Multi-beam radar based ground speed sensor utilizing a single radar integrated circuit

1 . A true ground speed sensor apparatus comprising:

an enclosure, wherein the enclosure defines a transmission axis perpendicular to a direction of motion;

a single radar integrated circuit (IC) configured to generate frequency spectrum data, wherein the single radar integrated circuit is attached to the enclosure on a side adjacent to an obstructing surface;

one or more radar transmitters coupled to the single radar integrated circuit and configured to transmit the frequency spectrum data in a frequency spectrum data beam along the transmission axis and toward the obstructing surface;

a radio frequency absorbent material positioned to substantially block the frequency spectrum data beam proximate to the transmission axis creating two directed frequency spectrum data beams;

one or more radar receivers coupled to the single radar integrated circuit and configured to receive a feedback frequency spectrum data in the frequency spectrum data beam reflected from the obstructing surface; and

signal processing circuitry in communication with the single radar integrated circuit, wherein the signal processing circuitry comprises at least one processor and at least one memory, the at least one memory having computer-coded instructions thereon, the computer-coded instructions configured to, in execution with the at least one processor, configure the signal processing circuitry to:

(1) receive the feedback frequency spectrum data resulting from the two directed frequency spectrum data beams reflecting off the obstructing surface at two disparate angles and

(2) determine a ground speed based at least in part on phase-shift measurements of the feedback frequency spectrum data.

2 . The true ground speed sensor apparatus of claim 1 , wherein the signal processing circuitry is configured to ignore the feedback frequency spectrum data reflecting off the obstructing surface proximate the transmission axis of the frequency spectrum data beam.

3 . The true ground speed sensor apparatus of claim 1 , wherein a beam width of the frequency spectrum data beam is increased by utilizing a plurality of radar transmitters positioned to transmit at disparate transmit angles.

4 . The true ground speed sensor apparatus of claim 1 , wherein a beam width of the frequency spectrum data beam is greater than 90 degrees and less than 150 degrees.

5 . The true ground speed sensor apparatus of claim 1 , wherein a plurality of transmitters generate a beamformed frequency spectrum data beam capable of being directed toward the obstructing surface at different angles to produce two or more distinct frequency spectrum data beams.

6 . The true ground speed sensor apparatus of claim 5 , wherein the beamformed frequency spectrum data beam has a beam width less than 30 degrees and greater than or equal to 1 degree.

7 . The true ground speed sensor apparatus of claim 1 , further comprising an accelerometer communicatively connected to the signal processing circuitry, wherein the signal processing circuitry is configured to compensate for changes in position in the yaw, pitch, or roll directions relative to the direction of motion based at least in part on acceleration data generated by the accelerometer.

8 . A computer-implemented method for measuring a true ground speed comprising:

generating a frequency spectrum data, via a single radar integrated circuit, wherein the single radar integrated circuit is attached to an enclosure on a side adjacent to an obstructing surface, wherein the enclosure defines a transmission axis perpendicular to a direction of motion;

transmitting via one or more radar transmitters coupled to the single radar integrated circuit, the frequency spectrum data in a frequency spectrum data beam along the transmission axis and toward the obstructing surface, wherein a radio frequency absorbent material is positioned to substantially block the frequency spectrum data proximate to the transmission axis creating two directed frequency spectrum data beams;

receiving feedback frequency spectrum data from one or more radar receivers, wherein the one or more radar receivers are coupled to the single radar integrated circuit and are configured to receive feedback frequency spectrum data in the frequency spectrum data beam reflected from the obstructing surface;

identifying feedback frequency spectrum data received from the two directed frequency spectrum data beams; and

determining a ground speed based at least in part on phase-shift measurements of the feedback frequency spectrum data received from the two directed frequency spectrum data beams.

9 . The computer-implemented method of claim 8 , wherein the feedback frequency spectrum data received from the two or more-directed frequency spectrum data beams is identified based at least in part on a peak-value, a signal-to-noise ratio, and a spatial origin of the feedback frequency spectrum data.

10 . The computer-implemented method of claim 9 , wherein a forward-facing directed frequency spectrum data beam and a rear-facing directed frequency spectrum data beam comprise the two directed frequency spectrum data beams.

11 . The computer-implemented method of claim 10 , further comprising:

distinguishing between the feedback frequency spectrum data received from the forward-facing directed frequency spectrum data beam and the rear-facing directed frequency spectrum data beam;

determining a first ground speed based on the feedback frequency spectrum data of the forward-facing directed frequency spectrum data beam;

determining a second ground speed based on the feedback frequency spectrum data of the rear-facing directed frequency spectrum data beam; and

determining the true ground speed based at least in part on the first ground speed and the second ground speed.

12 . The computer-implemented method of claim 9 , wherein a beam width angle is greater than 90 degrees and less than 180 degrees.

13 . The computer-implemented method of claim 8 , wherein a plurality of radar transmitters generate a beamformed frequency spectrum data beam capable of being directed toward the obstructing surface at different angles to produce two or more distinct frequency spectrum data beams.

14 . The computer-implemented method of claim 13 , wherein the angles of the two or more distinct frequency spectrum data beams are adjusted to compensate for changes in position in the yaw, pitch, or roll directions relative to the direction of motion based at least in part based on acceleration data received from an accelerometer.

15 . The computer-implemented method of claim 13 , further comprising:

causing a first beamformed frequency spectrum data beam to be transmitted at a first angle;

causing a second beamformed frequency spectrum data beam to be transmitted at a second angle;

distinguishing between first feedback frequency spectrum data received from the frequency spectrum data beam transmitted at the first angle and second feedback frequency spectrum data received from the frequency spectrum data beam transmitted at the second angle;

determining a first ground speed based on the first feedback frequency spectrum data of the frequency spectrum data beam transmitted at the first angle;

determining a second ground speed based on the second feedback frequency spectrum data of the frequency spectrum data beam transmitted at the second angle; and

determining the true ground speed based at least in part on the first ground speed and the second ground speed.

16 . The computer-implemented method of claim 8 , further comprising:

ignoring feedback frequency spectrum data reflecting off the obstructing surface proximate the transmission axis of the frequency spectrum data beam.

17 . The computer-implemented method of claim 16 , wherein the feedback frequency spectrum data reflecting off the obstructing surface proximate the transmission axis is ignored based at least in part on a magnitude and a spatial origin of the feedback frequency spectrum data.

18 . A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions comprising program instructions to:

generate a frequency spectrum data via a single radar integrated circuit, wherein the single radar integrated circuit is attached to an enclosure on a side adjacent to an obstructing surface, wherein the enclosure defines a transmission axis perpendicular to a direction of motion;

transmit via one or more radar transmitters coupled to the single radar integrated circuit, the frequency spectrum data in a frequency spectrum data beam along the transmission axis and toward the obstructing surface, wherein a radio frequency absorbent material is positioned to substantially block the frequency spectrum data beam proximate to the transmission axis creating two directed frequency spectrum data beams;

receive feedback frequency spectrum data from one or more radar receivers, wherein the one or more radar receivers are coupled to the single radar integrated circuit and are configured to receive the feedback frequency spectrum data in the frequency spectrum data beam reflected from the obstructing surface;

identify the feedback frequency spectrum data received from two directed frequency data beams; and

determine a true ground speed based at least in part on the feedback frequency spectrum data received from the two directed frequency spectrum data beams.