# US 11,994,578 B2 · Systems and methods for virtual doppler and/or aperture enhancement > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,994,578 B2 - Document ID: US11994578B2 - Status: Granted - Kind: B2 - Application number: 17/328,693 - Filed: 2021-05-24 - Published: 2022-03-31 - Granted: 2024-05-28 - Earliest claimed: 2019-12-13 - Assignees: Oculli Corp. - Applicants: Oculii Corp. - Inventors: Lang Hong; Steven Hong - Web page: https://patentgrep.com/patent/US11994578B2 ## CPC - G01S 13/60: wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track (G01S13/64 takes precedence) - G01S 7/354: {Extracting wanted echo-signals (Doppler systems G01S13/50)} - G01S 13/343: {using sawtooth modulation} - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/931: of land vehicles - 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 ## Abstract A system for virtual Doppler and/or aperture enhancement, preferably including one or more transmitter arrays, receiver arrays, and/or signal processors, and optionally including one or more velocity sensing modules. A method for virtual Doppler and/or aperture enhancement, preferably including transmitting a set of probe signals, receiving a set of reflected probe signals, and/or analyzing the set of received probe signals. ## Claims ### Claim 1 A method for radar detection, comprising: at a radar transmitter comprising a plurality of spatially-separated transmit elements, transmitting a set of radar probe signals that define a Doppler aliasing velocity, wherein the set of radar probe signals are reflected by a target in an environment surrounding the radar transmitter; at a radar receiver comprising a plurality of spatially-separated receive elements, receiving a set of radar probe reflections, comprising, for each receive element of the plurality, generating a respective set of receiver signals at the receive element in response to reception of radar probe reflections of the set at the receive element; for each receive element of the plurality, based on the respective set of receiver signals, determining a respective radial velocity estimate associated with the target; based on the radial velocity estimates and the Doppler aliasing velocity, determining a set of candidate radial velocities; for each candidate radial velocity of the set, based on the set of radar probe reflections, determining a respective set of test looking angles, comprising, for each reflected signal of the set, determining an associated test looking angle; based on the test looking angles of the respective sets, selecting a candidate radial velocity of the set as the selected radial velocity; and based on the selected radial velocity, determining an egovelocity of at least one of the transmit elements or receive elements. ### Claim 2 (depends on 1) The method of claim 1, further comprising determining a primary radial velocity estimate based on the radial velocity estimates, wherein each candidate radial velocity of the set is substantially congruent to the primary radial velocity estimate modulo the Doppler aliasing velocity. ### Claim 3 (depends on 1) The method of claim 1, wherein the target is substantially stationary with respect to the environment. ### Claim 4 (depends on 3) The method of claim 3, wherein: the set of radar probe reflections are received in response to reflection of the radar probe signals by the target; the set of radar probe signals are also reflected by a second target in the environment; the method further comprises: at the radar receiver, receiving a second set of radar probe reflections in response to reflection of the radar probe signals by the second target; and based on the set of radar probe reflections and the second set of radar probe reflections, determining that the target is substantially stationary with respect to the environment; and selecting the selected radial velocity from the set of candidate radial velocities is performed based on determining that the target is substantially stationary with respect to the environment. ### Claim 5 (depends on 4) The method of claim 4, wherein determining that the target is substantially stationary with respect to the environment comprises: for each additional target of a plurality of additional targets in the environment, determining a respective presumptive radial velocity and a respective presumptive looking angle; based on the respective presumptive radial velocities and the respective presumptive looking angles, selecting, from the plurality of additional targets, a subset of additional targets for which the respective presumptive radial velocities are substantially mutually consistent; and determining that the selected radial velocity is substantially consistent with the respective presumptive radial velocities of the subset of additional targets. ### Claim 6 (depends on 1) The method of claim 1, wherein, for each radar probe signal of the set, transmitting the radar probe signal is performed cooperatively by the plurality of spatially-separated transmit elements. ### Claim 7 (depends on 6) The method of claim 6, wherein: the set of radar probe signals are associated with a set of phase encodings, wherein, for each radar probe signal of the set, transmitting the radar probe signal is performed based on a respective phase encoding of the set; determining the radial velocity estimates is performed based on the set of phase encodings; and determining the egovelocity is performed based on the set of phase encodings. ### Claim 8 (depends on 7) The method of claim 7, wherein determining the egovelocity comprises: based on the set of phase encodings and at least one set of receiver signals, determining a looking angle associated with the target; and based on the selected radial velocity and the looking angle, calculating the egovelocity. ### Claim 9 (depends on 7) The method of claim 7, wherein the set of radar probe signals comprises: a first radar probe signal transmitted based on a first phase encoding of the set; and a second radar probe signal transmitted based on a second phase encoding of the set, the second phase encoding substantially orthogonal to the first phase encoding. ### Claim 10 (depends on 1) The method of claim 1, further comprising, for each receive element of the plurality, based on the respective set of receiver signals, determining a respective range estimate associated with the target. ### Claim 11 (depends on 1) The method of claim 1, further comprising, after selecting the selected radial velocity, determining angular position information associated with the target. ### Claim 12 (depends on 11) The method of claim 11, wherein determining angular position information comprises determining at least one of an azimuthal angle or an elevation angle associated with the target. ### Claim 13 (depends on 12) The method of claim 12, wherein determining angular position information comprises determining the azimuthal angle and the elevation angle. ### Claim 14 (depends on 11) The method of claim 11, wherein at least one of the radar transmitter or the radar receiver substantially defines a multi-dimensional array. ### Claim 15 (depends on 14) The method of claim 14, wherein: the set of radar probe signals define a radar wavelength; the multi-dimensional array comprises a first radar element, a second radar element, and a third radar element; the first radar element and the second radar element are separated by a first distance, wherein the first distance is substantially equal to half the radar wavelength; and the third radar element is arranged substantially farther than the first distance from every other radar element of the plurality of spatially-separated receive elements. ### Claim 16 (depends on 11) The method of claim 11, wherein: the set of radar probe signals define a radar wavelength; the plurality of spatially-separated receive elements comprises a first receive element, a second receive element, and a third receive element; the first receive element and the second receive element are separated by a first distance, wherein the first distance is substantially equal to half the radar wavelength; and a third receive element of the plurality of spatially-separated receive elements is arranged substantially farther than the first distance from every other receive element of the plurality of spatially-separated receive elements. ### Claim 17 (depends on 1) The method of claim 1, wherein: the set of radar probe signals define a radar wavelength; the plurality of spatially-separated receive elements comprises a first receive element, a second receive element, and a third receive element; the first receive element and the second receive element are separated by a first distance, wherein the first distance is substantially equal to half the radar wavelength; and the third receive element is arranged substantially farther than the first distance from every other receive element of the plurality of spatially-separated receive elements. ### Claim 18 (depends on 17) The method of claim 17, wherein: the plurality of spatially-separated transmit elements comprises a first transmit element, a second transmit element, and a third transmit element; the first transmit element and the second transmit element are separated by a distance substantially equal to the first distance; and the third transmit element of the plurality of spatially-separated transmit elements is arranged substantially farther than the first distance from every other transmit element of the plurality of spatially-separated transmit elements. ### Claim 19 (depends on 1) The method of claim 1, further comprising, for each respective set of test looking angles, comparing the test looking angles of the respective set, wherein selecting the selected radial velocity is performed based on the comparisons of the test looking angles of the respective sets. ### Claim 20 (depends on 19) The method of claim 19, wherein, for each respective set of test looking angles, comparing the test looking angles of the respective set comprises determining whether the test looking angles differ by less than a threshold amount.