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GB2612515A - Enhanced doppler radar systems and methods - Google Patents

Enhanced doppler radar systems and methods Download PDF

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Publication number
GB2612515A
GB2612515A GB2301811.2A GB202301811A GB2612515A GB 2612515 A GB2612515 A GB 2612515A GB 202301811 A GB202301811 A GB 202301811A GB 2612515 A GB2612515 A GB 2612515A
Authority
GB
United Kingdom
Prior art keywords
radar
assembly
orientation
radar assembly
antenna
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
GB2301811.2A
Other versions
GB202301811D0 (en
Inventor
James Jales Richard
Webb Philip
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Flir Belgium BVBA
Teledyne Flir LLC
Original Assignee
Flir Belgium BVBA
Teledyne Flir LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Flir Belgium BVBA, Teledyne Flir LLC filed Critical Flir Belgium BVBA
Priority claimed from PCT/US2021/048564 external-priority patent/WO2022047429A1/en
Publication of GB202301811D0 publication Critical patent/GB202301811D0/en
Publication of GB2612515A publication Critical patent/GB2612515A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
    • G01S13/904—SAR modes
    • G01S13/9064—Inverse SAR [ISAR]

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Techniques are disclosed for systems and methods to provide remote sensing imagery for mobile structures. A remote sensing imagery system includes a radar assembly mounted to a mobile structure and a coupled logic device. The radar assembly includes an orientation and position sensor (OPS) coupled to or within the radar assembly and configured to provide orientation and position data associated with the radar assembly. The logic device is configured to receive radar returns corresponding to a detected target from the radar assembly and orientation and/or position data corresponding to the radar returns from the OPS, determine a target radial speed corresponding to the detected target, and then generate remote sensor image data based on the remote sensor returns and the target radial speed. Subsequent user input and/or the sensor data may be used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

Claims (20)

