# US 11,029,403 B2 · Millimeter-wave airborne radar for 3-Dimensional imaging of moving and stationary targets > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,403 B2 - Document ID: US11029403B2 - Status: Granted - Kind: B2 - Application number: 16/223,923 - Filed: 2018-12-18 - Published: 2019-06-20 - Granted: 2021-06-08 - Earliest claimed: 2017-12-18 - Assignees: The Government of the United States of America, as represented by the Secretary of the Navy - Applicants: The Government of the United States of America, as represented by the Secretary of the Navy - Inventors: Raghu G. Raj; Christopher T. Rodenbeck - Web page: https://patentgrep.com/patent/US11029403B2 ## CPC - G01S 13/904: {SAR modes} - G01S 7/04: Display arrangements - G01S 13/9023: {combined with interferometric techniques} - G01S 13/9029: {specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time} - G01S 13/9064: {Inverse SAR [ISAR]} - G01S 2013/0245: {Radar with phased array antenna} - H04N 13/254: in combination with electromagnetic radiation sources for illuminating objects - 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 - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Systems and method are provided for three-dimensional (3D) imaging by using Doppler and interferometric processing techniques for general planar phased arrays. Systems and methods according to embodiments of the present disclosure incorporate motion compensation techniques in a way that utilizes the full aperture of a phase array. Embodiments of the present disclosure can be applied to a variety of different radar imaging modalities, including X-band and millimeter wave (MMW) regimes. ## Claims ### Claim 1 A millimeter-wave (MMW) radar device, comprising: a MMW radar, comprising a plurality of sensors; and a controller, coupled to the MMW radar, wherein the controller is configured to: form a plurality of two-dimensional (2D) images of an object sensed by the plurality of sensors, select, based on the plurality of 2D images, a plurality of scatterers, estimate, based on the plurality of scatterers, respective scatterer heights for each selected scatterer in the plurality of scatterers, calculate multilook phase statistics for each selected scatterer in the plurality of scatterers, estimate respective angles for effective rotation vectors of the object for each selected scatterer in the plurality of scatterers based on the multilook phase statistics, and generate a three-dimensional (3D) image based on the estimated angles and the estimated scatterer heights. ### Claim 2 (depends on 1) The MMW radar device of claim 1, wherein the MMW radar device is an unmanned aerial vehicle (UAV). ### Claim 3 (depends on 1) The MMW radar device of claim 1, wherein the controller is configured to select the plurality of scatterers based on respective intensities of the plurality of scatterers in the 2D images. ### Claim 4 (depends on 1) The MMW radar device of claim 1, wherein the controller is further configured to estimate respective orientation angles and effective rotation vectors of an imaging plane comprising the plurality of scatterers. ### Claim 5 (depends on 1) The MMW radar device of claim 1, further comprising: an imaging device coupled to the plurality of sensors; a plurality of low noise (LN) amplifiers coupled to respective outputs of respective sensors in the plurality of sensors; a plurality of mixers coupled to respective outputs of respective LN amplifiers in the plurality of LN amplifiers; a plurality of intermediate frequency (IF) amplifiers coupled to respective outputs of respective mixers in the plurality of mixers; and a plurality of pulse compressors coupled to respective outputs of the respective IF amplifiers in the plurality of IF amplifiers and to the imaging device, wherein the imaging device is configured to receive a plurality of filtered signals from the plurality of pulse compressors. ### Claim 6 (depends on 1) The MMW radar device of claim 1, further comprising an imaging device coupled to the plurality of sensors, wherein the imaging device comprises a range-Doppler mapper configured to generate the plurality of 2D images, wherein a first axis of each 2D image in the plurality of 2D images is aligned with range, and wherein a second axis of each 2D image in the plurality of 2D images is aligned with Doppler. ### Claim 7 A millimeter-wave (MMW) radar device, comprising: a plurality of sensors; and a imaging device, coupled to the plurality of sensors, wherein the imaging device is configured to: form a plurality of two-dimensional (2D) images of an object sensed by the plurality of sensors, select, based on the plurality of 2D images, a plurality of scatterers, calculate multilook phase statistics for each selected scatterer in the plurality of scatterers, estimate, based on the multilook phase statistics, respective angles for effective rotation