Analyzing Missile Trajectory Detection with Trackman and GPS Tech

This report explores the potential of using Trackman, a golf tracker employing Doppler radar technology, for detecting missile trajectories with GPS. It discusses the technology behind Trackman, originally designed for golf and baseball, and its application in tracking the trajectory of balls. The report outlines research objectives, including how to use Trackman for missile trajectory detection, technical challenges in converting the system, solutions to these challenges, and the associated costs. It also reviews Doppler radar technology and its use in missile detection, providing a foundation for understanding how Trackman could be adapted for this purpose. The analysis encompasses data recording methods, accuracy, and the impact of noise, drawing parallels between sports performance analysis and ballistic missile trajectory detection. Desklib offers students access to this report along with a vast library of similar assignments and study resources.

USING TRACKMAN TO DETECT MISSILE TRAJECTORY WITH GPS
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Using Trackman To Detect Missile Trajectory With GPS 1

Introduction
Research Background
Technology continues to change the way detecting Missile trajectory is done. The advancement
in technology has led to massive growth in missile defense (Ender et al., 2010). Missile defense
began over decades ago with simple techniques, developed by countries like the US and Russia,
which could detect offensive launch events and track inbound ballistic missiles, however, these
technologies had limited capability for defense (Kumar et al., 2012). The popularity of the field
has been increasing as years goes while many countries are playing their roles interesting in
unraveling some of the mysteries of the trajectory of a ballistic missile and how it is launched.
This gives room facilitation in using new technology for production of a new product of quantity
and visualizes missile defense (Clemons and Chang. 2012).
However, little has been done in the examination on how to understand and how these new
technology of Doppler radar works. It is s subset of the radar technology that gives particular
attention to figuring out the speed of an object (Lee and Singh. 2010). The principle behind this
technology is that the waves that are produced by an object would be squashed together should
they be moving towards you or be spread further apart should they be running away from you.
This is the reason behind the seeming decrease in the pitch of a police siren as the vehicle moves
away from a person since as each of the waves is being produced; the car tends to push further
and further. Doppler radar has been implemented in missile defense (Zhu et al., 2010).
This research is meant to find out how "Trackman"- which is a golf tracker equipment can be
used to find the Trajectory of a Missile. The Trackman golf tracker employs the technology of
Doppler radar to trail both the hits and pitches of balls via their trajectory in golf and baseball.
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The obtained data is very significant to the scouts, players, and statisticians to assess the baseball
and golf games to measure the performance of the player. Elsewhere it is applied in the
manufacture of equipment to determine the working of the clubs and balls (Nathan. 2015).
Trackman’s technology
Trackman’s technology is a golf tracker equipment used in golf broadcasts and other major
networks. Golfers rely on this technology for fine-tuning of the game and lessons. The idea of
Trackman was conceived by a golfer by the name Dr. Klaus Eldrup-Jorgensen, when he realized
that in spite of the advancement in technology, limited technological improvements had been
made in the field of golf. Therefore, Jorgensen joined hands with Fredrik Tuxen, a radar
engineer. Tuxen modified the Doppler radar technology used for bullets and missiles tracking for
golf. To mention briefly how the trackman works, we will use the example of Trackman 4, which
is the latest product of the company. It employs the use of dual radar technology to capture 27
data points about both the ball and the club. These include both simple parameters such as club
head speed and carry yardage and complex statistics such as dynamic loft and smash factor
(Leach., 2017).
In essence, every detail of the golf swing is quantified and substantiated by a machine of equal
size to a laptop, placed behind the golfer. This equipment does not use any extra attachments or
equipment. The device incorporates a built-in HD camera for recording the swing of the player.
The video can then be monitored from phones, tablets, and laptops that are connected to a device
via Bluetooth technology (Tuxen. 2018).
