JP2018532125A - 広帯域信号を使用した物体の検出のための装置および方法 - Google Patents
広帯域信号を使用した物体の検出のための装置および方法 Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
- G01S7/0234—Avoidance by code multiplex
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. P.S.K. signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S15/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. of phase-shift keyed [PSK] signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/003—Bistatic radar systems; Multistatic radar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/003—Bistatic sonar systems; Multistatic sonar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/003—Bistatic lidar systems; Multistatic lidar systems
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- General Physics & Mathematics (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
本出願は、2015年7月20日に出願された同じ題名の米国特許出願第14/804,043号の優先権の利益を主張し、同出願の内容は、その全体が参照により本明細書に組み込まれる。
本特許文書の開示の一部は、著作権保護対象の資料を含む。著作権者は、特許商標庁の特許ファイルまたは記録に掲載されている本特許文書または本特許開示のいかなる人によるファクシミリ複製にも異議を唱えるものではないが、その他の点では全ての著作権を保有する。
これより、図面を参照しながら、本技術の実装を詳細に説明する。図面は、当業者が本技術を実施することができるように、例示的な例として提供されている。特に、以下の図および例は、本開示の範囲を単一の実装に限定することを意図したものではなく、記載または例示されている要素の一部または全部の交換またはそれらとの組み合わせにより他の実装が可能である。便利な場合はいつでも、図面の全体を通して、同じまたは似た部分を参照するために同じ参照番号が使用されることになる。
Claims (22)
- 物体への距離を決定するための装置であって、
広帯域信号を送信するように構成された送信器コンポーネントと、
前記物体からの前記広帯域信号の反射を含む反射された信号をサンプリングして、サンプリングされた信号を生み出すように構成された受信器コンポーネントと、
プロセッサコンポーネントであって、
前記送信された信号の時間反転したインスタンスを決定し、
コレログラムであって、前記送信された信号の前記時間反転したインスタンスと、複数のラグにおける前記サンプリングされた信号との畳み込みを含む、コレログラム、を決定し、
前記複数のラグにおける1つ以上のコレログラム値を検出閾値と比較し、
前記検出閾値を突破する所与のコレログラム値に基づいて、前記所与のコレログラム値に関連付けられた前記複数のラグのうちの所与のラグに対応する前記物体への距離を決定するように構成された、プロセッサコンポーネントと、
を備えた、装置。 - 前記広帯域信号が、ランダム過程または疑似ランダム過程に基づいて得られたビットシーケンスを含み、前記ビットシーケンスが、周波数不変のパワースペクトル密度により特徴付けられる、請求項1に記載の装置。
- 前記広帯域信号が、周波数と共に増大するパワースペクトル密度により特徴付けられる過程に基づいて得られたビットシーケンスを含む、請求項1に記載の装置。
- 前記広帯域信号が、周波数と共に減少するパワースペクトル密度により特徴付けられる過程に基づいて得られたビットシーケンスを含む、請求項1に記載の装置。
- 前記広帯域信号が、値のランダム分布または疑似ランダム分布により特徴付けられる連続値シーケンスを含む、請求項1に記載の装置。
- 前記ランダム分布が、ガウス過程を含む、請求項5に記載の装置。
- 前記広帯域信号が、電磁波送信を含む、請求項1に記載の装置。
- 前記広帯域信号が、音響波送信をさらに含む、請求項7に記載の装置。
- 前記受信器コンポーネントが、前記送信器コンポーネントから空間的に離間されている、請求項7に記載の装置。
- 前記電磁波が、無線周波数帯域内の選択された周波数により特徴付けられる、請求項7に記載の装置。
- 前記送信器コンポーネントが、音響波を放射させるように構成された音響変換器と、前記無線周波数帯域内の無線周波を放射させるように構成された無線周波数アンテナとを含む、請求項10に記載の装置。
