Apparatus and methods for detection of objects using broadband signals

• US 10,197,664 B2
• Filed: 07/20/2015
• Issued: 02/05/2019
• Est. Priority Date: 07/20/2015
• Status: Active Grant

• Current Assignee: Brain Corporation
• Original Assignee: Brain Corporation
• Inventors: Richert, Micah
• Primary Examiner(s): Paterson, Brigitte A
• Application Number:
  US14/804,043
• Publication Number:
  US 20170023661A1
• Time in Patent Office: 1,296 Days
• CPC Class Codes: G01S 13/003 Bistatic radar systems; Multistatic radar systems
• CPC Class Codes: G01S 13/0209 Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
• CPC Class Codes: G01S 13/08 Systems for measuring distance only indirect measurement G01S13/46
• CPC Class Codes: G01S 13/325 using transmission of coded signals, e.g. P.S.K. signals
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/003 Bistatic sonar systems; Multistatic sonar systems
• CPC Class Codes: G01S 15/08 Systems for measuring distance only indirect measurement G01S15/46
• CPC Class Codes: G01S 15/325 using transmission of coded signals, e.g. of phase-shift keyed [PSK] signals
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/003 Bistatic lidar systems; Multistatic lidar systems
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/32 using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/02 of systems according to group G01S13/00
• CPC Class Codes: G01S 7/023 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 auxiliary means for detecting or identifying radar signals or the like G01S7/021; means for anti-jamming G01S7/36
• CPC Class Codes: G01S 7/0234 Avoidance by code multiplex
• CPC Class Codes: G01S 7/354 Extracting wanted echo-signals Doppler systems G01S13/50
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487
• CPC Class Codes: G01S 7/493 Extracting wanted echo signals
• CPC Class Codes: G01S 7/536 Extracting wanted echo signals

Abstract

Broadband signal transmissions may be used for object detection and/or ranging. Broadband transmissions may comprise a pseudo-random bit sequence or a bit sequence produced using, a random process. The sequence may be used to modulate transmissions of a given wave type. Various types of waves may be utilized, pressure, light, and radio waves. Waves reflected by objects within the sensing volume may be sampled. The received signal may be convolved with a time-reversed copy of the transmitted random sequence to produce a correlogram. The correlogram may be analyzed to determine range to objects. The analysis may comprise determination of one or more peaks/troughs in the correlogram. Range to an object may be determines based on a time lag of a respective peak.

Claims

1. A method for determining range to an object, comprising:

transmitting, via a transmitter, a broadband signal, the transmitter including an electrically pumped semiconductor laser element,

producing, via a receiver, a sampled signal based on a sample of a reflected signal, the reflected signal including a reflection of the broadband signal off the object, the receiver including a photodetector;

determining, via execution of computer readable instructions stored on at least one processor, a time-reversed instance of the transmitted broadband signal, the at least one processor including computer readable instructions stored thereon;

determining, via execution of computer readable instructions stored on the at least one processor, one or more correlograms, a respective one of the one or more correlograms including a convolution of the time-reversed instance of the transmitted broadband signal and the sampled signal at a plurality of lags, the respective one of the one or more correlograms corresponding to a zero-mean signal by subtraction of a mean value from at least one of the transmitted broadband signal and the sampled signal, the respective one of the one or more correlograms including one or more values;

comparing, via execution of computer readable instructions stored on the at least one processor, the one or more correlogram values of the respective one of the one or more correlograms at the plurality of lags to a detection threshold; and

determining, via execution of computer readable instructions stored on the at least one processor, a range to the object based on the one or more values of the respective one of the one or more correlograms breaching the detection threshold, the range corresponding to a given lag of the plurality of lags, where the given lag is associated with the one or more values of the respective one of the one or more correlograms.

2. The method of claim 1, wherein the broadband signal comprises an electromagnetic wave transmission.

3. The method of claim 2, wherein the receiver is spatially spaced from the transmitter.

4. The method of claim 2, wherein the electromagnetic wave is characterized by a frequency selected within a radio frequency band.

5. The method of claim 2, wherein the electromagnetic wave transmission is characterized by a frequency selected within a visible light frequency band.

6. The method of claim 1, wherein the plurality of lags exceeds 100 lags.

7. The method of claim 1, wherein

the detection threshold determination comprises determination of the mean value and a standard deviation value of the respective one of the one or more correlograms;

and

the detection threshold comprises a positive component configured to be greater than the mean value and a negative component configured to be smaller than a negative mean value having an absolute magnitude equal to the mean value.

8. The method of claim 7, wherein,

the positive component is configured to be based on a first number of standard deviation values above the mean value;

and

the negative component is configured to be based on a second number of standard deviation values below the negative mean value.

