Apparatus and method for range detection using the analytic signal identified from the received signal

• US 4,837,578 A
• Filed: 10/29/1981
• Issued: 06/06/1989
• Est. Priority Date: 10/29/1981
• Status: Expired due to Fees

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Gammell, Paul M.
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): BARRON JR, GILBERTO
• Application Number:
  US06/316,145
• Time in Patent Office: 2,777 Days
• Field of Search: 73/620, 73/598, 73/600, 73/602, 73/603, 73/606, 378/96, 367/7, 367/8, 367/99, 367/100, 367/118, 367/124, 367/128, 342/118, 342/134, 342/135, 342/192, 342/194, 342/195, 342/196, 364/826, 364/600, 358/106, 343/112 C, 343/17.1 PF, 343/12 R, 343/17.7, 343/5 NQ, 343/7.7, 343/5 FT, 343/7.5, 343/455, 343/5 SA, 343/5 DP, 343/13 R, 343/17
• US Class Current: 342/194
• CPC Class Codes: G01S 15/8977 using special techniques for image reconstruction, e.g. FFT, geometrical transformations, spatial deconvolution, time deconvolution
• CPC Class Codes: G01S 15/8993 Three dimensional imaging systems
• CPC Class Codes: G01S 7/292 Extracting wanted echo-signals
• CPC Class Codes: G01S 7/52026 Extracting wanted echo signals Doppler systems G01S15/50; Doppler short range imaging systems G01S15/8979

Abstract

A method and apparatus for use in a pulse-echo imaging or ranging system comprising means (32) for identifying the analytic signal from a received signal and means (34) for extracting ranging information from the analytic signal. The analytic signal can be obtained and processed by digital or by analog circuit means. One embodiment of the analog circuit means (32) includes means (90) for modulating the received signal on a carrier frequency, means (92) for obtaining a single sideband signal from the modulated signal and means (94) for envelope detecting the single sideband signal. Another embodiment of the analog circuit means (32) includes various means (60), using coherent modulation techniques, for obtaining the quadrature components of the received signal, means (62) for squaring each of the quadrature components, means (64) for obtaining the sum of the squared quadrature components, and, if desired, means (66) for obtaining the square root of the sum, which is the magnitude of the complex analytic signal.

Claims

1. A pulse-echo or passive listening response system for indentifying one or more closely spaced interfaces of a target wherein an unprocessed signal is received by the system'"'"'s receiver either after a pulsed signal from the system has struck the target and has been reflected by one or more of the target'"'"'s interfaces, or by passive reception, wherein the response system is characterized by the received signal being a multi-frequency signal which occupies a given bandwidth, which received signal is then processed by said system to identify a particular portion of the processed signal which is useful for locating the target interface (s), the system comprising:

(1) a signal receiving means at the system'"'"'s receiver for receiving said unprocessed signal, which received signal contains information proportional to the rate of arrival of energy at the receiver and is indicative of the location of said target'"'"'s interface (s);

(2) a signal processing means, connected to said signal receiving means, for processing said received unprocessed signal by a constant phase-shift while leaving the relative amplitude of all phase-shifted frequency components of the multifrequency signal unchanged and to produce therefrom a pair of signals which together represent the complete complex analytic signal from which the location of the target interface(s) can be identified;

said signal processing means comprising;

(a) a signal separation means connected to receive said unprocessed signal for separating said received signal into two signals in two channels;

(b) phase shifting means connected to receive both of said separated signals in said channels for subjecting the signal in each channel to a constant phase shift (i.e., a phase shift which is the same for all frequency components in that channel), the constant phase shift differing between the two channels by 90 degrees and therefore resulting in the processed signals of the two channels being Hilbert transforms of each other; and

(3) means forming a representation of said analytic signal from said processed signal in order to identify said particular portion from the representation whereby the target interface(S) may be located.

2. The apparatus of claim 1 wherein the received and unprocessed signal is analog and the signal processing means comprises:

an analog-to-digital conversion means for converting said received analog signal to a digital representation thereof; and

,

data processing means, coupled to the analog-to-digital conversion means, and responsive to the digital representation of the converted analog signal for producing said representation of said analytic signal.

3. The apparatus of claim 2 wherein the data processing means comprises means for performing a Fourier Transform on said digital representation.

4. The apparatus of claim 2 wherein said data processing means comprises an array processor.

5. The apparatus of claim 1 wherein the received signal is analog and said signal processing means comprises all-analog circuit means for obtaining the analytic signal from the received analog signal.

