Detection and ranging system and angle estimation method

• US 9,091,758 B2
• Filed: 11/19/2012
• Issued: 07/28/2015
• Est. Priority Date: 12/08/2011
• Status: Expired due to Fees

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation), Fujitsu Limited
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation), Fujitsu Limited
• Inventors: Shirakawa, Kazuo, Kurono, Yasuhiro
• Primary Examiner(s): Sotomayor, John B
• Assistant Examiner(s): WINDRICH, MARCUS E
• Application Number:
  US13/680,279
• Publication Number:
  US 20130147656A1
• Time in Patent Office: 981 Days
• Field of Search: 342/70, 342/133, 342/146, 342/147, 342/175
• US Class Current: 1/1
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

A detection and ranging system includes: M transmitting sensor elements configured to transmit a probe signal; N receiving sensor elements configured to receive an echo signal generated upon reflection of the probe signal from a target; a matrix generator configured to generate a third matrix by multiplying a first matrix by a second matrix, the first matrix including as diagonal components L received signals obtained from an effective receiving sensor array formed by synthesizing the M transmitting sensor elements and the N receiving sensor elements, the second matrix being formed of P L-dimensional vectors that are linearly independent of each other; and an estimator configured to estimate a direction of arrival of the echo signal from the target according to a pseudo covariance matrix generated by multiplying the third matrix by Hermitian conjugate transposition of the third matrix.

Claims

1. A detection and ranging system comprising:

M transmitting sensor elements configured to transmit a probe signal;

N receiving sensor elements configured to receive an echo signal generated upon reflection of the probe signal from a target;

a matrix generator configured to generate a third matrix by multiplying a first matrix by a second matrix, the first matrix including as diagonal components L received signals obtained from an effective receiving sensor array formed by synthesizing the M transmitting sensor elements and the N receiving sensor elements, the second matrix being formed of P L-dimensional vectors that are linearly independent of each other, P being an integer that is smaller than L; and

an estimator configured to estimate a direction of arrival of the echo signal from the target according to a pseudo covariance matrix generated by multiplying the third matrix by Hermitian conjugate transposition of the third matrix.

2. A detection and ranging system comprising:

M transmitting sensor elements configured to transmit a probe signal;

N receiving sensor elements configured to receive an echo signal generated upon refection of the probe signal from a target;

a matrix generator configured to generate an extended received signal matrix by arranging multiplication results obtained by multiplying a received signal vector representing the received signals by each matrix that is a (p−

1)-th power of a phase offset matrix (p=1 to P;

P is an integer that is smaller than L) in respective columns; and

an estimator configured to estimate a direction of arrival of the echo signal from the target according to a pseudo covariance matrix generated by multiplying the extended received signal matrix by Hermitian conjugate transposition of the extended received signal matrix, wherein

the phase offset matrix is a diagonal matrix that includes exp(j*δ

), exp(j*2δ

), . . . exp(j*Lδ

) as diagonal components, and

j represents a complex number, and δ

represents a specified real number other than zero.

3. A detection system comprising:

M transmitting sensor elements configured to transmit a probe signal;

N receiving sensor elements configured to receive an echo signal generated upon reflection of the probe signal from a target;

a matrix generator configured to generate a third matrix by multiplying a first matrix by a second matrix, the first matrix including as diagonal components L received signals obtained from an effective receiving sensor array formed by synthesizing the M transmitting sensor elements and the N receiving sensor elements, the second matrix being formed of P L-dimensional vectors that are linearly independent of each other, P being an integer that is smaller than L; and

an estimator configured to estimate a direction of arrival of the echo signal from the target according to a fourth matrix obtained by subtracting a specified value from each diagonal component of a pseudo covariance matrix generated by multiplying the third matrix by Hermitian conjugate transposition of the third matrix, wherein

the specified value is determined based on a sum of diagonal components of a matrix obtained by multiplying the second matrix by Hermitian conjugate transposition of the second matrix.

4. A detection and ranging system comprising:

M transmitting sensor elements configured to transmit a probe signal;

N receiving sensor elements configured to receive an echo signal generated upon reflection of the probe signal from a target;

a matrix generator configured to generate a third matrix by multiplying a first matrix by a second matrix, the first matrix including as diagonal components L received signals obtained from an effective receiving sensor array formed by synthesizing the M transmitting sensor elements and the N receiving sensor elements, the second matrix being formed of P L-dimensional vectors that are linearly independent of each other P being an integer that is smaller than L;

a first estimator configured to estimate a direction of arrival of the echo signal from the target according to a covariance matrix of received signal vectors representing the received signals;

a predictor configured to decide whether or not an estimation result obtained by the first estimator is appropriate; and

a second estimator configured to estimate a direction of arrival of the echo signal from the target according to a pseudo covariance matrix generated by multiplying the third matrix by Hermitian conjugate transposition of the third matrix when the predictor decides that the estimation result obtained by the first estimator is not appropriate, wherein

when a value of a determinant of the covariance matrix is close to zero or when a change in the estimation result obtained by the first estimator with respect to time is greater than a specified threshold, the predictor decides that the estimation result obtained by the first estimator is not appropriate.

5. An angle estimation method used by a detection and ranging system including M transmitting sensor elements that transmit a probe signal, N receiving sensor elements that receive an echo signal generated upon reflection of the probe signal from a target, and a processor, the angle estimation method comprising:

generating, executed by the processor, a third matrix by multiplying a first matrix by a second matrix, the first matrix including as diagonal components L received signals obtained from an effective receiving sensor array formed by synthesizing the M transmitting sensor elements and the N receiving sensor elements, the second matrix being formed of P L-dimensional vectors that are linearly independent of each other, P being an integer that is smaller than L; and

estimating, executed by the processor, a direction of arrival of the echo signal received from the target according to a pseudo covariance matrix of the third matrix.