9. The method of claim 1, further comprising:

filtering, via execution of computer readable instructions stored on the at least one processor, the correlogram prior to the comparison of the one or more correlogram values to the detection threshold.

10. The method of claim 1, wherein the given time lag corresponds to a position of a local peak or a local trough of the correlogram relative to an onset of the transmission of the broadband signal.

11. The method of claim 10, further comprising:

detecting, via execution of computer readable instructions stored on at least one processor, a presence of the object when the local peak or the local trough of the correlogram breaches the one or more detection thresholds.

12. A method for determining at least one positional attribute associated with an object, comprising:

transmitting, via a transmitter, configured to transmit an oscillatory signal, the transmitter including an electrically pumped semiconductor laser element;

producing, via a receiver, a sampled signal based on a sample of a reflected signal, the reflected signal including a reflection of the oscillatory signal off the object, the receiver including a photodetector;

performing, via execution of computer readable instructions stored on at least one processor, a comparison of at least a modified signal, the modified signal comprising the portion of the modified instance of the at least the portion of the transmitted oscillatory signal to at least a portion of the sampled signal, the at least one processor including computer readable instructions stored thereon;

evaluating, via execution of computer readable instructions stored on the at least one processor, one or more values obtained from the comparison to a detection criterion, the detection criterion comprising a positive threshold or a negative threshold of a magnitude of the at least the modified signal; and

determining, via execution of computer readable instructions stored on the at least one processor, at least one positional attribute associated with the object corresponding to a parameter associated with the at least one of the one or more values obtained from the comparison, the determining based on at least one of the one or more values from the comparison breaching the positive threshold or the negative threshold from a baseline.

13. The method of claim 12, wherein,

the at least one positional attribute comprises a range;

the oscillatory signal comprises either a broadband acoustic or broadband electromagnetic signal;

the modified instance comprises a time-reversed instance of at least a portion of the transmitted oscillatory instance;

the comparison comprises an autocorrelation performed at least at a plurality of time lags of each of the at least portion of modified instance and the at least portion of the sampled signal;

the one or more values comprise respective one or more amplitudes; and

the evaluation of said one or more values obtained from the comparison to a detection criterion comprises comparison to a predetermined detection threshold value stored in the apparatus.

14. The method of claim 12, wherein the oscillatory signal further comprises a pseudorandom sequence that includes a plurality of bits of a given length selected using a random process.

15. A non-transitory computer-readable storage apparatus comprising a storage medium having a computer program, the computer program comprising a plurality of instructions configured to, when executed by a processor apparatus:

cause a transmitter to transmit a broadband signal, the transmitter including an electrically pumped semiconductor laser element;

cause a receiver to produce a sampled signal based on a sampling of a reflection of the broadband signal from an object, the receiver including a photodetector;

cause the processor apparatus to;

determine a time-reversed instance of the transmitted broadband signal;

determine a correlogram, the correlogram comprising a convolution of the time-reversed instance of the transmitted broadband signal and the sampled signal at a plurality of time lags;

compare (i) one or more correlogram values of the correlogram at the plurality of time lags to (ii) one or more detection thresholds; and

determine a range to the object based on at least a portion of the one or more correlogram values breaching the one or more detection thresholds, the range corresponding to a given time lag of the plurality of time lags, where the given time lag is associated with the at least portion of the one or more correlogram values.

16. The non-transitory computer-readable storage apparatus of claim 15, wherein the broadband signal comprises an electromagnetic wave transmission.

17. The non-transitory computer-readable storage apparatus of claim 16, wherein the electromagnetic wave is characterized by a frequency selected within a radio frequency band.

18. The non-transitory computer-readable storage apparatus of claim 15, wherein the plurality of instructions are further configured to, when executed by the processor apparatus, cause the processor apparatus to determine a quantity of the plurality of time lags based on a sampling rate and a distance of detection.

19. The non-transitory computer-readable storage apparatus of claim 15, wherein the plurality of instructions are further configured to, when executed by the processor apparatus, cause the processor apparatus to filter the correlogram prior to the comparison of the one or more correlogram values to the one or more detection thresholds.

20. The non-transitory computer-readable storage apparatus of claim 15, wherein the plurality of instructions are further configured to, when executed by the processor apparatus, cause the processor apparatus to detect a presence of the object when a local peak or a local trough of the correlogram breaches the one or more detection thresholds.

21. The non-transitory computer-readable storage apparatus of claim 20, wherein the determination of the range to the object corresponding to the given time lag comprises a determination of a position of the local peak or the local trough of the correlogram relative to an onset of the transmission of the broadband signal.