Methods, systems, and low power retro-directive RF tags for localization
A method of operating a frequency modulated continuous-wave radar can include transmitting CHIRP signals from a plurality of antennas of the frequency modulated continuous-wave radar, receiving, via the plurality of antennas, signals including asynchronously modulated retro-directive signals from at least one remote radio frequency tag generated responsive to the CHIRP signals, generating difference Intermediate Frequency signals from the CHIRP signals transmitted and the signals received, and performing a first transform operation on the difference Intermediate Frequency signals to detect occurrence of the asynchronously modulated retro-directive signals in the difference Intermediate Frequency signals.
1. A method of operating a frequency modulated continuous-wave (FMCW) radar, the method comprising:
transmitting a plurality of first signals from a plurality of antennas of the FMCW radar, wherein each of the plurality of first signals comprises a continuous wave with a frequency that linearly varies over time across a defined bandwidth and duration;
receiving, via the plurality of antennas, a plurality of second signals that include asynchronously modulated retro-directive responses, each asynchronously modulated retro-directive response being generated by at least one remote radio frequency tag located remotely from the FMCW radar, wherein each asynchronously modulated retro-directive response is produced by retro-directively reflecting a respective first signal of the plurality of first signals back toward the FMCW radar in an asynchronously modulated form;
generating difference Intermediate Frequency signals by comparing the plurality of first signals and the plurality of second signals; and
performing a first transform operation on the difference Intermediate Frequency signals to detect and identify a presence of the asynchronously modulated retro-directive responses in the difference Intermediate Frequency signals, wherein the FMCW radar is configured to localize the at least one remote radio frequency tag based on the asynchronously modulated retro-directive responses.
2. The method of claim 1 , wherein performing the first transform operation on the difference Intermediate Frequency signals generates a range map data indicating a range from the radar for the asynchronously modulated retro-directive responses detected in the difference Intermediate Frequency signals.
3. The method of claim 2 , further comprising:
performing a second transform operation on the range map data to provide a range-Doppler map data indicating multipath reflected signals included in the range map data.
4. The method of claim 3 , further comprising filtering the range-Doppler map data using a sinc function to differentiate the multipath reflected signals from the asynchronously modulated retro-directive responses.
5. The method of claim 3 further comprising performing a third transform operation on range-Doppler map data corresponding to the second signals to provide range-angle map data including azimuth data for the at least one remote radio frequency tag.
6. The method of claim 1 , wherein the asynchronously modulated retro-directive responses are asynchronously modulated with a square wave at the remote radio frequency tag to generate the asynchronously modulated retro-directive responses included in the plurality of second signals received from the remote radio frequency tag.
7. The method of claim 1 , further comprising, after transmitting the plurality of first signals from the plurality of antennas of the FMCW radar:
receiving the plurality of first CHIRP signals at a retro-directive antenna array of the at least one remote radio frequency tag;
modulating the plurality of first CHIRP signals asynchronously relative to a time a which the plurality of first signals were transmitted from the FMCW radar to generate the second signals; and
transmitting the plurality of second signals, comprising the asynchronously modulated retro-directive responses, from the at least one remote radio frequency tag back toward the FMCW radar.
8. The method of claim 4 , wherein filtering the range-Doppler map data comprises applying a transformation based on a periodic square wave corresponding to a modulation frequency of each asynchronously modulated retro-directive response in the plurality of second signals, with the transformation representing a frequency-domain operation derived from the periodic square wave sampled in alignment with a repetition frequency of the plurality of first signals.
9. The method of claim 4 , wherein filtering the range-Doppler map data comprises applying a transformation based on a periodic square wave corresponding to a modulation pattern of each asynchronously modulated retro-directive response in the plurality of second signals, combined with a factor compensating for Doppler shifts due to relative velocity between the at least one remote radio frequency tag and the FMCW radar.
10. The method of claim 5 , further comprising processing the range-angle map data to refine the azimuth data by applying a transformation to samples of the plurality of first signals, wherein the transformation is based on a combination of complex amplitudes and time delays corresponding to at least one remote radio frequency tag, the time delays being defined by a slope of each of the plurality of first signals and a sampling frequency associated with the FMCW radar.
11. The method of claim 10 , wherein the plurality of first signals are received via the plurality of antennas, and a time delay associated with the at least one remote radio frequency tag is determined based on the range map data and azimuth data of the at least one remote radio frequency tag, a spacing between the plurality of antennas, and the speed of light.