vectors of the object for each selected scatterer in the plurality of scatterers, estimate, based on the multilook phase statistics, respective scatterer heights for each selected scatterer in the plurality of scatterers, and generate a three-dimensional (3D) image based on the estimated angles and scatterer heights. ### Claim 8 (depends on 7) The MMW radar device of claim 7, further comprising: a plurality of low noise (LN) amplifiers coupled to respective outputs of respective sensors in the plurality of sensors; a plurality of mixers coupled to respective outputs of respective LN amplifiers in the plurality of LN amplifiers; a plurality of intermediate frequency (IF) amplifiers coupled to respective outputs of respective mixers in the plurality of mixers; and a plurality of pulse compressors coupled to respective outputs of the respective IF amplifiers in the plurality of IF amplifiers and to the imaging device, wherein the imaging device is configured to receive a plurality of filtered signals from the plurality of pulse compressors. ### Claim 9 (depends on 7) The MMW radar device of claim 7, wherein the imaging device further comprises a motion compensator, wherein the motion compensator is configured to compensate for translational motion in the 2D images. ### Claim 10 (depends on 7) The MMW radar device of claim 7, wherein the imaging device further comprises a phase compensator configured to remove phase drifts in the plurality of filtered signals and to render a plurality of linear phase functions in each range cell of a plurality of range cells. ### Claim 11 (depends on 7) The MMW radar device of claim 7, wherein the imaging device further comprises a range-Doppler mapper configured to generate the plurality of 2D images, wherein a first axis of each 2D image in the plurality of 2D images is aligned with range, and wherein a second axis of each 2D image in the plurality of 2D images is aligned with Doppler. ### Claim 12 (depends on 7) The MMW radar device of claim 7, wherein the imaging device further comprises a 3D imager configured to generate the 3D image. ### Claim 13 (depends on 7) The MMW radar device of claim 7, wherein the MMW radar device is an unmanned aerial vehicle (UAV). ### Claim 14 (depends on 7) The MMW radar device of claim 7, wherein the imaging device is configured to select the plurality of scatterers based on respective intensities of the plurality of scatterers in the 2D images. ### Claim 15 A method, comprising: forming, using a millimeter-wave (MMW) radar device, a plurality of two-dimensional (2D) images of an object sensed by a plurality of sensors of the MMW radar device; selecting, using the MMW radar device, a plurality of scatterers based on the plurality of 2D images; estimating, using the MMW radar device, respective scatterer heights for each selected scatterer in the plurality of scatterers; calculating multilook phase statistics for each selected scatterer in the plurality of scatterers; estimating respective angles for effective rotation vectors of the object for each selected scatterer in the plurality of scatterers based on the multilook phase statistics; and generating, using the MMW radar device, a three-dimensional (3D) image based on the estimated angles and the estimated scatterer heights. ### Claim 16 (depends on 15) The method of claim 15, wherein estimating the respective scatterer heights further comprises estimating the respective scatterer heights for each selected scatterer in the plurality of scatterers based on the multilook phase statistics. ### Claim 17 (depends on 15) The method of claim 15, further comprising selecting three sensors in the plurality of sensors as a triplet, wherein the three sensors in the triplet are each configured to sense a first scatter in the plurality of scatterers from three different respective locations. ### Claim 18 (depends on 17) The method of claim 17, further comprising: performing, using a first sensor in the triplet and a second sensor in the triplet, a first expectation operation on a vector formed by taking a first complex product of two spatial windows centered around the first scatterer; and performing, using the second sensor and a third sensor in the triplet, a second expectation operation on a vector formed by taking a second complex product of the two spatial windows. ### Claim 19 (depends on 18) The method of claim 18, further comprising selecting a plurality of groups of three sensors in the plurality of sensors as a plurality of triplets, wherein each respective group of three sensors in the plurality of groups of three sensors is configured to sense different respective scatters in the plurality of scatterers. ### Claim 20 (depends on 19) The method of claim 19, further comprising performing respective expectation operations on respective spatial windows for each of the triplets in the plurality of triplets.