Small Target 3D Position Tracking in Large Airborne Swarms

We propose to detect and track each member of a large flock of birds or other flying objects using Geiger-mode 3D imaging lidar. Lidar provides 3D positions of each object at specific times. The depth coordinate enables robust disambiguation of objects whose tracks would appear to cross in 2D camera-based systems. The high measurement rate and extreme sensitivity of Geiger-mode lidar enables safe, stand-off interrogation of large volumes of airspace at rapid enough update rates so that individual tracks can be maintained over extended intervals. We leverage over a decade of DoD-funded development of airborne Geiger-mode 3D mapping lidars which have been proven in multiple operational applications. The work proposed for this Phase I grant will optimize the lidar and result in a system design with associated performance estimates. The optimization will be informed by analytic models and simulations to understand occlusion statistics and characterize tracking algorithms. In addition, we will assess the computational resource requirements needed to generate 3D point clouds and propagate tracks in real time. Commercialization of this technology can lead to highly capable airspace surveillance systems optimized for counter-drone applications and wildlife protection at airports and wind farms.