Of late, the data obtained was used to determine the drag forces on a trajectory hit where balls
are lifted. Because the method has been executed widely by the professionals in the sporting field
Using Trackman To Detect Missile Trajectory With GPS 3

to identify the player's performance and manufacturers have also used it to find out the safety of
their equipment, an evaluation of the technology is required. The assessment comprises
investigating how data is recorded in the system for pitches and also the hits, the filtration and
accuracy of the data, and finally how the information is affected by the noise. The demonstration
requires the method used by the system to record data and theory of radar discussion. It will
involve an explanation of the raw data, and the purpose of how angles and positions were
obtained. It helps to precisely identify where noise significantly affected the data in the
trajectory, Because sound is a limiting factor in all systems of radar, considering the time spent to
clarify the various types of noise and its influence on the data. (Fast. 2010). The assessed data
from the radar comprised of all the trajectories of the pitch and hit (Nathan. 2012). It was carried
out by use of great speed video tracking situated near the outfield and inside the home plate. A
second system which comprised of cameras that were infrared was used in the monitoring which
allowed for comparison. The repeatability of the radar was obtained by the use of the Game data
which measured the efficiency of using the detector to determine the aerodynamic forces of the
hit balls. This evaluation would aid as a prototype for ballistic missile trajectory detection.
Research objectives
1. How do we use Trackman for detecting the Missile trajectory concerning the Global
position?
2. What are the technical difficulties that are involved in converting "Trackman" to find the
trajectory of the missile? (Software and the Hardware part).
3. Solutions to resolve those technical difficulties in Trackman.
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4. What is the cost and investment to be done to convert and install Trackman in detecting
the missile trajectory
Literature review
Doppler radar
The trackman employs the technology of Doppler radar. Thus it is prudent to examine briefly the
Doppler radar effect and how it is used in missile trajectory detection. This knowledge can then
be used to figure out how trackman can be used to track missiles.
For instance for the case of radar gun of the police, radar of the Doppler by releasing a beam of
electromagnetic waves that are usually modified to a specified frequency at an object in motion.
Upon hitting the moving object, the electromagnetic waves released would bounce back towards
the source which is also the host of the receiver besides the original transmitter.
The wave would be shifted since it is reflected off the moving object. On return to the radar gun,
this wave is assumed to be an entirely new wave and as it was emitted from the target on to
which it bounced off. In this regard, the target acts as new wave source. This reflected wave has
a frequency that is not the same as the frequency with which it was initially sent to the target
from the source. Since the radiation that was used in the radar gun was at a precise velocity at the
time of being sent out from the source and at a new frequency on its return journey to the radar
gun, it is possible to estimate the velocity of the target object which would give the velocity of
the moving object.
The Pulse-Doppler gun does not only allow for the calculation of the linear velocity of the radar
gun but also allows estimation of the radial velocities. It is achievable by using pulses instead of
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radiations from the beam that only move in a linear direction. The shift there occurs both in the
frequency and the carrier cycles thereby permitting the determination of the radial velocities.
It is essential to ensure careful control of the system to achieve the radial velocities of the system.
The stability of the phases of the radiation pulses must be ensured, and this is possible through
providing that the system is in a coherent state. The only disadvantage of this system is that the
Pulse-Doppler system is such that there is maximum velocity beyond which the radar is not able
to measure radial velocity.
A Doppler radar uses Doppler effects in a much-specialized way to determine the velocity of
objects which are at a distance. It works by sending a microwave signal which bounces back
after hitting the desired target. The impact which occurs on the signal as it bounces back is
determined, and from it, the velocity of the moving object is defined and how far from the
Doppler radar purpose is.
Doppler applies the usage of the narrow band receivers to be able to eliminate objects which are
moving at a low velocity or the objects which are stationary in that way the Doppler radar can
eliminate signals which are false which may be from the clouds, trees, and other environmental
influences.
The Doppler radar system uses the timing technique to determine the range of the target which
the missile is targeting. Similarly, it uses the Doppler effects of which the return signal is used to
determine the velocity of the target object. Also, uses the features of the continuous-wave radar
and the pulse radar which initially applied to work separately use the complexity of the
electronics which were involved.
The Doppler radar system uses to scan and tracking techniques in the detection of missiles. The
frequency filtering, ambiguity resolution, and amplitude thresholding are the main things which
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are determined in the scanning mode of detecting weapons. The moment the resolving and
detection of the reflection have taken place, the Doppler radar transmits the thinking
automatically to the tracking mode in the space volumes which surround the missile track.
