JP2021515212A - 周波数変調連続波(fmcw)ベースシステム及びfmcw範囲推定方法 - Google Patents
周波数変調連続波(fmcw)ベースシステム及びfmcw範囲推定方法 Download PDFInfo
- Publication number
- JP2021515212A JP2021515212A JP2020544872A JP2020544872A JP2021515212A JP 2021515212 A JP2021515212 A JP 2021515212A JP 2020544872 A JP2020544872 A JP 2020544872A JP 2020544872 A JP2020544872 A JP 2020544872A JP 2021515212 A JP2021515212 A JP 2021515212A
- Authority
- JP
- Japan
- Prior art keywords
- beat signal
- scene
- function
- frequency
- processor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4017—Means for monitoring or calibrating of parts of a radar system of HF systems
-
- 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
-
- 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
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
-
- 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
-
- 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
- G01S15/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- 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
-
- 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
- G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
-
- 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
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
-
- 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
-
- 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
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S7/52004—Means for monitoring or calibrating
-
- 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
-
- 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
-
- 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
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/426—Scanning radar, e.g. 3D radar
-
- 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
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S2013/0236—Special technical features
- G01S2013/0245—Radar with phased array antenna
- G01S2013/0254—Active array antenna
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Radar Systems Or Details Thereof (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
以下の形式の単位振幅線形周波数被変調信号を送信するFMCW検知システムを検討する。
Claims (19)
- 少なくとも1つの送信波をシーンに送信する少なくとも1つの送信機であって、前記送信波は周波数領域において線形変調され、前記線形変調では、前記周波数領域における前記送信波の線形変調に非線形性を引き起こす障害を受ける、少なくとも1つの送信機と、
前記シーン内の異なる場所に位置する1つ又は複数の物体からの前記送信波の反射を受信する少なくとも1つの受信機と、
前記送信機が出力した前記送信波のコピーを前記受信機が受信した前記送信波の反射と干渉させて、前記シーンにおける前記異なる場所からの反射に対応するスペクトルピークを有するビート信号を生成するように、前記送信機及び前記受信機に動作可能に接続されたミキサであって、前記ビート信号は、前記線形変調の前記非線形性が原因で歪められる、ミキサと、
歪められたビート信号においてスペクトルピークの数を検出し、複数のスペクトルピークを検出したことにのみ応答して、前記線形変調の前記非線形性を近似した基底関数の係数と、前記歪められたビート信号における前記スペクトルピークをもたらす反射を引き起こす物体を有する前記シーン内の前記異なる場所までの距離とを同時に求めるプロセッサと、
を備える、周波数変調連続波(FMCW)ベースシステム。 - 前記プロセッサは、前記基底関数の前記係数の中で選択される値と、前記シーン内の前記場所までの前記距離の中で選択される値に対応する周波数を有する周波数成分とを用いて再構成されたビート信号が、前記歪められたビート信号を近似するように、前記基底関数の前記係数の前記値と前記シーン内の前記場所までの前記距離の前記値とを選択する、請求項1に記載のシステム。
- 前記プロセッサは、前記基底関数の前記係数の異なる値と、前記シーン内の前記場所までの前記距離の異なる値との組み合わせのセットを試験して、再生成されたビート信号のセットを生成し、前記歪められたビート信号に最も類似した前記再生成されたビート信号をもたらす前記係数及び前記距離を選択する、請求項2に記載のシステム。
