| CPC G01S 13/4418 (2013.01) [G01S 13/003 (2013.01); G01S 13/4454 (2013.01); G01S 13/931 (2013.01)] | 20 Claims |
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1. A radar system comprising:
a transmitter array configured to transmit electromagnetic (EM) energy, the transmitter array having a first number of antenna elements;
a receiver array configured to receive EM energy reflected by one or more objects, the receiver array having a second number of antenna elements, the receiver array and the transmitter array being co-located; and
one or more processors configured to:
generate, using the EM energy received at the receiver array, a two-dimensional (2D) data matrix, the 2D data matrix having the first number of rows and the second number of columns, the first number of rows corresponding to the first number of antenna elements of the transmitter array, the second number of columns corresponding to the second number of antenna elements of the receiver array;
determine, using the 2D data matrix, direction-of-arrival (DoA) estimates and direction-of-departure (DoD) estimates for the one or more objects;
determine a quantity of the one or more objects that reflected the EM energy;
responsive to the quantity of the one or more objects being one or three, determine a monostatic detection condition exists and use, for each of the one or three objects, a direct-matching method to determine a respective angle associated with each of the one or three objects, the direct-matching method determining a matching angle among the DoA estimates that matches or approximately matches another angle among the DoD estimates, the monostatic detection condition corresponding to a DoA estimate being approximately equal to a DoD estimate; and
responsive to the quantity of the one or more objects being two:
determine a potential monostatic detection condition or a potential bistatic detection condition exists, the potential bistatic detection condition corresponding to a DoA estimate not being approximately equal to a DoD estimate;
for the potential monostatic detection condition, use, for each of the two objects, the direct-matching method to determine a respective potential angle associated with each of the two objects, the respective potential angle matching a first DoA estimate for a first object of the two objects to a first DoD estimate for the first object and a second DoA estimate for a second object of the two objects to a second DoD estimate of the second object, respectively;
for the potential bistatic detection condition, use, for each of the two objects, a cross-matching method to determine another respective potential angle associated with each of the two objects, the other respective potential angle of the cross-matching method matching the first DoA estimate for the first object to the second DoD estimate for the second object and the second DoA estimate for the first object to the first DoD estimate for the second object, respectively;
determine a matching error associated with potential angle pairs determined using the direct-matching method and another matching error associated with other potential angle pairs determined using the cross-matching method; and
responsive to the matching error associated with the direct-matching method being less than the other matching error associated with the cross-matching method, determine the monostatic detection condition exists and output each angle of the respective potential angle pairs as an angle associated with a respective object of the two objects; or
responsive to the matching error associated with the direct-responsive to the matching error associated with the direct-matching method not being less than the other matching error associated with the cross-matching method, determine a bistatic detection condition exists and output each angle of the other respective potential angle pairs as the angle associated with the respective object of the two objects.
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