Method and system for ladar pulse deconfliction to detect and track other ladar systems

Patent metadata

Field	Value
Publication number	US-10209349-B2
Application number	US-201815896254-A
Country	US
Kind code	B2
Filing date	Feb 14, 2018
Priority date	Feb 17, 2017
Publication date	Feb 19, 2019
Grant date	Feb 19, 2019

Abstract

Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.

First claim

What is claimed is:

1. A method comprising:
processing incoming light based on a delay code to classify portions of the incoming light as containing a reflection of an own ladar signal from an own ladar system or corresponding to interference, wherein the own ladar signal comprises a plurality of ladar pulses separated by a delay value corresponding the delay code, and wherein the interference comprises a plurality of interfering ladar signals corresponding to ladar pulses and reflections thereof from one or more other ladar systems that are separated by different delay values corresponding to different delay codes;
detecting the interfering ladar signals in response to the processing;
extracting the different delay codes from the detected interfering ladar signals;
storing the extracted different delay codes; and
tracking the one or more other ladar systems based on the extracted different delay codes.

2. The method of claim 1 wherein the extracting step further comprises applying the detected interfering ladar signals to a plurality of sparse delay sum circuits that use different delay values for detecting ladar pulses separated by the different delay values.

3. The method of claim 2 wherein the processing step further comprises processing the incoming light through a sparse delay sum circuit that uses the delay value corresponding to the delay code to detect the own ladar signal.

4. The method of claim 3 further comprising:
classifying interfering ladar signals sharing the same different delay code between direct interfering ladar signals and echo interfering ladar signals for the same different delay code based on comparative magnitudes of the interfering ladar signals sharing the same different delay code such that the larger magnitude is classified as the direct interfering ladar signal and the smaller magnitude is classified as the echo interfering ladar signal;
determining a time delay between the classified direct interfering ladar signal and the classified echo interfering ladar signal; and
tracking a location for the other ladar system that produced the classified direct interfering ladar signal and the classified echo interfering ladar signal based on the determined time delay.

5. The method of claim 4 further comprising repeating the method steps with respect to interfering ladar signals from a plurality of different other ladar systems; and
generating a multi-static point cloud based on the tracked locations for the other ladar systems.

6. A method comprising:
processing incoming light based on a delay code to classify portions of the incoming light as containing a reflection of an own ladar signal from an own ladar system or corresponding to interference, wherein the own ladar signal comprises a plurality of ladar pulses separated by a delay value corresponding the delay code, and wherein the interference comprises a plurality of interfering ladar signals corresponding to ladar pulses and reflections thereof from one or more other ladar systems that are separated by different delay values corresponding to different delay codes;
detecting the interfering ladar signals in response to the processing;
extracting the different delay codes from the detected interfering ladar signals;
storing the extracted different delay codes;
classifying interfering ladar signals sharing the same different delay code between direct interfering ladar signals and echo interfering ladar signals for the same different delay code based on comparative magnitudes of the interfering ladar signals sharing the same different delay code such that the larger magnitude is classified as the direct interfering ladar signal and the smaller magnitude is classified as the echo interfering ladar signal;
determining a time delay between the classified direct interfering ladar signal and the classified echo interfering ladar signal; and
tracking a location for the other ladar system that produced the classified direct interfering ladar signal and the classified echo interfering ladar signal based on the determined time delay;
wherein the extracting step comprises applying the detected interfering ladar signals to a plurality of sparse delay sum circuits that use different delay values for detecting ladar pulses separated by the different delay values, and
wherein the processing step comprises processing the incoming light through a sparse delay sum circuit that uses the delay value corresponding to the delay code to detect the own ladar signal.

7. The method of claim 6 further comprising repeating the method steps with respect to interfering ladar signals from a plurality of different other ladar systems; and
generating a multi-static point cloud based on the tracked locations for the other ladar systems.

8. A system comprising:
a pulse deconfliction circuit configured to process incoming light based on a delay code to classify portions of the incoming light as containing a reflection of an own ladar signal from an own ladar system or corresponding to interference, wherein the own ladar signal comprises a plurality of ladar pulses separated by a delay value corresponding the delay code, and wherein the interference comprises a plurality of interfering ladar signals corresponding to ladar pulses and reflections thereof from one or more other ladar systems that are separated by different delay values corresponding to different delay codes; and
a processor configured to (1) detect the interfering ladar signals based on classifications by the pulse deconfliction circuit, (2) extract the different delay codes from the detected interfering ladar signals, (3) store the extracted different delay codes in memory, and (4) track the one or more other ladar systems based on the extracted different delay codes.

9. The system of claim 8 wherein the processor further comprises a plurality of sparse delay circuits that use different delay values for detecting ladar pulses separated by the different delay values, and wherein the processor is further configured to apply the detected interfering ladar signals to the sparse delay sum circuits.

10. The system of claim 9 wherein the pulse deconfliction circuit further comprises another sparse delay sum circuit that uses the delay value corresponding to the delay code to detect the own ladar signal.

11. The system of claim 10 wherein the processor is further configured to:
classify interfering ladar signals sharing the same different delay code between direct interfering ladar signals and echo interfering ladar signals for the same different delay code based on comparative magnitudes of the interfering ladar signals sharing the same different delay code such that the larger magnitude is classified as the direct interfering ladar signal and the smaller magnitude is classified as the echo interfering ladar signal;
determine a time delay between the classified direct interfering ladar signal and the classified echo interfering ladar signal; and
track a location for the other ladar system that produced the classified direct interfering ladar signal and the classified echo interfering ladar signal based on the determined time delay.

12. The system of claim 11 wherein the pulse deconfliction circuit and the processor are further configured to repeat their operations with respect to interfering ladar signals from a plurality of different other ladar systems; and
wherein the processor is further configured to generate a multi-static point cloud based on the tracked locations for the other ladar systems.

13. A system comprising:
a pulse deconfliction circuit configured to process incoming light based on a delay code to classify por

Assignees

• Aeye Inc

Inventors

• Dussan Luis Carlos
• Steinhardt Allan

Classifications

• G01S2013/9316

  combined with communication equipment with other vehicles or with base stations · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S17/86 Primary

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S7/484

  Transmitters · CPC title

• G01S7/4816

  of receivers alone · CPC title