US 12,468,028 B2
System and method for radar-based localization and/or mapping
Lang Hong, Beavercreek, OH (US); and Steven Hong, Xenia, OH (US)
Assigned to Oculii Corp., Beavercreek, OH (US)
Filed by Oculii Corp., Beavercreek, OH (US)
Filed on Jul. 31, 2023, as Appl. No. 18/228,219.
Application 18/228,219 is a continuation of application No. 17/527,596, filed on Nov. 16, 2021, granted, now 11,841,420.
Claims priority of provisional application 63/114,414, filed on Nov. 16, 2020.
Prior Publication US 2024/0019568 A1, Jan. 18, 2024
Int. Cl. G01S 13/89 (2006.01); G01S 7/00 (2006.01); G01S 7/41 (2006.01); G01S 13/42 (2006.01); G01S 13/58 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/89 (2013.01) [G01S 7/003 (2013.01); G01S 7/412 (2013.01); G01S 13/42 (2013.01); G01S 13/584 (2013.01); G01S 13/86 (2013.01); G01S 13/865 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01)] 20 Claims
OG exemplary drawing
 
11. An apparatus comprising:
one or more first transmitter arrays configured to transmit a first probe signal;
one or more second transmitter arrays configured to transmit a second probe signal; and
a processor configured to (i) generate a first plurality of return data, (ii) generate a second plurality of return data, (iii) determine a first Doppler information set associated with a plurality of targets in response to said first plurality of return data, (iv) determine a second Doppler information set associated with said plurality of targets in response to said second plurality of return data, (v) determine an egospeed of said apparatus, and (vi) determine an egorotation component of said apparatus in response to (a) said first Doppler information set, (b) said second Doppler information set and (c) said egospeed, wherein
(i) each of said first plurality of return data is (a) generated in response to said first probe signal reflected by a respective one of said plurality of targets and (b) associated with a respective one of said plurality of targets,
(ii) each of said second plurality of return data is (a) generated in response to said second probe signal reflected by a respective one of said plurality of targets and (b) associated with a respective one of said plurality of targets, and
(iii) said egorotation component is about a reference axis of an egorotation of said apparatus.