Signal integration with transceiver motion compensation
A method and apparatus for processing a transceiver signal ( 115 ) detected by a transceiver ( 110 ). The method includes obtaining (S 1 ) a processed signal from the transceiver signal ( 115 ), the processed signal having frames ( 200, 300 ) corresponding to respective time intervals (t 1 , t 2 , t 3 , t 4 ), wherein the frames define bins ( 210, 310 ) configured according to a quantized resolution (dr) of the transceiver signal ( 115 ). The method further includes obtaining (S 2 ) data related to a relative motion of the transceiver ( 110 ) during a time interval (t 1 , t 2 , t 3 , t 4 ) and initializing (S 3 ) a residual distance to zero. For each frame ( 200, 300 ) and each respective time interval (t 1 , t 2 , t 3 , t 4 ) the method further includes determining (S 4 ) a shift distance (ds 1 , ds 3 ) corresponding to a sum of the residual distance and a distance value (d 1 , d 2 ) corresponding to a relative motion of the transceiver ( 110 ) in the respective time interval (t 1 , t 2 , t 3 , t 4 ) and rounding (S 5 ) the determined shift distance (ds 1 , ds 3 ) with respect to the distance resolution (dr) to a rounded shift distance. The method then further includes updating (S 6 ) the residual distance based on a difference between the determined shift distance (ds 1 , ds 3 ) and the rounded shift distance, and generating (S 7 ) an adjusted frame ( 304 ) by shifting the bins ( 310 ) of the frame by the rounded shift distance to account for relative transceiver motion with respect to the object ( 150 ) in the respective time interval. The method finally includes processing (S 8 ) the signal by integrating bin values ( 210, 310 ) over the adjusted frames ( 300 ).
1. A method for processing a transceiver signal detected by a transceiver, the method comprising the steps of:
obtaining a processed signal from the transceiver signal, the processed signal comprising frames corresponding to respective time intervals, wherein the frames comprise bins configured according to a distance resolution of the transceiver signal;
obtaining data related to a relative motion of the transceiver with respect to an object in a field of view of the transceiver during the respective time intervals;
initializing a residual distance to zero; and, for each of the frames and each of the respective time intervals;
determining a shift distance corresponding to a sum of a residual distance and a distance value corresponding to the relative motion of the transceiver with respect to the object in the respective time intervals;
rounding the determined shift distance with respect to the distance resolution to a rounded shift distance;
updating the residual distance based on a difference between the determined shift distance and the rounded shift distance;
generating an adjusted frame by shifting the bins of the frames by the rounded shift distance to account for the relative motion of the transceiver with respect to the object in the respective time intervals; and
processing the signal by integrating values of the bins over the adjusted frames.
2. The method according to claim 1 , further comprising wherein the signal is a radar signal detected by the transceiver in the form of a radar transceiver, where the distance resolution is proportional to a frequency span of each of the bins.
3. The method according to claim 2 , further comprising, wherein the radar signal is a frequency modulated continuous wave radar signal.
4. The method according to claim 1 , further comprising wherein the frames correspond to a Fourier transform or a Fast Fourier Transform vector.
5. The method according to claim 1 , further comprising wherein the data related to the relative motion of the transceiver is obtained from a Doppler shift of the transceiver signal.
6. The method according to claim 1 , wherein the data related to the relative motion of the transceiver during the time interval comprises data related to the relative motion of the transceiver in an absolute coordinate frame.
7. The method according to claim 1 , wherein the rounding step comprises rounding up to a nearest upper integer multiple of the distance resolution.
8. The method according to claim 1 , wherein the rounding step comprises rounding down to a nearest lower integer multiple of the distance resolution.
9. The method according to claim 1 , wherein the rounding step comprises rounding to a nearest integer multiple of the distance resolution.
10. The method according to claim 1 , wherein the obtaining data related to the relative motion of the transceiver step comprises obtaining data related to an acceleration of the vehicle in the respective time intervals.
11. The method according to claim 1 , wherein the obtaining data related to the relative motion of the transceiver step comprises filtering the data to suppress noise in the data.
12. The method according to claim 10 , wherein the filtering comprises any one of a Kalman filtering, a particle filtering, and a Wiener filtering.
13. The method according to claim 1 , wherein the obtaining data related to the relative motion of the transceiver step comprises obtaining data related to a heading of the vehicle.
14. A control unit for a vehicle where the control unit is arranged to process a transceiver signal detected by a transceiver, where the control unit comprises:
a first obtaining module configured to obtain a processed signal from the transceiver signal, the processed signal comprising frames corresponding to respective time intervals, wherein the frames comprise bins configured according to a distance resolution of the transceiver signal;
a second obtaining module configured to obtain data related to a relative motion of the transceiver with respect to an object in afield of view of the transceiver during the respective time intervals;
an initialization module configured to initialize a residual distance to zero;
wherein the control unit is arranged to, for each of the frames and each of the respective time intervals;
determine, by a determining module a shift distance corresponding to a sum of the residual distance and a distance value corresponding to the relative motion of the transceiver with respect to the object in the respective time interval;
round, by a rounding module, the determined shift distance with respect to the distance resolution to a rounded shift distance;
update, by an updating module, the residual distance based on a difference between the determined shift distance and the rounded shift distance; and to
generate, by a generating module, an adjusted frame by shifting the bins of the frames by the rounded shift distance to account for the relative transceiver motion with respect to the object in the respective time intervals; and
a processing module configured to process the signal by integrating the bin values over the adjusted frames.
15. The control unit according to claim 14 , further comprising wherein the signal is a radar signal detected by the radar transceiver, where the distance resolution is proportional to a frequency span of each of the bins.