Poor BSE estimation accuracy resulting from conventional Extended Kalman Filtering (EKF) approaches using RF OI sensors mounted on the ground as a remote bullet tracking sensor motivated the design and development of the present disclosure. The observer based BSE removes EKF process noise (state noise) and measurement noise (OI sensor noise) covariance matrices selection and tuning which have been long recognized by the estimation community as a time consuming process during the design stage; requires no consideration of interactions when having the control input signal as part of the state propagation equation; and provides a significant improvement in velocity estimation accuracy, in some cases to less than 1 m/s errors in all axes, thereby meeting the miss distance requirement with amble margin.

A method of correcting a target angle error of a radar sensor, the method may include recognizing a first target angle of a target through the radar sensor; recognizing a second target angle of the target through V2X communication and then calculating a target angle error between the first target angle and the second target angle; comparing the target angle error with a predetermined critical error; and correcting a phase curve of the radar sensor by applying the target angle error to the phase curve in accordance with the comparison result, and then giving a target warning using the corrected phase curve.

A method in an illustrative embodiment includes determining that a first object authenticated by an electronic device is accessing the electronic device. The method further includes, in response to a second object being detected within a detection range using a radar of the electronic device, determining, based on a detected signal, that the second object is a person. The method further includes determining a distance and an angle between the second object and the electronic device based on an azimuth signal in the detected signal. The method further includes in response to determining that the distance is less than a distance threshold and the angle is less than an angle threshold, determining, based on the biological feature signal, whether the second object is trustworthy. The method further includes deauthenticating the first object in response to determining that the second object is untrustworthy.

A method in an illustrative embodiment includes determining that a first object authenticated by an electronic device is accessing the electronic device. The method further includes, in response to a second object being detected within a detection range using a radar of the electronic device, determining, based on a detected signal, that the second object is a person. The method further includes determining a distance and an angle between the second object and the electronic device based on an azimuth signal in the detected signal. The method further includes in response to determining that the distance is less than a distance threshold and the angle is less than an angle threshold, determining, based on the biological feature signal, whether the second object is trustworthy. The method further includes deauthenticating the first object in response to determining that the second object is untrustworthy.

Examples disclosed herein relate to a radar system and method of angular resolution refinement for use in autonomous vehicles. The method includes transmitting a radio frequency (RF) beam to a surrounding environment with a beamsteering radar system and receiving return RF beams from the surrounding environment. The method also includes generating radar data from the return RF beams and detecting objects from the radar data, and determining a direction of arrival of each of object and determining an angular distance between the objects. The method further includes initiating a guard channel detection based at least on the angular distance and determining gain amplitudes of the return RF beams, and determining a null between the objects from the gain amplitudes and resolving the objects as separate objects based at least on the determined null. The method also includes determining a refined direction of arrival of the objects based at least on the resolved objects.

A radar system is provided that includes transmission signal generation circuitry, a transmit channel coupled to the transmission generation circuitry to receive a continuous wave test signal, the transmit channel configurable to output a test signal based on the continuous wave signal in which a phase angle of the test signal is changed in discrete steps within a phase angle range, a receive channel coupled to the transmit channel via a feedback loop to receive the test signal, the receive channel including an in-phase (I) channel and a quadrature (Q) channel, a statistics collection module configured to collect energy measurements of the test signal output by the I channel and the test signal output by the Q channel at each phase angle, and a processor configured to estimate phase and gain imbalance of the I channel and the Q channel based on the collected energy measurements.

A method in an illustrative embodiment includes determining that a first object authenticated by an electronic device is accessing the electronic device. The method further includes, in response to a second object being detected within a detection range using a radar of the electronic device, determining, based on a detected signal, that the second object is a person. The method further includes determining a distance and an angle between the second object and the electronic device based on an azimuth signal in the detected signal. The method further includes in response to determining that the distance is less than a distance threshold and the angle is less than an angle threshold, determining, based on the biological feature signal, whether the second object is trustworthy. The method further includes deauthenticating the first object in response to determining that the second object is untrustworthy.

The radar device for a vehicle according to an exemplary embodiment of the present invention includes an antenna part including a plurality of transmitting antennas and a plurality of receiving antennas, the antenna part being formed of array antennas; a signal processor for detecting a target by processing a radar signal and a reflected signal transmitted and received through the antenna part; and a feeding part for correcting phases of the radar signal and the reflected signal through a feeding line connecting the antenna part and the signal processor, wherein the signal processor corrects a phase of a noise signal based on the phase information of a feeding line designed such that a false target corresponding to the noise signal incoming is detected at a specific angle.

A method is provided for estimating a velocity of an object located in the environment of a vehicle. Detections of a range, an azimuth angle and a range rate of the object are acquired for at least two different points in time via a sensor. A cost function is generated which depends on a first source and a second source. The first source is based on a range rate velocity profile which depends on the range rate and the azimuth angle, and the first source depends on an estimated accuracy for the first source. The second source is based on a position difference which depends on the range and the azimuth angle for the at least two different points in time, and the second source depends on an estimated accuracy for the second source. By minimizing the cost function, a velocity estimate is determined for the object.