US 12,386,067 B2
In-air sonar system and a method therefor
Robin Kerstens, Mortsel (BE); and Jan Steckel, Rupelmonde (BE)
Assigned to UNIVERSITEIT ANTWERPEN, Antwerp (BE)
Appl. No. 18/022,581
Filed by UNIVERSITEIT ANTWERPEN, Antwerp (BE)
PCT Filed Aug. 6, 2021, PCT No. PCT/EP2021/072013
§ 371(c)(1), (2) Date Feb. 22, 2023,
PCT Pub. No. WO2022/043027, PCT Pub. Date Mar. 3, 2022.
Claims priority of application No. 20193350 (EP), filed on Aug. 28, 2020.
Prior Publication US 2023/0314604 A1, Oct. 5, 2023
Int. Cl. G01S 15/58 (2006.01)
CPC G01S 15/582 (2013.01) [G01S 15/588 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An in-air sonar system for determining location and velocity information of objects in an environment, the in-air sonar system comprising at least two emitters configured to emit respective sound signals into the environment, the respective sound signals having a low cross-correlation among each other; at least two receivers configured to receive sound signals from the environment; and a processing unit configured to perform:
obtaining, from the at least two receivers, respective received sound signals comprising the respective emitted sound signals reflected from objects in the environment;
calculating, from the respective received sound signals, velocity-dependent range maps for the respective emitted sound signals; the velocity-dependent range maps comprising information about the range and velocity of the respective objects;
deriving, from the calculated velocity-dependent range maps and the spatial diversity of the at least two emitters and the at least two receivers, a velocity-dependent range-direction map comprising range information as a function of a received direction;
determining therefrom a location of the respective objects; and
extracting, from the velocity-dependent range maps and the spatial diversity of the at least two receivers, a velocity of the respective objects based on the determined location.