Doppler signal processing excludes selectively all the low-velocity reflection with the primary
objective of ensuring that there is no detection which occurs below the threshold velocity of the
moving object this is done to ensure that the confusion which might be caused by terrain,
weather, and biological factors does not occur. The signal from the target domain which is
detected is converted back to the time domain from the frequency domain sounds from the track
of the operator who is in some radar system. This operator uses this sounds to do the
classifications of the targets.
Due to the nature of the Doppler radar special considerations are to be put in place in large
missiles because the Doppler radar works like a locked loop. The audible signal which is
produced is used for the identification of the kind of the missile which is flying and at what
velocity is the missile flying. Once that has been identified the target which the rocket is sent to
hint is determined and the necessary actions can be put in place to keep tracking the missile by
using the Doppler radar.
The Doppler radar must have the ability to have the multi-mode which can be able to handle both
the missile turning and crossing trajectory. Once the Doppler is in the track mode, it includes
techniques which enable the Doppler filtering of the spaces which are surrounding the track and
trying at all the points to ensure that the missile which might be crossing the path immediately
can be found and identified
When the missile has been launched, and its spinning motion is of the same kind with the motion
of the Micro Doppler motion. The modulation period of frequency is what is referred to as the
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micro-Doppler modulation frequency which is a very stable and efficient parameter in the radar
tracking and target recognition.
First, the signal of the spinning missile during its flight is established by the radar, then the
micro-Doppler modulation frequency is extracted through the analysis which is done periodically
of the resulting spectrogram (STFT) which is the frequency distribution time. This is done to be
used for the target of BM recognition.
The Received echo is down-converted by the homodyne sensor by the use of the transmit
waveform which acts as the local oscillator and ensures that the receiver output is the Doppler
radar which in return shifts the amplitude which is modulated by the radar range system and the
antenna beam.
The Doppler radar consists of the Radar sensors, and also a data-multiplex/controller. The
frequencies which are received are usually 10MHz apart from each other. The sensors which are
in the Doppler system each of them consists of pairs of antenna mainly to receive and to transmit
the signal.
Reasons for radar not tracking
To better understand how the trackman radar may fail to follow, an illustration using baseball
game would be used. A trackman will be used to monitor the game to depict how the trackman
may fail to track when used for missile trajectory tracking.
Apart from having an accurate range, the radar cannot frequently be able to track a pitch or more
possible, follow a pitch. We have Numerous reasons which may contain an outcome. Foremost is
that the ground ball is a hit. The radar aims to stop pursuing when the ball hits the ground which
is shown by a radical variation in the trajectory. It is not necessary for the radar to track the shots
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since they hit the ground in time in their path. The other cause of a hit ball might not be pursued
since it leaves the field of vision at the start of the path. It is distinctive for foul ball type hits.
The field of view described is ± 45° in the azimuth angle and -15° and 45° in the elevation angle.
Inclination of the 4° angle offers an improved elevation angle which is positive in the field of
view. The amplitude of the frequency of the return signal failing to drop within the exposure
threshold is a third reason of why a hit ball fails to be tracked. In this situation, the algorithm is
postponed because the radar fails to establish whether the ball exists. It might be as a result of the
surrounding noise or a weak signal which results from the vast distances or angles felt in the
process of an infield fly ball, Whichever way, when the return signal fails to fall within a
specified threshold the radar fails to track. Other cases where a fly ball that is well hit to the
outfield fails to be followed and the predictable factors are linked to the operating system tasks
like leveling. Communication losses have been periodically experienced between the radar and
the laptop which result in the no tracking. The occurrences are occasional and almost ninety five
percent of the time is used in monitoring the runs.
As per mentioned above, in the execution of other activities the radar fails to track, it comprises
looking out for data from a formerly followed ball. Meaning, the element requires a reasonable
time frame to complete its scheming before ensuring a tracked pitch or hit. The time to wait
differs between hits and pitches which is significantly affected by the ball’s trajectory. 3 – 5
seconds is the usual wait time allowed between the consecutive pitches; we experience the rise of
the wait time when a hit occurs. The estimated wait time of 5 -8 seconds happens when the ball is
hit while in the midair for about 1 and 1 and half seconds. It takes 10 to 15 seconds when a fly
ball is well hit in the outfield. It may vary marginally after the ball has left the field of view
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because it is upon the radar to wait for numerous seconds to decide whether the ball will go back
to its original view field.