- 前記プロセッサは、複素正弦波信号を表す未知のパラメータの関数を形成し、前記未知のパラメータは、前記基底関数の前記係数及び前記スペクトルピークの周波数を含み、前記係数の数は、前記基底関数の次数によって定義され、前記周波数の数は、前記プロセッサによってカウントされた前記歪められたビート信号における前記スペクトルピークの数によって定義され、
前記プロセッサは、前記係数及び前記周波数を含む前記未知のパラメータを求めて、前記複素正弦波信号を用いて前記歪められたビート信号を再構成し、
前記プロセッサは、求められた周波数に従って前記シーン内の前記異なる場所までの前記距離を求める、請求項1に記載のシステム。 - 前記プロセッサは、位相アンラッピングを用いて前記未知のパラメータを求める、請求項4に記載のシステム。
- 前記プロセッサは、受信した前記歪められたビート信号の位相をアンラップし、最小二乗法を用いて、アンラップされた位相を前記複素正弦波信号のモデルに当てはめる、請求項5に記載のシステム。
- 前記プロセッサは、時間周波数解析を用いて前記未知のパラメータを求める、請求項4に記載のシステム。
- 前記プロセッサは、受信した前記歪められたビート信号の位相の周波数を求め、最小二乗法を用いて、求められた周波数の位相を前記複素正弦波信号のモデルに当てはめる、請求項7に記載のシステム。
- 前記基底関数は、前記未知のパラメータの関数を、前記基底関数の前記係数及び前記距離を含む係数を有する未知のパラメータの多項式関数にする、多項式位相基底関数である、請求項4に記載のシステム。
- 前記プロセッサは、
高次不確定性関数(HAF)、高次位相関数(HPF)及び時間周波数ベース方法の変形のうちの1つ又は組み合わせを用いて、前記歪められたビート信号から前記未知のパラメータの多項式関数の係数を求め、
前記未知のパラメータの多項式関数の係数から、前記基底関数の前記係数及び前記距離を同時に推定する、請求項9に記載のシステム。 - 前記送信波は、広拡散空間ビームを含み、前記スペクトルピークは、同じプローブされたシーン内の異なる物体からの前記広拡散空間ビームの反射に対応する、請求項1に記載のシステム。
- 前記送信波は、低拡散空間ビームを含み、前記送信機は、線形掃引放射源と、前記線形掃引放射源を空間領域において機械的に又はデジタルで回転させるモータ又はフェーズドアレイとを備え、前記スペクトルピークは、2つのプローブされたシーン内の2つの異なる物体からの複数の低拡散空間ビームの反射に対応する、請求項1に記載のシステム。
- 前記プロセッサは、複数の低拡散空間ビームの反射を組み合わせて、複数のスペクトルピークを有する前記歪められたビート信号を形成する、請求項13に記載のシステム。
- 前記送信波は、低拡散空間ビームを含み、前記送信機は、線形掃引放射源と、前記線形掃引放射源を空間領域において機械的に又はデジタルで回転させるモータ又はフェーズドアレイとを備え、前記シーン内の物体は、少なくとも2つのスペクトルピークが、前記シーン内の2つの異なる場所にある同じ物体からの反射に対応するように移動する、請求項13に記載のシステム。
- 前記プロセッサは、2つの時点において検出された物体の2つの異なる位置への距離を求め、前記2つの時点における前記物体の2つの位置から前記物体の視線速度を求める、請求項15に記載のシステム。
- 前記プロセッサは、前記歪められたビート信号における前記スペクトルピークの数を、距離推定の精度を定義する閾値と比較し、前記歪められたビート信号における前記スペクトルピークの数が前記閾値より大きいときのみ、前記シーン内の異なる場所までの前記距離を求める、請求項1に記載のシステム。
- 周波数変調連続波(FMCW)範囲推定方法であって、周波数変調連続波(FMCW)範囲を推定する方法は、前記方法を実施する記憶された命令と結合されたプロセッサを用い、前記命令は、前記プロセッサによって実行されると、前記方法の少なくともいくつかのステップを実行し、前記方法は、
少なくとも1つの送信波をシーンに送信することであって、前記送信波は、周波数領域において線形変調され、前記線形変調は、周波数領域における前記送信波の前記線形変調の非線形性を引き起こす障害を受ける、送信することと、
前記シーン内の異なる場所に位置する1つ又は複数の物体からの前記送信波の反射を受信することと、
前記シーンにおける前記異なる場所からの反射に対応するスペクトルピークを有するビート信号を生成するように、送信機が出力した前記送信波のコピーを受信機が受信した前記送信波の反射に干渉させることであって、前記ビート信号は、前記線形変調の前記非線形性が原因で歪められる、干渉させることと、
歪められたビート信号におけるスペクトルピークの数を検出することと、
複数のスペクトルピークを検出したことにのみ応答して、前記線形変調の前記非線形性を近似した基底関数の係数と、前記歪められたビート信号におけるスペクトルピークをもたらす反射を引き起こす物体を有する前記シーンにおける前記異なる場所までの距離とを同時に求めることと、
を含む、方法。 - 前記同時に求めることは、
前記基底関数の前記係数の中で選択される値と、前記シーン内の前記場所までの前記距離の中で選択される値に対応する周波数を有する周波数成分とを用いて再構成されたビート信号が、前記歪められたビート信号を近似するように、前記基底関数の前記係数の前記値と前記シーン内の前記場所までの前記距離の前記値とを選択すること、
を含む、請求項18に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/967,700 | 2018-05-01 | ||
US15/967,700 US10969465B2 (en) | 2018-05-01 | 2018-05-01 | Reference-free nonlinearity correction for FMCW-based sensing systems |
PCT/JP2018/040627 WO2019211923A1 (en) | 2018-05-01 | 2018-10-25 | Frequency modulation continuous wave (fmcw) -based system and method for fmcw range estimation |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021515212A true JP2021515212A (ja) | 2021-06-17 |
JP7034312B2 JP7034312B2 (ja) | 2022-03-11 |
Family
ID=64477239
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020544872A Active JP7034312B2 (ja) | 2018-05-01 | 2018-10-25 | 周波数変調連続波(fmcw)ベースシステム及びfmcw範囲推定方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10969465B2 (ja) |