6. The apparatus of claim 5 wherein said particular portion of said analytic signal is the signal'"'"'s magnitude and said all-analog circuit means comprises:

phase circuit means responsive to said analog signal for producing two phase-shifted signals which, at all frequencies of interest, possess the same amplitude as each other, the amplitude being proportional to the amplitude of the unprocessed signal, and are 90 degrees different in phase from each other, each differing from the unprocessed signal by its own frequency-independent phase (one of these two signals could be the original unprocessed signal itself);

sparing means having a pair of input terminals with each input terminal coupled to receive and separate one of the above-produced phase-shifted analog signals for producing a pair of squared output signals; and

summing means, coupled to the squaring means, and responsive to said pair of squared signals for producing the sum of the squares of each of the individual signals, which sum represents the square of the magnitude of the analytic signal.

7. The apparatus of claim 6 wherein the phase circuit means comprises:

a Hilbert Transform circuit.

8. The apparatus of claim 7 wherein the Hilbert Transform circuit comprises an all-pass, non-minimal-phase circuit.

9. The apparatus of claim 8 wherein the Hilbert Transform circuit comprises a "Dome" circuit.

10. The apparatus of claim 7 wherein the Hilbert Transform circuit comprises:

delay line tapping means for tapping the received analog signal at selected intervals and produced a plurality of delay line tap signals which include a middle tap;

weighting means, coupled to the delay line tapping means, for weighting said plurality of delay line tap signals to approximate the function 1/t-t_o, where to is the time of the middle tap and it is the time of tap being weighted, and for producing at the output thereof a plurality of weighted signals, and,

weighted signal summing means, coupled to the weighting means, for summing the plurality of weighting signals.

11. The apparatus of claim 6 and further comprising:

means for deriving the square root of the signal from said summing means to provide the magnitude of the analytic signal.

12. The apparatus of claim 5 wherein said all-analog circuit comprises:

modulating means for modulating said received analog signal on a higher frequency carrier signal;

filter means, coupled to the modulating means and responsive to the output signal therefrom, for filtering the modulated signal to remove one sideband on either side of the carrier to thus produce a single sideband signal, and,

demodulating means, coupled to the filter means, for demodulating said single sideband signal to produce either;

(a) a pair of signals that are shifted 90 degrees with respect to each other and are thereby the Hilbert Transforms;

or

(b) a single signal that is phase shifted 90 degrees with respect to the original unprocessed signal and therefore is its Hilbert Transform.

13. The apparatus of claim 2 and further comprising:

digital-to-analog conversion means coupled to said data processing means for converting the digital analytic signal back to an analog form.

14. The apparatus of claim 1 wherein the signal processing means comprises:

modulating means for modulating the received radio frequency signal on a higher frequency carrier signal;

filter means for isolating one sideband of the modulated received radio frequency signal from the other sideband of the modulated received signal and from the carrier frequency; and

demodulating means, connected to said filter means, which demodulates the single sideband signal to produce either;

(a) a pair of signals that are shifted 90 degrees with respect to each other and thereby are Hilber Transforms;

or

(b) a single signal that is phase shifted 90 degrees with respect to the original unprocessed signal and therefore is its Hilbert Transform.

15. The apparatus of claim 1 wherein a reference is provided and said particular portion of said analytic signal is the signal'"'"'s magnitude, and wherein said signal processing means further comprises:

means for comparing the location of the maxima of said magnitude relative to said reference as an improved estimator of the location of said target interface(s).

16. The apparatus of claim 15 wherein the location of the target interface(s) relative to said reference signal is ranging data information, and said comparing means is a signal range information identifier, and wherein said range information identifier comprises:

means for receiving an electrical signal which represents said reference;

peak locating means for providing an electrical output signal which is indicative of the peak of the amplitude of said analytic signal magnitude; and

means responsive to said receipt of said reference-representing signal and the signal indicative of the amplitude peak of said analytic signal magnitude for computing therefrom the range of said target interface(s) relative to said reference.

17. The system of claim 15 wherein the location of the target interface(S) relative to said reference is ranging data information, and said systems comparing means is an analytic signal range information identifier, and wherein said range information identifier comprises:

means for receiving an electrical signal which represents said reference;

a Hilbert transform means for transforming the magnitude of said analytic signal to produce a zero crossing in the transformed analytic signal which corresponds to the maxima of the magnitude of the untransformed analytic signal; and

means responsive to said reference-representing signal and the zero crossing of said transformed analytic signal for computing therefrom the range of said target interface(s) relative to said reference.

