MOTION PARAMETER ESTIMATING METHOD, ANGLE ESTIMATING METHOD AND DETERMINATION METHOD

• US 20140028490A1
• Filed: 11/16/2012
• Published: 01/30/2014
• Est. Priority Date: 07/30/2012
• Status: Active Grant

• Current Assignee: National Chiao Tung University (Government of The Republic of China)
• Original Assignee: National Chiao Tung University (Government of The Republic of China)
• Inventors: Huang, Chung-Jung, Tsai, Tsung-Yu, Lee, Ta-Sung, Dai, Chia-Wei
• Granted Patent: US 9,134,407 B2
• Time in Patent Office: Days
• US Class Current: 342/107
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/584 adapted for simultaneous range and velocity measurements
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

A motion parameter estimating method, an angle estimating method and a determination method are provided. The methods are adapted for an electronic device. In the angle estimating method, a first frequency modulation continuous wave signal is first transmitted, and at least one antenna receives a second frequency modulation continuous wave signal resulted by a target reflecting the first frequency modulation continuous wave signal. Multiple motion parameters associated with the target are then obtained according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal. Multiple measured values corresponding to the at least one antenna are obtained according to the motion parameters and configuration parameters of the at least one antenna, respectively. Afterwards, the measured values are substituted into a formula to obtain an estimated angle between a preset direction of the electronic device and the target.

Claims

1. A motion parameter estimating method adapted for an electronic device, the electronic device comprising at least one antenna, the method comprising:

transmitting a first frequency modulation continuous wave signal;

receiving, by each of the at least one antenna, a second frequency modulation continuous wave signal resulted by a target reflecting the first frequency modulation continuous wave signal;

obtaining a first formula and a second formula according to the second frequency modulation continuous wave signal received by each of the at least one antenna; and

estimating multiple motion parameters associated with the target according to the first formula and the second formula,

wherein the first formula is

2. The motion parameter estimating method according to claim 1, wherein the first frequency modulation continuous wave signal comprises a first signal and a second signal, the second frequency modulation continuous wave signal comprises a third signal and a fourth signal, and the step of obtaining the first formula and the second formula according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal comprises:

obtaining the first formula according to a relationship between the first signal and the third signal; and

obtaining the second formula according to a relationship between the second signal and the fourth signal.

3. The motion parameter estimating method according to claim 1, wherein the motion parameters comprise the relative distance and the relative speed.

4. The motion parameter estimating method according to claim 1, wherein the frequency bandwidth is determined based on a measuring distance resolution associated with the relative distance.

5. The motion parameter estimating method according to claim 1, wherein the measuring time is determined based on a measuring speed resolution associated with the relative speed.

6. The motion parameter estimating method according to claim 1, wherein, after the step of estimating the motion parameters associated with the target according to the first formula and the second formula, the method further comprises:

obtaining multiple measured values corresponding to the at least one antenna according to the motion parameters and configuration parameters of the at least one antenna, respectively; and

substituting the measured values into a formula to obtain an estimated angle between a preset direction of the electronic device and the target,

wherein the formula is;

7. The motion parameter estimating method according to claim 6, wherein, after the step of substituting the measured values into the formula to obtain the estimated angle between the preset direction of the electronic device and the target, the method further comprises:

substituting the estimated angle into a third formula to obtain at least one angle within the scope of a field of view of the electronic device, wherein no corresponding angle effects occur at the at least one angle, and wherein the third formula is;

8. The motion parameter estimating method according to claim 6, wherein, after the step of substituting the measured values into the formula to obtain the estimated angle between the preset direction of the electronic device and the target, the method further comprises:

designing a first filter with a zero point outside the scope of the field of view of the electronic device;

designing a second filter with a zero point at the estimated angle;

calculating a first calculation value of the measured values corresponding to the first filter;

calculating a second calculation value of the measured values corresponding to the second filter; and

determining reliability of the estimated angle according to a ratio between the first calculation value and the second calculation value.

9. The motion parameter estimating method according to claim 8, wherein the first calculation value is ∥

w₁^Hr∥

₂², where w₁ comprises the coefficients of the first filter, r is a vector comprised of the measured values, (

)^H is a Hermitian operator, and ∥



∥

₂ is a 2-norm operator.

10. The motion parameter estimating method according to claim 8, wherein the second calculation value is ∥

w₂^Hr∥

₂², where w₂ comprises the coefficients of the second filter, r is a vector comprised of the measured values, (

)^H is a Hermitian operator, and ∥



∥

₂ is a 2-norm operator.

11. An angle estimating method adapted for an electronic device, the electronic device comprising at least one antenna, the method comprising:

transmitting a first frequency modulation continuous wave signal;

receiving, by each of the at least one antenna, a second frequency modulation continuous wave signal resulted by a target reflecting the first frequency modulation continuous wave signal;

obtaining multiple motion parameters associated with the target according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal;

obtaining multiple measured values corresponding to the at least one antenna according to the motion parameters and configuration parameters of the at least one antenna, respectively; and

substituting the measured values into a formula to obtain an estimated angle between a preset direction of the electronic device and the target,

wherein the formula is;

12. The angle estimating method according to claim 11, wherein the step of obtaining multiple motion parameters associated with the target according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal comprises:

obtaining a first formula and a second formula according to the second frequency modulation continuous wave signal received by each of the at least one antenna; and

estimating the multiple motion parameters associated with the target according to the first formula and the second formula,

wherein the first formula is

13. The angle estimating method according to claim 12, wherein the first frequency modulation continuous wave signal comprises a first signal and a second signal, the second frequency modulation continuous wave signal comprises a third signal and a fourth signal, and the step of obtaining the first formula and the second formula according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal comprises:

obtaining the first formula according to a relationship between the first signal and the third signal; and

obtaining the second formula according to a relationship between the second signal and the fourth signal.