EP (1) | EP3593167B1 (ja) |
JP (1) | JP7034312B2 (ja) |
CN (1) | CN112105954B (ja) |
WO (1) | WO2019211923A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023161997A1 (ja) * | 2022-02-22 | 2023-08-31 | 日本電信電話株式会社 | 測距装置 |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI667576B (zh) * | 2018-07-09 | 2019-08-01 | 國立中央大學 | 機器學習方法及機器學習裝置 |
KR20210082946A (ko) * | 2019-12-26 | 2021-07-06 | 삼성전자주식회사 | 레이더 신호 처리 장치 및 방법 |
US11726174B1 (en) * | 2019-12-30 | 2023-08-15 | Waymo Llc | Methods and systems for removing transmit phase noise |
CN112639528B (zh) * | 2020-02-07 | 2021-12-14 | 华为技术有限公司 | 基于调频非线性校正的测距方法及相关装置 |
CN111562564B (zh) * | 2020-05-25 | 2022-04-15 | 浙江光珀智能科技有限公司 | 一种调频连续波激光测距非线性校正装置及方法 |
US10884130B1 (en) * | 2020-08-18 | 2021-01-05 | Aeva, Inc. | LIDAR system noise calibration and target detection |
US11163062B1 (en) * | 2020-10-05 | 2021-11-02 | Aeva, Inc. | Method to improve probability of detection in dynamic scenarios in coherent LIDAR systems |
US11169246B1 (en) * | 2020-10-05 | 2021-11-09 | Aeva, Inc. | Techniques to compensate for phase impairments in LIDAR systems |
WO2022076710A1 (en) * | 2020-10-09 | 2022-04-14 | Aeva, Inc. | A method of compensating for phase impairments in a light detection and ranging (lidar) system |
JP7112765B2 (ja) * | 2020-11-09 | 2022-08-04 | 国立研究開発法人宇宙航空研究開発機構 | 距離計測装置、距離計測方法、及びプログラム |
JP7161230B2 (ja) * | 2020-11-09 | 2022-10-26 | 国立研究開発法人宇宙航空研究開発機構 | 距離計測装置、距離計測方法、及びプログラム |
CN112379355B (zh) * | 2020-11-27 | 2023-07-04 | 深圳奥锐达科技有限公司 | 一种标定方法、标定装置、终端设备及可读存储介质 |
KR20230158579A (ko) * | 2021-03-24 | 2023-11-20 | 아에바 인코포레이티드 | 동위상/직교 위상(iq) 프로세싱을 사용하는 코히어런트 lidar 시스템들의 고스팅 완화를 위한 기법들 |
CN113238244B (zh) * | 2021-05-24 | 2022-05-27 | 哈尔滨理工大学 | 一种fmcw激光测距差拍信号频率估计方法及系统 |
US20230050682A1 (en) * | 2021-08-12 | 2023-02-16 | Mitsubishi Electric Research Laboratories, Inc. | Frequency Modulation Continuous Wave (FMCW)-Based System for Estimation and Compensation of Nonlinearity in Linearly Swept Sources |
CN113721201B (zh) * | 2021-09-08 | 2023-10-13 | 哈尔滨工程大学 | 一种线性调频信号调频率的估计方法 |
CN114002185B (zh) * | 2021-11-17 | 2023-08-04 | 哈尔滨工业大学 | 基于光学调频连续波的多点色散光谱测量装置和方法 |
CN115327515B (zh) * | 2022-08-10 | 2023-04-18 | 哈尔滨工业大学 | 一种基于相位传递的双扫频干涉动态测量系统及测量方法 |
CN115683644B (zh) * | 2022-10-13 | 2024-01-05 | 中国航发四川燃气涡轮研究院 | 航空发动机双源拍振特征识别方法 |
WO2024083734A1 (en) * | 2022-10-21 | 2024-04-25 | Ams International Ag | Detecting a distance and a relative velocity of a target using a frequency-modulated continuous wave laser device |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5252981A (en) * | 1991-02-16 | 1993-10-12 | Robert Bosch Gmbh | FMCW radar system with linear frequency modulation |
US6124823A (en) * | 1998-07-03 | 2000-09-26 | Toyota Jidosha Kabushiki Kaisha | Radar apparatus for vehicle |
JP2001174548A (ja) * | 1999-12-16 | 2001-06-29 | Fujitsu Ltd | Fm−cwレーダの周波数変調特性測定方法及び装置 |
US20040252047A1 (en) * | 2003-05-15 | 2004-12-16 | Yasuyuki Miyake | Radar desigend to acquire radar data with high accuracy |