18. The apparatus of claim 15 and further comprising:

analytic signal detection means for detecting the occurrence of ranging data information from the peak(s) of the magnitude of the analytic signal; and

timing means, coupled to the analytic signal detection means, for determining target interface arrival times by comparison of the occurrence of the peak(s) of said analytic signal relative to said reference.

19. The apparatus of claim 14 and further comprising:

squaring means wherein the two signals which are Hilbert Transforms of each other are individually squared; and

summing means for summing the squares and thereby producing the square of the analytic signal magnitude.

20. The apparatus of claim 19 and further comprising:

means for taking the square root of the squared sum to produce the magnitude of the analytic signal.

21. A method of obtaining time of arrival information from a received unprocessed signal in a pulse-echo or passive listening system said method comprising the steps of:

(1) receiving an unprocessed multi-frequency signal occupying a given amount of bandwidth;

(2) obtaining a representation of the magnitude of an analytic signal which is derived solely from the received unprocessed signal by the sub-steps of;

(a) dividing the received unprocessed signal into a pair of multi-frequency signals each having said given amount of bandwidth;

(b) convolving one signal of the pair by the kernel 1/t-t_o);

(c) leaving the other signal of the pair unchanged in amplitude;

(d) squaring each signal of the pair;

(e) summing the squared results; and

(3) obtaining the time of arrival information from the representation of the magnitude of said analytic signal as processed in accordance with substeps 2(a) through 2(e) of step 2 above.

22. A pulse-echo or passive listening system for identifying one or more closely spaced interfaces of as target wherein an unprocessed signal is received by the system'"'"'s receiver either after a pulsed signal from the system has struck the target and has been reflected by one or more of the target'"'"'s interfaces, or by passive reception, wherein the system is characterized in that the received signal is a multi-frequency signal occupying a given bandwidth, which received signal is then processed by said system to identify a particular portion of the processed signal in order to locate the target interface(s), the system comprising:

(1) a signal receiving means at the system'"'"'s receiver for receiving said unprocessed signal, which received signal contains information proportional to the rate of arrival of energy at the receiver and is indicative of the location of said target'"'"'s interface(s);

(2) a signal processing means, connected to said signal receiving means for processing aid received unprocessed signal by frequency translation in order to directly produce the magnitude of an analytic signal from which the location of the target interface (s) or time of arrival can be identified;

said signal processing means comprising;

(a) modulating means for modulating the received unprocessed signal on a higher frequency carrier signal;

(b) filter means, coupled to the modulating means, for removing one sideband on either side of the carrier signal to produce a single sideband signal; and

(c) envelope detecting means, coupled to the filter means, for recovering the envelope of the single sideband signal, which envelope is directly proportional to the magnitude of the analytic signal; and

(3) means for representing said magnitude as an optimal estimator for identification of the target interface (s) or time of arrival.

23. A pulse-echo or passive listening system for identifying one or more closely spaced interfaces of a target wherein an unprocessed signal is received by the system'"'"'s receiver either after a pulsed signal from the system has struck the target and has been reflected by one or more of the target'"'"'s interfaces, or by passive reception, wherein the system is characterized in that the received signal is a multi-frequency signal occupying a given bandwidth, which received signal is then processed by said system to identify a particular portion of the processed signal in order to locate the target interface(s), the system comprising:

(1) a signal receiving means at the system'"'"'s receiver for receiving said unprocessed signal, which received signal contains information proportional to the rate of arrival of energy at the receiver and is indicative of the location of said target'"'"'s interface(s);

(2) a signal processing means, connected to said signal receiving means for processing said received unprocessed signal by frequency translation in order to directly produce the magnitude of an analytic signal from which the location of the target interface (s) or time of arrival can be identified;

said signal processing means comprising;

(a) modulating means for modulating the received unprocessed signal on a higher frequency carrier signal;

(b) filter means, coupled to the modulating means, for removing one sideband on either side of the carrier signal to produce a single sideband signal; and

conversion means, couple to the filter and modulating means, for converting the single sideband signal back to baseband, and being either in phase with the original baseband signal, in quadrature therewith; and

(3) means for representing said magnitude as an optimal estimator for identification of the target interface(s).

