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:
an array of receiver antennas arranged in one dimension, the array including a plurality of first receiver antennas and a plurality of second receiver antennas, the first receiver antennas respectively having one of the second receiver antennas between the first receiver antenna and an adjacent one of the first receiver antennas, the first receiver antennas respectively being spaced from the one of the second receiver antennas by a first distance d 1 in the one dimension, the one of the second receiver antennas respectively being spaced from the adjacent one of the first receiver antennas by a second distance d 2 in the one dimension that is larger than the first distance, the first receiver antennas being spaced from each other in the one dimension by a third distance d 1 +d 2 that is a sum of the first and second distance, the second receiver antennas being spaced from each other by the third distance; and
a processor that
determines an angle of detection of the device,
determines a plurality of first estimates of the angle of detection from the plurality of first receiver antennas,
determines a plurality of second estimates of the angle of detection from the plurality of second receiver antennas,
identifies which one of the first estimates is closest in value to one of the second estimates, and
determines the angle of detection from at least one of the identified one of the first estimates and the identified one of the second estimates.
2. The detector device of claim 1 , wherein the processor:
treats the array of receiver antennas as a multiple-dimensional array wherein
the first receiver antennas are in a first dimension with the third distance between the first receiver antennas,
the second receiver antennas are in a second dimension with the third distance between the second receiver antennas,
and the first dimension is spaced from the second dimension by the first distance;
determines respective detection angle estimates in each of the first and second dimensions; and
determines the angle of detection of the device based on the respective detection angle estimates.
3. The device of claim 2 , wherein the processor
determines the plurality of first detection angle estimates in the first dimension;
determines the plurality of second detection angle estimates in the second dimension; and
determines the angle of detection from at least one of the first detection angle estimates that corresponds to at least one of the second detection angle estimates.
4. The device of claim 3 , wherein the processor
determines the plurality of first detection angle estimates for a corresponding first plurality of intervals, wherein a number of the intervals in the first plurality of intervals is based on the third spacing; and
determines the plurality of second detection angle estimates for a corresponding second plurality of intervals, wherein a number of the intervals in the second plurality of intervals is based on the first distance.
5. The device of claim 3 , wherein the processor
identifies which one of the first detection angle estimates is closest in value to one of the second detection angle estimates; and
determines the angle of detection based on at least one of the identified one of the first detection angle estimates and the identified one of the second detection angle estimates.
6. The device of claim 5 , wherein the identified one of the first detection angle estimates is approximately equal to the identified one of the second detection angle estimates.
7. The device of claim 1 , wherein the angle of detection is an angle in the one dimension.
8. A method of operating a detector device, the device including a processor and an array of receiver antennas arranged in one dimension, the array including a plurality of first receiver antennas and a plurality of second receiver antennas, the first receiver antennas respectively having one of the second receiver antennas between the first receiver antenna and an adjacent one of the first receiver antennas, the first receiver antennas respectively being spaced from the one of the second receiver antennas by a first distance d 1 in the one dimension, the one of the second receiver antennas respectively being spaced from the adjacent one of the first receiver antennas by a second distance d 2 in the one dimension that is larger than the first distance, the first receiver antennas being spaced from each other in the one dimension by a third distance d 1 +d 2 that is a sum of the first and second distance, the second receiver antennas being spaced from each other by the third distance, the method comprising:
determining a plurality of first estimates of an angle of detection from the plurality of first receiver antennas;
determining a second plurality of estimates of the angle of detection from the plurality of second receiver antennas;
identifying which one of the first estimates is closest in value to one of the second estimates; and
determining the angle of detection from at least one of the identified one of the first estimates and the identified one of the second estimates.
9. The method of claim 8 , comprising using the processor to:
treat the array of receiver antennas as a multiple-dimensional array wherein
the first receiver antennas are in a first dimension with the third distance between the first receiver antennas,
the second receiver antennas are in a second dimension with the third distance between the second receiver antennas,
and the first dimension is spaced from the second dimension by the first distance;
determine respective detection angle estimates in each of the first and second dimensions; and
determine the angle of detection of the device based on the respective detection angle estimates.
10. The method of claim 9 , comprising:
determining the plurality of first detection angle estimates in the first dimension;
determining the plurality of second detection angle estimates in the second dimension;
and determining the angle of detection from at least one of the first detection angle estimates that corresponds to at least one of the second detection angle estimates.
11. The method of claim 10 , comprising
determining the plurality of first detection angle estimates for a corresponding first plurality of intervals, wherein a number of the intervals in the first plurality of intervals is based on the third spacing; and
determining the plurality of second detection angle estimates for a corresponding second plurality of intervals, wherein a number of the intervals in the second plurality of intervals is based on the first distance.
12. The method of claim 10 , comprising
identifying which one of the first detection angle estimates is closest in value to one of the second detection angle estimates; and
determining the angle of detection based on at least one of the identified one of the first detection angle estimates and the identified one of the second detection angle estimates.
13. The method of claim 12 , wherein the identified one of the first detection angle estimates is approximately equal to the identified one of the second detection angle estimates.
14. The method of claim 8 , wherein the angle of detection is an angle in the one dimension.
15. A detector device, comprising:
an array of receiver antennas arranged in one dimension, the array including a plurality of first receiver antennas and a plurality of second receiver antennas, the first receiver antennas respectively having one of the second receiver antennas between the first receiver antenna and an adjacent one of the first receiver antennas, the first receiver antennas respectively being spaced from the one of the second receiver antennas by a first distance d 1 , the one of the second receiver antennas respectively being spaced from the adjacent one of the first receiver antennas by a second distance d 2 that is larger than the first distance, the first receiver antennas being spaced from each other by a third distance d 1 +d 2 that is a sum of the first and second distance, the second receiver antennas being spaced from each other by the third distance; and
a processor that
determines an angle of detection of the device, the processor being configured to:
treats the array of receiver antennas as a multiple-dimensional array wherein
the first receiver antennas are in a first dimension with the third distance between the first receiver antennas,
the second receiver antennas are in a second dimension with the third distance between the second receiver antennas,
and the first dimension is spaced from the second dimension by the first distance;
determines a plurality of first detection angle estimates in the first dimension;
determines a plurality of second detection angle estimates in the second dimension; and
determines the angle of detection from at least one of the first detection angle estimates that corresponds to at least one of the second detection angle estimates.
16. The device of claim 15 , wherein the processor
determines the plurality of first detection angle estimates for a corresponding first plurality of intervals, wherein a number of the intervals in the first plurality of intervals is based on the third spacing; and
determines the plurality of second detection angle estimates for a corresponding second plurality of intervals, wherein a number of the intervals in the second plurality of intervals is based on the first distance.
17. The device of claim 15 , wherein the processor
identifies which one of the first detection angle estimates is closest in value to one of the second detection angle estimates; and
determines the angle of detection based on at least one of the identified one of the first detection angle estimates and the identified one of the second detection angle estimates.
18. The device of claim 17 , wherein the identified one of the first detection angle estimates is approximately equal to the identified one of the second detection angle estimates.
19. The device of claim 15 , wherein the angle of detection is an angle in the one dimension.