Angle finding for a detector having a paired staggered array
An illustrative example embodiment of a detector device, which may be useful on an automated vehicle, includes an array of detectors arranged in one dimension. The array includes a plurality of first detectors and a plurality of second detectors. The first detectors respectively have one of the second detectors between the first detector and an adjacent one of the first detectors. The first detectors respectively are spaced from the one of the second detectors by a first distance. The one of the second detectors are respectively spaced from the adjacent one of the first detectors by a second distance that is larger than the first distance. The first detectors are spaced from each other by a third distance that is a sum of the first and second distance. The second detectors are also spaced from each other by the third distance.
1. A detector device, comprising a processor that
determines a plurality of first estimates of an angle of detection from a plurality of first receiver antennas separated by a first spacing between adjacent ones of the first receiver antennas;
determines a plurality of second estimates of the angle of detection from a plurality of second receiver antennas, the first and second receiver antennas being physically arranged in a one-dimensional linear array and the second receiver antennas being staggered with the first receiver antennas within the one-dimensional linear array such that each second receiver antenna is offset from a center of the first spacing between adjacent ones of the first receiver antennas on opposite sides of the second receiver antenna;
identifies which one of the first estimates is closest in value to one of the second estimates; and
determines an angle of detection of the detector device from at least one of the identified one of the first estimates and the identified one of the second estimates;
wherein the processor determines the plurality of first estimates and the plurality of second estimates by using a multiple-dimension array angle determination technique and treating the first and second receiver antennas physically arranged in the one-dimensional linear array as a multiple-dimensional array with the first receiver antennas arranged in a first linear array of the multiple dimensional array and the second receiver antennas arranged in a second linear array of the multiple dimensional array.
2. The detector device of claim 1 , wherein the processor determines the angle of detection based on the one of the first estimates being equal in value to the one of the second estimates.
3. The detector device of claim 1 , wherein the processor determines the angle of detection based on the one of the first estimates being within a selected range of the one of the second estimates.
4. The detector device of claim 1 , wherein each of the first estimates is associated with an interval and a number of the intervals is based on the first spacing.
5. The detector device of claim 1 , wherein
a first distance d 1 separates each second receiver antenna from the one of the first receiver antennas on a first side of the second receiver antenna;
a second distance d 2 that is larger than the first distance separates each second receiver antenna from the one of the first receiver antennas on a second, opposite side of the second receiver antenna;
the first spacing is equal to a third distance d 1 +d 2 that is a sum of the first and second distance;
the second receiver antennas are separated from each other by a second spacing between adjacent ones of the second receiver antennas; and
the second spacing is equal to the third distance.
6. The detector device of claim 1 , wherein
a first distance d 1 separates each second receiver antenna from the one of the first receiver antennas on a first side of the second receiver antenna;
a second distance d 2 that is larger than the first distance separates each second receiver from the one of the first receiver antennas on a second, opposite side of the second receiver antenna;
the first spacing is equal to a third distance d 1 +d 2 that is a sum of the first and second distance; and
the second spacing is equal to the third distance.
7. The detector device of claim 1 , wherein each second receiver antenna is physically separated from adjacent first receiver antennas by a first distance d 1 on a first side of the second receiver antenna and by a second distance d 2 on an opposite side of the second receiver antenna, respectively, such that the distance between physically adjacent ones of the first receiver antennas is d 1 +d 2 , and wherein:
d 1= N×d , and
d 2=( N+ 1)× d,
with d being one half of a wavelength of a signal received by the first and second receiver antennas and N being a positive integer.
8. A method of determining an angle of detection, the method comprising:
determining a plurality of first estimates of an angle of detection from a plurality of first receiver antennas separated by a first spacing between adjacent ones of the first receiver antennas;
determining a plurality of second estimates of the angle of detection from a plurality of second receiver antennas, the first and second receiver antennas being physically arranged in a one-dimensional linear array and the second receiver antennas being staggered with the first receiver antennas within the one-dimensional array such that each second receiver antenna is offset from a center of the first spacing between adjacent ones of the first receiver antennas on opposite sides of the second receiver antenna;
identifying which one of the first estimates is closest in value to one of the second estimates; and
determining an angle of detection of the detector device from at least one of the identified one of the first estimates and the identified one of the second estimates;
wherein determining the plurality of first estimates and the plurality of second estimates includes using a multiple-dimension array angle determination technique and treating the first and second receiver antennas physically arranged in the one-dimensional linear array as a multiple-dimensional array with the first receiver antennas arranged in a first linear array of the multiple dimensional array and the second receiver antennas arranged in a second linear array of the multiple dimensional array.
