Radar calibration with known global positioning of static objects

Patent metadata

Field	Value
Publication number	US-10591584-B2
Application number	US-201615333572-A
Country	US
Kind code	B2
Filing date	Oct 25, 2016
Priority date	Oct 25, 2016
Publication date	Mar 17, 2020
Grant date	Mar 17, 2020

Abstract

A system and method perform calibration of a radar system on a mobile platform. A position of the platform is obtained along with a relative position of one or more stationary objects from the platform using the position of the platform and a mapping algorithm as ground truth and one or more radar parameters regarding the one or more stationary objects using the radar system, the one or more radar parameters including an angle estimate. The method includes determining a correction matrix based on the one or more parameters and the ground truth, and obtaining corrected received signals from subsequent received signals of the radar system based on the correction matrix.

First claim

What is claimed is:

1. A method of performing calibration of a radar system on a mobile platform, the method comprising:
obtaining a position of the platform;
obtaining a relative position of one or more stationary objects from the platform using the position of the platform and a mapping algorithm as ground truth;
obtaining one or more radar parameters regarding the one or more stationary objects using the radar system, the one or more radar parameters including an angle estimate;
determining a correction matrix B to match the one or more parameters and the ground truth;
receiving subsequent received signals of the radar system; and
correcting the subsequent received signals using the correction matrix B to obtain corrected received signals, wherein the determining the correction matrix B includes solving for the correction matrix B that minimizes the calibration matrix {circumflex over (B)}:
{circumflex over (B)}= arg min B ∥BY−Q∥ p , wherein

Y is an observation matrix of the angle estimates for each of the one or more stationary objects obtained using the radar system, and Q is a matrix of desired responses determined using the ground truth, and p is greater than 0.

2. The method according to claim 1 , wherein the obtaining the one or more radar parameters additionally includes obtaining range or Doppler.

3. The method according to claim 1 , further comprising generating the matrix of desired responses Q as a matrix of array responses, wherein a given array response q(θ m ) for a given angle estimate θ m is obtained from a corresponding observation array y m that is part of the observation matrix Y based on:
y m ≈Hq (θ m )+ n , wherein

H is a matrix of a mismatch between the ground truth and the given angle estimate θ m obtained using the radar system, and n is noise.

4. The method according to claim 1 , wherein the corrected received signals {tilde over (Y)} are given by:
{tilde over (Y)}=B·Y

5. A calibration system for a radar system on a mobile platform, the system comprising:
a satellite or cellular-based receiver configured to obtain a position of the platform;
a processor configured to execute a mapping algorithm to obtain a relative position of one or more stationary objects from the platform as ground truth based on the position of the platform;
the radar system configured to obtain one or more radar parameters regarding the one or more stationary objects, the one or more radar parameters including an angle estimate; and
a processor configured to determine a correction matrix to match the one or more parameters and the ground truth, to obtain subsequent received signals of the radar system, and to correct the subsequent received signals using the correction matrix B to obtain corrected received signals {tilde over (Y)}, wherein the processor determines the correction matrix B by solving for the correction matrix B that minimizes the correction matrix {circumflex over (B)}:
{circumflex over (B)}= arg min B ∥BY−Q∥ p , wherein

Y is an observation matrix of the angle estimates for each of the one or more stationary objects obtained using the radar system, and Q is a matrix of desired responses determined using the ground truth, and p is greater than 0.

6. The system according to claim 5 , wherein the one or more radar parameters additionally includes range or Doppler.

7. The system according to claim 5 , wherein the processor generates the matrix of desired responses Q as a matrix of array responses, wherein a given array response q(θ m ) for a given angle estimate θ m is obtained from a corresponding observation array y m that is part of the observation matrix Y based on:
y m ≈Hq (θ m )+ n , wherein

H is a matrix of a mismatch between the ground truth and the given angle estimate θ m obtained using the radar system, and n is noise.

8. The system according to claim 5 , wherein the processor obtains the corrected received signals {tilde over (Y)} based on:
{tilde over (Y)}=B·Y

Assignees

• Gm Global Tech Operations Llc

Inventors

• Bialer Oded
• Bilik Igal

Classifications

• G01S7/4026

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