24. Apparatus for obtaining time of arrival information from a received unprocessed signal in a pulse-echo or passive listening system, said apparatus comprising:

(1) means for receiving an unprocessed multifrequency signal which occupies a given amount of bandwidth;

(2) means for obtaining a representative of the magnitude of an analytic signal which is derived solely from the received unprocessed signal by the sub-apparatus of;

(a) dividing means for dividing the received unprocessed signal into a pair of multi-frequency signals each having said given amount of bandwidth

(B) means for convolving one signal of the pair by the kernel 1/(t-t_o), while leaving the other signal of the pair unchanged in amplitude;

(c) squaring means for squaring each signal of the pair;

(d) means for summing the squared results; and

(3) means for obtaining the time of arrival information from the representation of the magnitude of said analytic signal as processed by the sub-apparatus of 2(a) through 2(d) above.

25. A pulse-echo or passive listening system for identifying one or more closely spaced interfaces of a target wherein an unprocessed signal is received by the system'"'"'s receiver either after a pulsed signal from the system has struck the target and has been reflected by one or more of the target'"'"'s interfaces, or by passive reception, wherein the system is characterized in that the received signal is a multi-frequency signal occupying a given bandwidth, which received signal is then processed by said system to identify a particular portion of the processed signal in order to locate the target interface(S), the system comprising:

(1) a signal receiving means at the system'"'"'s receiver for receiving said unprocessed signal, which received signal contains information proportional to the rate of arrival of energy at the receiver and is indicative of the location of said target'"'"'s interface(s);

(2) a signal processing means, connected to said signal receiving means for processing said received unprocessed signal by a constant phase-shift while leaving the relative amplitude of all phase-shifted frequency components of the multi-frequency signal unchanged and to produce therefrom a complete complex analytic signal from which the location of the target interface(s) can be identified;

said signal processing means comprising;

(a) phase circuit means, for obtaining a pair of signals which, at all frequencies of interest, possess the same amplitude as each other, the amplitude being proportional to the amplitude of unprocessed signal, and are 90 degrees different in phase from each other, each differing from the unprocessed signal by its own frequency-independent phase;

(b) squaring means, coupled to the phase circuit means, for producing a pair of squared phase different signals; and

,

(c) summing means, coupled to the squaring means, for summing the signals representative of the squared phase-different signals, and for producing a signal representative of the sum of the squares thereof which directly includes the magnitude of the analytic signal; and

(3) means for representing said magnitude as an optimal estimator for identification of the target inter-face(s).

26. In a system which receives an unprocessed signal having properties of multiple reflections, multiple sources, or multiple propogation paths that are difficult to analyze from said received and unprocessed signal, the improvement comprising:

analog signal processing means, for obtaining the magnitude of an analytic signal derived from said received signal, and said analog signal processing means including;

(a) modulating means for modulating the received signal on a carrier signal having a frequency substantially greater than that of the received signal;

(b) filter means, coupled to the modulating means, for removing one sideband, on either side of the carrier, thereby producing a single sideband signal; and

(c) envelope detection means, coupled to the filter means, for detecting the envelope of the single sideband signal, and for generating a signal representative of the envelope of the single sideband signal.

27. In a system which received an unprocessed signal having properties of multiple reflections, sources, or propogation paths that are difficult to analyze from said received signal, the method improvement comprising:

receiving said unprocessed signal;

obtaining the magnitude of an analytic signal which is derived directly from the received radio frequency signal by;

(a) modulating the received radio frequency signal on a carrier signal;

(b) filtering the modulated signal to remove a sideband, on either side of the carrier signal frequency, to obtain a single sideband signal, and

(c) converting the single sideband signal down to obtain a pair of signals differing by 90°

in phase from each other

28. A method of processing a received radio frequency signal in a pulse-echo imaging or ranging system, comprising the steps of:

receiving said radio frequency signal;

obtaining the magnitude of an analytic signal derived from the received signal by;

(a) modulating the received radio frequency signal on a carrier signal having a frequency substantially higher than the frequency of the received radio frequency signal;

(b) filtering the modulated signal to remove a sideband on either side of the carrier frequency to obtain a single sideband signal; and

(c) envelope detecting the single sideband signal to produce the envelop of the single sideband signal; and

thereafter

detecting the occurrence of ranging data information from the magnitude of the envelope of the single sideband signal.