1 . A system comprising: a radar assembly configured to be mounted to a mobile structure, wherein the radar assembly comprises an orientation and position sensor (OPS) coupled to or within the radar assembly and configured to provide orientation and position data associated with the radar assembly; and a logic device configured to communicate with the radar assembly, wherein the logic device is configured to: receive radar returns corresponding to a detected target from the radar assembly and orientation and/or position data corresponding to the radar returns from the OPS; determine a target radial speed corresponding to the detected target based, at least in part, on the radar returns and the orientation and/or position data corresponding to the radar assembly; and generate radar image data based, at least in part, on the radar returns and the target radial speed.
2 . The system of claim 1, wherein the determining the target radial speed comprises: determining a Doppler velocity of the target based, at least in part, on the radar returns; determining a radial velocity of the radar assembly, corresponding to the determined Doppler velocity of the target, based on the orientation and/or position data corresponding to the radar assembly; and determining a difference between the Doppler velocity of the target and the radial velocity of the radar assembly.
3 . The system of claim 2, wherein the determining the radial velocity of the radar assembly comprises: determining an absolute velocity of the radar assembly based, at least in part, on the orientation and/or position data corresponding to the radar assembly; determining an absolute orientation of an antenna of the radar assembly based, at least in part, on the orientation and/or position data corresponding to the radar assembly; and determining a component of the absolute velocity of the radar assembly in the direction of the absolute orientation of the antenna of the radar assembly based, at least in part, on the absolute velocity of the radar assembly and the absolute orientation of an antenna of the radar assembly.
4 . The system of claim 1, wherein the generating the radar image data comprises selectively applying: a first graphics characteristic to the radar image data corresponding to the detected target when the target radial speed corresponding to the detected target is positive and greater than or equal to the target speed threshold; and/or a second graphics characteristic to the radar image data corresponding to the detected target when the target radial speed corresponding to the detected target is negative and its magnitude is greater than or equal to the target speed threshold.
5 . The system of claim 1, wherein the OPS comprises: a gyroscope and/or accelerometer coupled to an antenna platform of the radar assembly and disposed at or adjacent to a rotational axis of the radar assembly; and a global navigation satellite system receiver coupled to the antenna platform of the radar assembly and disposed at least a partial baseline length from the rotational axis of the radar assembly.
6 . The system of claim 1, wherein the OPS comprises: a first global navigation satellite system receiver coupled to an antenna platform of the radar assembly and disposed at or adjacent to a rotational axis of the radar assembly; and a second global navigation satellite system receiver coupled to the antenna platform of the radar assembly and disposed a baseline length from the first global navigation satellite system receiver.
7 . The system of claim 1, wherein the OPS comprises one or more of an accelerometer, a gyroscope, a magnetometer, a float level, and/or a compass adapted to measure the orientation and/or position of the radar assembly and/or a radar antenna of the radar assembly during motion of the radar assembly, the radar antenna, and/or the mobile structure, the system further comprising: an actuator configured to communicate with the logic device and configured to adjust an orientation and/or position of a radar antenna of the radar assembly, wherein: the mobile structure comprises a watercraft; and the logic device is configured to control the actuator to rotate the radar antenna about an axis of the radar assembly while the radar returns are received by the logic device and according to a desired angular frequency and/or absolute orientation for the radar antenna and/or the radar assembly.
8 . The system of claim 1, further comprising a display configured to communicate with the logic device, wherein the logic device is configured to: render the radar image data using the display, wherein the rendered radar image data is referenced to an absolute coordinate frame and/or a coordinate frame of the mobile structure.
9 . The system of claim 8, further comprising a radar antenna angle sensor physically coupled to the radar assembly and configured to measure an angle between an orientation of the radar antenna and a longitudinal axis of the housing and/or the mobile structure, wherein the logic device is configured to: receive radar antenna angle measurements from the radar antenna angle sensor; and determine the absolute coordinate frame display reference and/or the coordinate frame of the mobile structure display reference based, at least in part, on the radar antenna angle measurements and/or GNSS data provided by the OPS.
10 . The system of claim 1, wherein the logic device is configured to: receive the radar returns and the corresponding orientation and/or position data from the OPS during motion of the radar assembly, a radar antenna of the radar assembly, and/or the mobile structure; and calibrate one or more coordinate frames of the OPS with respect to each other, with respect to an absolute coordinate frame, and/or with respect to a coordinate frame of the mobile structure, using the radar image data, the radar returns, and/or the orientation and/or position data.
11 . A method comprising: receiving radar returns corresponding to a detected target from a radar assembly configured to be mounted to a mobile structure; receiving orientation and/or position data corresponding to the radar returns from an orientation and position sensor (OPS) coupled to or within the radar assembly; determining a target radial speed corresponding to the detected target based, at least in part, on the radar returns and the orientation and/or position data corresponding to the radar assembly; and generating radar image data based, at least in part, on the radar returns and the target radial speed.
12 . The method of claim 11 , wherein the determining the target radial speed comprises: determining a Doppler velocity of the target based, at least in part, on the radar returns; determining a radial velocity of the radar assembly, corresponding to the determined Doppler velocity of the target, based on the orientation and/or position data corresponding to the radar assembly; and determining a difference between the Doppler velocity of the target and the radial velocity of the radar assembly.
13 . The method of claim 12, wherein the determining the radial velocity of the radar assembly comprises: determining an absolute velocity of the radar assembly based, at least in part, on the orientation and/or position data corresponding to the radar assembly; determining an absolute orientation of an antenna of the radar assembly based, at least in part, on the orientation and/or position data corresponding to the radar assembly; and determining a component of the absolute velocity of the radar assembly in the direction of the absolute orientation of the antenna of the radar assembly based, at least in part, on the absolute velocity of the radar assembly and the absolute orientation of an antenna of the radar assembly.
14 . The method of claim 11 , wherein the generating the radar image data comprises selectively applying: a first graphics characteristic to the radar image data corresponding to the detected target when the target radial speed corresponding to the detected target is positive and greater than or equal to the target speed threshold; and/or a second graphics characteristic to the radar image data corresponding to the detected target when the target radial speed corresponding to the detected target is negative and its magnitude is greater than or equal to the target speed threshold.
15 . The method of claim 11 , wherein the OPS comprises: a gyroscope and/or accelerometer coupled to an antenna platform of the radar assembly and disposed at or adjacent to a rotational axis of the radar assembly; and a global navigation satellite system receiver coupled to the antenna platform of the radar assembly and disposed at least a partial baseline length from the rotational axis of the radar assembly.
16 . The method of claim 11 , wherein the OPS comprises: a first global navigation satellite system receiver coupled to an antenna platform of the radar assembly and disposed at or adjacent to a rotational axis of the radar assembly; and a second global navigation satellite system receiver coupled to the antenna platform of the radar assembly and disposed a baseline length from the first global navigation satellite system receiver.
17 . The method of claim 11 , further comprising: controlling an actuator configured to adjust an orientation and/or position of a radar antenna of the radar assembly to rotate the radar antenna about an axis of the radar assembly while the radar returns are received and according to a desired angular frequency and/or absolute orientation for the radar antenna and/or the radar assembly.
18 . The method of claim 11 , further comprising: rendering the radar image data via a display, wherein the rendered radar image data is referenced to an absolute coordinate frame and/or a coordinate frame of the mobile structure.
19 . The method of claim 18, further comprising: receiving radar antenna angle measurements from a radar antenna angle sensor physically coupled to the radar assembly and configured to measure an angle between an orientation of the radar antenna and a longitudinal axis of the housing and/or the mobile structure; and determining the absolute coordinate frame display reference and/or the coordinate frame of the mobile structure display reference based, at least in part, on the radar antenna angle measurements and/or GNSS data provided by the OPS.
20 . The method of claim 11 , further comprising: receiving the radar returns and the corresponding orientation and/or position data from the OPS during motion of the radar assembly, a radar antenna of the radar assembly, and/or the mobile structure; and calibrating one or more coordinate frames of the OPS with respect to each other, with respect to an absolute coordinate frame, and/or with respect to a coordinate frame of the mobile structure, using the radar image data, the radar returns, and/or the orientation and/or position data.
GB2301811.2A 2020-08-31 2021-08-31 Enhanced doppler radar systems and methods Pending GB2612515A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202063072915P 2020-08-31 2020-08-31
PCT/US2021/048564 WO2022047429A1 (en) 2020-08-31 2021-08-31 Enhanced doppler radar systems and methods

Publications (2)

Publication Number Publication Date
GB202301811D0 GB202301811D0 (en) 2023-03-29
GB2612515A true GB2612515A (en) 2023-05-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
GB2301811.2A Pending GB2612515A (en) 2020-08-31 2021-08-31 Enhanced doppler radar systems and methods

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019200178A1 (en) * 2018-04-12 2019-10-17 FLIR Belgium BVBA Adaptive doppler radar systems and methods

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019200178A1 (en) * 2018-04-12 2019-10-17 FLIR Belgium BVBA Adaptive doppler radar systems and methods
US20210003693A1 (en) * 2018-04-12 2021-01-07 FLIR Belgium BVBA Adaptive doppler radar systems and methods

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