprising the steps of: collecting N measurements of range R i , and Doppler velocity D i , associated with the object from a plurality of M radar sensors S i , each measurement being assigned a time stamp t i ; time aligning each range measurement R i , to a common time stamp t N to provide a corresponding time aligned range P i , for sensor S i for each of the N measurements, the time aligned range determined in accordance with the following relationship: P i =R i +D i ×( t N −t i ) wherein × indicates scalar multiplication, and the time aligned range P i , for each sensor S i , iε[1, . . . , N], is used to determine a sphere in accordance with the following relationship: ( x−a i ) 2 +( y−b i ) 2 +( z−c i ) 2 =( P i ) 2 wherein a i , b i , and c i , are the Cartesian co-ordinates of sensor S i and [x, y, z] is an estimated position vector of the object; the method further comprising the steps of: calculating a spherical equation corresponding to each of N time aligned range measurements P i , to produce N spherical equations; and deriving analytical solutions from three predetermined spherical equations of the N spherical equations to determine a position vector of the object.