Trackman data
The benefit of using Radar is because of it's of tracking which uses high-speed cameras where
information is shown for both hits and pitches moments after the ball lands. It is advantageous
because the unit is used for establishing the performance of equipment or to track games. The
data measures and adequately describes the hit and the pitch. A set data for the pitch and hit user
may comprise of statistics about the discharge speed and position of pitch, the final landing
position of hit, the site, speed of the pitch and hit at home plate. Laterally with the information
about the pitch and hit, the play data can also be entered. This information is cued in by the
operator on an operator interface. The data for both the team and the player is also shown so that
a full game can be tracked (Ćesić et al., 2014).
Information about the pitch and it is recorded. This data together with operator input game data
entirely describes the game and permits the tracking of the strikes by the system, the battings,
and balls. If the initiation order is intact, the system will spontaneously cycle over the launches.
After the tracking, the period has finished the data of the pitch, and it is allowed to be transferred
to a .csv file for the purpose of editing. The real information taken by the radar, is called the
Trackman raw data, which is accessible by means of the Trackman data file or .tmd file. The files
are transferred to .xml format (by using a distinct program that is licensed which is called
Workbench) which is edited and opened in Excel found in the Microsoft program. The Trackman
information data file comprises more determined details about the whole trajectory of a single
pitch and hits which includes filtered data that was unfiltered (Kalman 47 filter with an altered
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period stamp). It also displays where the radar misses track of a ball, usually at the end of a hit
after the ball has moved far away from the radar. The data part in the .xml file used for this work
was the velocity radial of the ball (Vr), the cosines directions (α, β, and γ) of Vr, and the initial
range of the ball (R) (Li et al., 2015).
The route cosines, α, β, and γ, are determined per esteem to the axes that are well-demarcated by
the radar. They consist of the -4° tilt of the radar around Zr and slightly turning around the Yo
axis. The series of the ball is explained as the length from the ball to the radar as specified via the
operator through the arrangement.
How the Trackman system gives the x, y, and z coordinates according to earth's topology
The coordinate system of the Trackman for the golf ball applies the positive x-direction which
usually points to the pitcher, which is at the same level with the ground, the positive coordinate
which points upwards and the z coordinate which points to the catcher’s right. Hence the
golf/pitched ball is mainly moving in the negative x-direction as shown in figure below.
Fig 1: The coordinate system of the Trackman and field
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The coordinate field system can be seen in the diagram starting at the tip of the home plate with
the X f , Y f , and Z f axis pointing which points in the same direction as the coordinate system
of the radar. The position of the ball at any given time as reported by the user it is in respect with
the field coordinate system.
The trackman radar uses a self-levelling system which enables it to keep the antennas pointed in
an angle of 4o and tilted about the Z r axis. The optimal 4o tilt is an allowance to allow the radar
to be pointed upwards slightly mainly for the purpose of optimization for tracking flying balls.
There are two legs at the bottom of the radar which enable it to level about the X r axis such that
the radar remains in level with the ground
Trackman Workbench
Filtered and unfiltered statistics might be managed by the operator using the Workbench program
which is responsible for permitting the scrutiny of individual data sets, offers drag and lift, and
spectrums frequencies. It provides the capability of the operator to differentiate game aspects that
comprises the distance of the calibration radar, weather conditions besides ball dimensions. This
offers the capacity to find out the impacts they have on to change the environment or the
informed data to replicate the existing situations of the game (Tuxen et al., 2018). It was much
applied to alter .tmd files into files that can be read by Microsoft Excel. It permits for data
together with the entire path of both the pitch and hit that will be evaluated. The tough signal
realized at a zero frequency and maintains from the start to the end of the data because of the
noise in the background. This sound is nonstop and doesn’t alter and hence has minimum
influence on the signal of the balls. A strong negative frequency shows the pitch of the ball from
time 0 to about 1.8 seconds. It begins with a fast peek in frequency at 0 second time, which is the
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