14. The angle estimating method according to claim 12, wherein the second formula is:

15. The angle estimating method according to claim 12, wherein the second formula is:

16. The angle estimating method according to claim 12, wherein the motion parameters comprise the relative distance and the relative speed.

17. The angle estimating method according to claim 12, wherein the frequency bandwidth is determined based on a measuring distance resolution associated with the relative distance.

18. The angle estimating method according to claim 12, wherein the measuring time is determined based on a measuring speed resolution associated with the relative speed.

19. The angle estimating method according to claim 11, wherein, after the step of substituting the measured values into the formula to obtain the estimated angle between the preset direction of the electronic device and the target, the method further comprises:

substituting the estimated angle into a first formula to obtain at least one angle within the scope of a field of view of the electronic device, wherein no corresponding angle effects occur at the at least one angle, wherein the first formula is;

20. The angle estimating method according to claim 11, wherein, after the step of substituting the measured values into the formula to obtain the estimated angle between the preset direction of the electronic device and the target, the method further comprises:

designing a first filter with a zero point outside the scope of the field of view of the electronic device;

designing a second filter with a zero point at the estimated angle;

calculating a first calculation value of the measured values corresponding to the first filter;

calculating a second calculation value of the measured values corresponding to the second filter; and

determining a reliability of the estimated angle according to a ratio between the first calculation value and the second calculation value.

21. The angle estimating method according to claim 20, wherein the first calculation value is ∥

w₁^Hr∥

₂², where w₁ comprises the coefficients of the first filter, r is a vector comprised of the measured values, (

)^H is a Hermitian operator, and ∥



∥

₂ is a 2-norm operator.

22. The angle estimating method according to claim 20, wherein the second calculation value is ∥

w₂^Hr∥

₂², where w₂ comprises the coefficients of the second filter, r is a vector comprised of the measured values, (

)^H is a Hermitian operator, and ∥



∥

₂ is a 2-norm operator.

23. A determination method adapted for an electronic device, the electronic device comprising at least one antenna, the method comprising:

transmitting a first frequency modulation continuous wave signal;

receiving, by each of the at least one antenna, a second frequency modulation continuous wave signal resulted by a target reflecting the first frequency modulation continuous wave signal;

obtaining multiple motion parameters associated with the target according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal;

obtaining multiple measured values corresponding to the at least one antenna according to the motion parameters and configuration parameters of the at least one antenna, respectively; and

obtaining an estimated angle between a preset direction of the electronic device and the target according to the measured values;

designing a first filter with a zero point outside the scope of the field of view of the electronic device;

designing a second filter with a zero point at the estimated angle;

calculating a first calculation value of the measured values corresponding to the first filter;

calculating a second calculation value of the measured values corresponding to the second filter; and

determining a reliability of the estimated angle according to a ratio between the first calculation value and the second calculation value.

24. The determination method according to claim 23, wherein the first calculation value is ∥

w₁^Hr∥

₂², where w₁ comprises the coefficients of the first filter, r is a vector comprised of the measured values, (

)^H is a Hermitian operator, and ∥



∥

₂ is a 2-norm operator.

25. The determination method according to claim 23, wherein the second calculation value is ∥

w₂^Hr∥

₂², where w₂ comprises the coefficients of the second filter, r is a vector comprised of the measured values, (

)^H is a Hermitian operator, and ∥



∥

₂ is a 2-norm operator.

26. The determination method according to claim 23, wherein the step of obtaining the multiple motion parameters associated with the target according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal comprises:

obtaining a first formula and a second formula according to the second frequency modulation continuous wave signal received by each of the at least one antenna; and

estimating the multiple motion parameters associated with the target according to the first formula and the second formula,

wherein the first formula is

27. The determination method according to claim 26, wherein the first frequency modulation continuous wave signal comprises a first signal and a second signal, the second frequency modulation continuous wave signal comprises a third signal and a fourth signal, and the step of obtaining the first formula and the second formula according to the first frequency modulation continuous wave signal and the second frequency modulation continuous wave signal comprises:

obtaining the first formula according to a relationship between the first signal and the third signal; and

obtaining the second formula according to a relationship between the second signal and the fourth signal.

28. The determination method according to claim 26, wherein the second formula is

29. The determination method according to claim 26, wherein the second formula is:

30. The determination method according to claim 26, wherein the motion parameters comprise the relative distance and the relative speed.

31. The determination method according to claim 26, wherein the frequency bandwidth is determined based on a measuring distance resolution associated with the relative distance.

32. The determination method according to claim 26, wherein the measuring time is determined based on a measuring speed resolution associated with the relative speed.

33. The determination method according to claim 23, wherein the step of obtaining the estimated angle between a preset direction of the electronic device and the target according to the measured values comprises:

substituting the measured values into a formula to obtain the estimated angle between a preset direction of the electronic device and the target,

wherein the formula is;

34. The determination method according to claim 33, wherein, after the step of substituting the measured values into the formula to obtain the estimated angle between the preset direction of the electronic device and the target, the method further comprises:

substituting the estimated angle into a first formula to obtain at least one angle within the scope of a field of view of the electronic device, wherein no corresponding angle effects occur at the at least one angle, and wherein the first formula is;