US20050001761A1 (en) * | 2003-04-02 | 2005-01-06 | Jorg Kliewer | Method for the linearization of FMCW radar devices |
US7986397B1 (en) * | 2008-04-30 | 2011-07-26 | Lockheed Martin Coherent Technologies, Inc. | FMCW 3-D LADAR imaging systems and methods with reduced Doppler sensitivity |
JP2015175840A (ja) * | 2014-03-18 | 2015-10-05 | 株式会社日立製作所 | レーダー用チャープ信号の生成方法およびレーダーシステム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19521771A1 (de) * | 1995-06-20 | 1997-01-02 | Jan Michael Mrosik | FMCW-Abstandsmeßverfahren |
US6522290B2 (en) * | 2001-05-29 | 2003-02-18 | Lockheed Martin Corporation | Transmit phase removal in FM homodyne radars |
DE10253808A1 (de) | 2002-11-18 | 2004-07-29 | Daimlerchrysler Ag | Verfahren und Vorrichtung zur Erstellung eines Radarbildes mit einem frequenzmodulierten Dauerstrichradar |
US8144052B2 (en) * | 2008-10-15 | 2012-03-27 | California Institute Of Technology | Multi-pixel high-resolution three-dimensional imaging radar |
DE102009029291A1 (de) | 2009-09-09 | 2011-03-10 | Robert Bosch Gmbh | Planare Antenneneinrichtung für eine Radarsensorvorrichtung |
DE102009042102A1 (de) | 2009-09-21 | 2011-03-24 | Conti Temic Microelectronic Gmbh | Verfahren zur Positionsbestimmung eines Objektes mittels eines Radarsensors und Radarsensor |
DE102010001761A1 (de) | 2010-02-10 | 2011-08-11 | Robert Bosch GmbH, 70469 | Radarsensor |
DE102013209736A1 (de) * | 2013-05-24 | 2014-11-27 | Robert Bosch Gmbh | Verfahren zur Bewertung von Hindernissen in einem Fahrerassistenzsystem für Kraftfahrzeuge |
CN103837870B (zh) | 2014-03-20 | 2016-01-20 | 华侨大学 | 调频连续波激光雷达调频非线性响应系数测量方法 |
US9823338B2 (en) * | 2014-04-03 | 2017-11-21 | Evolv Technologies, Inc. | Feature extraction for radar |
DE102015219612A1 (de) | 2015-10-09 | 2017-04-13 | Vega Grieshaber Kg | Systemarchitektur für einen MIMO Füllstandradar |
EP3580582A4 (en) * | 2017-02-07 | 2020-12-09 | Saab Ab | SHORT-RANGE RADAR COHABITATION |
-
2018
- 2018-05-01 US US15/967,700 patent/US10969465B2/en active Active
- 2018-10-25 WO PCT/JP2018/040627 patent/WO2019211923A1/en unknown
- 2018-10-25 JP JP2020544872A patent/JP7034312B2/ja active Active
- 2018-10-25 CN CN201880092810.0A patent/CN112105954B/zh active Active
- 2018-10-25 EP EP18808528.6A patent/EP3593167B1/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5252981A (en) * | 1991-02-16 | 1993-10-12 | Robert Bosch Gmbh | FMCW radar system with linear frequency modulation |
US6124823A (en) * | 1998-07-03 | 2000-09-26 | Toyota Jidosha Kabushiki Kaisha | Radar apparatus for vehicle |
JP2001174548A (ja) * | 1999-12-16 | 2001-06-29 | Fujitsu Ltd | Fm−cwレーダの周波数変調特性測定方法及び装置 |
US20050001761A1 (en) * | 2003-04-02 | 2005-01-06 | Jorg Kliewer | Method for the linearization of FMCW radar devices |
US20040252047A1 (en) * | 2003-05-15 | 2004-12-16 | Yasuyuki Miyake | Radar desigend to acquire radar data with high accuracy |
US7986397B1 (en) * | 2008-04-30 | 2011-07-26 | Lockheed Martin Coherent Technologies, Inc. | FMCW 3-D LADAR imaging systems and methods with reduced Doppler sensitivity |