- 前記受信器コンポーネントが、反射された音響波を受信するように構成された音響変換器と、前記無線周波数帯域内の反射された無線周波を受信するように構成された無線周波数アンテナとをさらに含む、請求項11に記載の装置。
- 前記電磁波が、可視光周波数帯域内の選択された周波数により特徴付けられ、
前記送信器コンポーネントが、発光素子を含み、
前記受信器コンポーネントが、受光器を含む、請求項7に記載の装置。 - 前記光素子が、電気ポンピングされる半導体レーザー素子を含む、請求項13に記載の装置。
- 前記複数のラグが、100のラグを超える、請求項1に記載の装置。
- 前記検出閾値の決定が、前記コレログラムの平均値および標準偏差値の決定を含み、
前記検出閾値が、前記平均値より大きく構成された正成分と、前記平均値に等しい絶対的な大きさを有する負の平均値より小さく構成された負成分とを含む、請求項1に記載の装置。 - 前記正成分が、前記平均値より上の第1の標準偏差値の数に基づいて構成され、
前記負成分が、前記負の平均値より下の第2の標準偏差値の数に基づいて構成される、請求項16に記載の装置。 - 上に命令が具現化された非一時的コンピュータ可読記憶媒体であって、前記命令が、ロボット装置によるナビゲーション中に物体を検出する方法を遂行するようにプロセッサ装置により実行可能であり、前記方法が、
擬似ランダムビットシーケンスを決定することと、
ある波種類を使用して前記擬似ランダムビットシーケンスを送信して、広帯域信号であって、前記ロボット装置の環境の一部分を照射するように構成された、広帯域信号、を生み出すことと、
前記環境内の1つ以上の物体からの前記広帯域信号の反射をサンプリングすることと、
前記広帯域信号の前記サンプリングされた反射を、ある時間間隔の間、メモリバッファ内に記憶することと、
前記記憶されたサンプリングされた反射を、前記擬似ランダムビットシーケンスの時間反転したコピーにより畳み込んで、コレログラムを生み出すことと、
前記コレログラムの評価に基づいて少なくとも1つのピーク値を決定することと、
前記環境内に存在する前記1つ以上の物体の表示を前記ロボット装置のコントローラに提供することであって、前記表示が、前記ロボット装置による行為の実行を引き起こすように構成されている、提供することと、を含む、非一時的コンピュータ可読記憶媒体。 - 前記擬似ランダムビットシーケンスが、いくつかのビット数を含む最大長シーケンスを含み、
前記メモリバッファが、前記ビット数に等しい前記サンプリングされた反射の少なくともサンプル数を記憶するように構成されている、請求項18に記載の非一時的コンピュータ可読記憶媒体。 - 物体と関連付けられた少なくとも1つの位置属性を決定するための装置であって、
振動信号を送信するように構成された送信器コンポーネントと、
前記物体からの前記振動信号の反射を含む反射された信号をサンプリングして、サンプリングされた信号を生み出すように構成された受信器コンポーネントと、
コンピュータ化されたロジックであって、
前記送信された振動信号の少なくとも一部分の変更されたインスタンスを得て、
前記変更されたインスタンスの少なくとも一部分と前記サンプリングされた信号の少なくとも一部分との比較を遂行し、
前記比較から得られた1つ以上の値を検出基準に対して評価し、
前記検出基準を満たす前記1つ以上の値のうちの少なくとも1つに基づいて、前記少なくとも1つの値に関連付けられたパラメータに対応する前記物体に関連付けられた前記位置属性を決定するように構成された、コンピュータ化されたロジックと、を含む、装置。 - 前記位置属性が、距離を含み、
前記振動信号が、広帯域音響信号または広帯域電磁信号のいずれかを含み、
前記変更されたインスタンスが、前記送信された振動信号の少なくとも一部分の時間反転したインスタンスを含み、
前記比較が、変更されたインスタンスの前記少なくとも一部分と、前記サンプリングされた信号の前記少なくとも一部分のそれぞれの、少なくとも複数の時間ラグにおいて遂行される自己相関を含み、
前記1つ以上の値が、それぞれ1つ以上の振幅を含み、
前記比較から得られた前記1つ以上の値の検出基準に対する前記評価が、前記装置内に記憶された所定の検出閾値との比較を含む、請求項20に記載の装置。 - 前記振動信号が、ランダム過程を使用して選択された所与の長さの複数のビットを含む擬似ランダムシーケンスをさらに含み、
メモリバッファが、前記所与の長さより大きい前記サンプリングされた反射の少なくともサンプル数を記憶するように構成されている、請求項20に記載の装置。
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JP6773781B2 (ja) | 2020-10-21 |
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US10197664B2 (en) | 2019-02-05 |
US20170023661A1 (en) | 2017-01-26 |
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EP3324913A4 (en) | 2018-07-25 |
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