9. The method of claim 8 , wherein determining the angle of detection is based on the one of the first estimates being equal in value to the one of the second estimates.
10. The method of claim 8 , wherein determining the angle of detection is based on the one of the first estimates being within a selected range of the one of the second estimates.
11. The method of claim 8 , wherein each of the first estimates is associated with an interval and a number of the intervals is based on the first spacing.
12. The method of claim 8 , wherein
a first distance d 1 separates each second receiver antenna from the one of the first receiver antennas on a first side of the second receiver antenna;
a second distance d 2 that is larger than the first distance separates each second receiver antenna from the one of the first receiver antennas on a second, opposite side of the second receiver antenna;
the first spacing is equal to a third distance d 1 +d 2 that is a sum of the first and second distance;
the second receiver antennas are separated from each other by a second spacing between adjacent ones of the second receiver antennas; and
the second spacing is equal to the third distance.
13. The method of claim 8 , wherein the angle of detection is an angle in the one dimension.
14. The method of claim 8 , wherein
a first distance d 1 separates each second receiver antenna from the one of the first receiver antennas on a first side of the second receiver antenna;
a second distance d 2 that is larger than the first distance separates each second receiver antenna from the one of the first receiver antennas on a second, opposite side of the second receiver antenna;
the first spacing is equal to a third distance d 1 +d 2 that is a sum of the first and second distance; and the second spacing is equal to the third distance.
15. The method of claim 8 , wherein each second receiver antenna is physically separated from adjacent first receiver antennas by a first distance d 1 on a first side of the second receiver antenna and by a second distance d 2 on an opposite side of the second receiver antenna, respectively, such that the distance between physically adjacent ones of the first receiver antennas is d 1 +d 2 , and wherein:
d 1= N×d , and
d 2=( N+ 1)× d,
with d being one half of a wavelength of a signal received by the first and second receiver antennas and N being a positive integer.
16. A non-transitory storage medium including a plurality of instructions that, when executed by a processor, cause the processor to
determine a plurality of first estimates of an angle of detection from a plurality of first receiver antennas separated by a first spacing between adjacent ones of the first receiver antennas;
determine a plurality of second estimates of the angle of detection from a plurality of second receiver antennas, the first and second receiver antennas being physically arranged in a one-dimensional linear array and the second receiver antennas being staggered with the first receiver antennas within the one-dimensional linear array such that each second receiver is offset from a center of the first spacing between adjacent ones of the first receiver antennas on opposite sides of the second receiver;
identify which one of the first estimates is closest in value to one of the second estimates; and
determine an angle of detection from at least one of the identified one of the first estimates and the identified one of the second estimates;
wherein the processor determines the plurality of first estimates and the plurality of second estimates by using a multiple-dimension array angle determination technique and treating the first and second receiver antennas physically arranged in the one-dimensional linear array as a multiple-dimensional array with the first receiver antennas arranged in a first linear array of the multiple dimensional array and the second receiver antennas arranged in a second linear array of the multiple dimensional array.
17. The non-transitory storage medium of claim 16 , wherein the plurality of instructions include instructions that cause the processor to determine the angle of detection based on the one of the first estimates being equal in value to the one of the second estimates.
18. The non-transitory storage medium of claim 16 , wherein the plurality of instructions include instructions that cause the processor to determine the angle of detection based on the one of the first estimates being within a selected range of the one of the second estimates.
19. The non-transitory storage medium of claim 16 , wherein each second receiver antenna is physically separated from adjacent first receiver antennas by a first distance d 1 on a first side of the second receiver antenna and by a second distance d 2 on an opposite side of the second receiver antenna, respectively, such that the distance between physically adjacent ones of the first receiver antennas is d 1 +d 2 , and wherein:
d 1= N×d , and
d 2=( N+ 1)× d,
with d being one half of a wavelength of a signal received by the first and second receiver antennas and N being a positive integer.