Granted Patent B2

US 12,618,940 · App. 18/673,603 · Granted May 5, 2026

Inventors: Babak Hassibi (San Marino, CA); Behrooz Rezvani (Petaluma, CA)

Assignee: Neural Propulsion Systems, Inc.

G01S7/2921G01S7/295G01S7/354

Abstract

Claims (55)

1 . A method, comprising:

a sensor receiving an echo signal off of at least one target;

at least one analog-to-digital converter generating samples of the echo signal;

using at least a portion of the samples of the echo signal, performing an optimization procedure to obtain a denoised signal, wherein the optimization procedure explicitly exploits a structure of the echo signal to select, from a set of estimates, a best estimate with regard to a criterion;

performing a correlation of a transmitted waveform and the denoised signal; and

using a result of the correlation of the transmitted waveform and the denoised signal, determining at least one range value, the at least one range value being an estimate of a distance between the sensor and the at least one target.

2 . The method of claim 1 , wherein the at least one range value comprises a first range value representing an estimate of a distance between the sensor and a first target, and a second range value representing an estimate of a distance between the sensor and a second target.

3 . The method of claim 1 , wherein performing the optimization procedure to obtain the denoised signal comprises:

minimizing an atomic norm of the denoised signal subject to a constraint on a metric characterizing a closeness of the denoised signal to the samples of the echo signal.

4 . The method of claim 3 , wherein the atomic norm corresponds to a collection of atoms, and wherein:

each atom is a time-shifted version of the transmitted waveform, and/or

each atom is a planar wave with a respective arrival angle that differs from the respective arrival angle of every other atom.

5 . The method of claim 3 , wherein minimizing the atomic norm comprises performing a frequency-domain atomic norm optimization procedure, and/or performing a gradient descent.

6 . The method of claim 1 , wherein performing the optimization procedure to obtain the denoised signal comprises:

minimizing a metric characterizing a closeness of the denoised signal to the samples of the echo signal subject to a constraint on an atomic norm of the denoised signal.

7 . The method of claim 1 , wherein performing the optimization procedure to obtain the denoised signal comprises:

minimizing a weighted sum of (a) a metric characterizing a closeness of the denoised signal to the samples of the echo signal and (b) an atomic norm of the denoised signal.

8 . The method of claim 1 , wherein determining the at least one range value comprises:

identifying at least one peak in the result of the correlation of the transmitted waveform and the denoised signal; and

computing the estimate of the distance between the sensor and the at least one target based at least in part on a position of the at least one peak within the result of the correlation of the transmitted waveform and the denoised signal.

9 . The method of claim 1 , wherein determining the at least one range value comprises performing a Fourier transform.

10 . The method of claim 1 , wherein the echo signal is a first echo signal in a first frequency band, and the denoised signal is a first denoised signal, and the transmitted waveform is a first transmitted waveform, and the at least one range value is a first at least one range value, and the estimate of the distance between the sensor at the at least one target is a first estimate of the distance between the sensor and the at least one target, and wherein the method further comprises:

the sensor receiving a second echo signal in a second frequency band;

the at least one analog-to-digital converter generating samples of the second echo signal;

using at least a portion of the samples of the second echo signal, performing the optimization procedure to obtain a second denoised signal;

performing a correlation of a second transmitted waveform and the second denoised signal; and

using a result of the correlation of the second transmitted waveform and the second denoised signal, determining a second at least one range value, the second at least one range value being a second estimate of the distance between the sensor and the at least one target.

11 . The method of claim 1 , wherein the sensor is a first sensor, the echo signal is a first echo signal, the samples of the echo signal are first samples of the first echo signal, the denoised signal is a first denoised signal, the at least one range value is a first at least one range value, and the optimization procedure is a first optimization procedure, and further comprising:

a second sensor receiving a second echo signal off of the at least one target;

the at least one analog-to-digital converter generating second samples of the second echo signal;

using at least a portion of the second samples of the second echo signal, performing the first optimization procedure to obtain a second denoised signal;

performing a correlation of the transmitted waveform and the second denoised signal;

using a result of the correlation of the transmitted waveform and the second denoised signal, determining a second at least one range value, the second at least one range value being an estimate of a distance between the second sensor and the at least one target;

using the first denoised signal, the second denoised signal, and the first at least one range value, constructing a first array signal;

using the first array signal, performing a second optimization procedure to estimate a first respective angle of arrival for each target of the at least one target;

using the first denoised signal, the second denoised signal, and the second at least one range value, constructing a second array signal; and

using the second array signal, performing the second optimization procedure to estimate a second respective angle of arrival for each target of the at least one target.

12 . The method of claim 11 , wherein performing the second optimization procedure comprises:

obtaining a denoised array signal from an array signal; and

applying an angle-of-arrival estimation algorithm to the denoised array signal.

13 . The method of claim 12 , wherein obtaining the denoised array signal from the array signal comprises:

minimizing an atomic norm of the denoised array signal subject to a constraint on a metric characterizing a closeness of the denoised array signal to the array signal.

14 . The method of claim 12 , wherein obtaining the denoised array signal from the array signal comprises:

minimizing a metric characterizing a closeness of the denoised array signal to the array signal subject to a constraint on an atomic norm of the denoised array signal.

15 . The method of claim 12 , wherein obtaining the denoised array signal from the array signal comprises:

minimizing a weighted sum of (a) a metric characterizing a closeness of the denoised array signal to the array signal and (b) an atomic norm of the denoised array signal.

16 . The method of claim 11 , further comprising:

using the first denoised signal, the second denoised signal, the first at least one range value, and the second at least one range value, performing a third optimization procedure to determine a velocity of the at least one target.

17 . The method of claim 11 , further comprising:

transmitting, for a time period, a first instance of the transmitted waveform modulated onto a first carrier signal having a carrier frequency and a first phase; and

transmitting, for the time period and substantially synchronously with the first instance of the transmitted waveform, a second instance of the transmitted waveform modulated onto a second carrier signal having the carrier frequency and a second phase, the second phase being different from the first phase, wherein the first instance and the second instance of the transmitted waveform are substantially identical.

18 . The method of claim 1 , further comprising:

modifying an aspect of the optimization procedure in response to additional information other than the samples of the echo signal.

19 . The method of claim 1 , further comprising downconverting the echo signal to baseband, and wherein the at least one analog-to-digital converter is configured to generate a set of in-phase samples and a set of quadrature samples for the sensor, and wherein the samples of the echo signal comprise the set of in-phase samples and the set of quadrature samples.

20 . The method of claim 1 , further comprising downconverting the echo signal to an intermediate frequency, and wherein sampling the echo signal is performed while the echo signal resides at the intermediate frequency.

Assignments (1)

Continuity (5)

References Cited (44)