JP2015175840A (ja) * | 2014-03-18 | 2015-10-05 | 株式会社日立製作所 | レーダー用チャープ信号の生成方法およびレーダーシステム |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023161997A1 (ja) * | 2022-02-22 | 2023-08-31 | 日本電信電話株式会社 | 測距装置 |
Also Published As
Publication number | Publication date |
---|---|
CN112105954A (zh) | 2020-12-18 |
EP3593167B1 (en) | 2021-08-11 |
CN112105954B (zh) | 2024-04-09 |
EP3593167A1 (en) | 2020-01-15 |
US20190339359A1 (en) | 2019-11-07 |
US10969465B2 (en) | 2021-04-06 |
WO2019211923A1 (en) | 2019-11-07 |
JP7034312B2 (ja) | 2022-03-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7034312B2 (ja) | 周波数変調連続波(fmcw)ベースシステム及びfmcw範囲推定方法 | |
KR102451696B1 (ko) | 합성 개구 레이더에 대한 스텝형―처프 신호의 위상 교정 | |
Anghel et al. | Short-range wideband FMCW radar for millimetric displacement measurements | |
US10564268B2 (en) | Phase-error correction in a synthetic aperture imaging system with local oscillator time delay adjustment | |
EP3084471B1 (en) | Single laser lidar system | |
JP6840164B2 (ja) | Ladar振動測定のための光学的フェイゾグラム | |
JP2020509386A (ja) | 周囲をキャプチャする方法および装置 | |
CN110892288A (zh) | 采用合成多普勒处理的直接检测激光雷达系统和方法 | |
US20060061770A1 (en) | Heterodyning time resolution boosting method and system | |
US20160025843A1 (en) | Laser phase estimation and correction | |
JP7058321B2 (ja) | 対象物の層の厚さを測定するための方法及び装置 | |
JP4999592B2 (ja) | レーダ装置 | |
CA2971055C (en) | Phase-error correction in a synthetic aperture imaging system with local oscillator time delay adjustment | |
US20230050682A1 (en) | Frequency Modulation Continuous Wave (FMCW)-Based System for Estimation and Compensation of Nonlinearity in Linearly Swept Sources | |
Lepekhina et al. | Radar target hardware-in-the-loop simulation in carrier frequencies for SAR tests | |
RU2753829C1 (ru) | Способ определения коэффициента безэховости в радиочастотной безэховой камере и устройство для его осуществления | |
CN116893399A (zh) | 用于对称双基地雷达的相位噪声减小 | |
US20080153424A1 (en) | Method and system for determining a time delay between transmission & reception of an rf signal in a noisy rf environment using frequency detection | |
US7826800B2 (en) | Method and system for determining a time delay between transmission and reception of an RF signal in a noisy RF environment using phase detection | |
Battaglini et al. | Ultrasonic frequency modulated continuous wave for range estimation | |
Zverev et al. | Coherent aperture synthesis for incoherent source | |
Grosche | Model mismatch and systematic errors in an optical FMCW distance measurement system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200825 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200825 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210817 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210910 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20211026 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211111 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220201 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220301 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7034312 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |