# US 2015/0177367 A1 · Single laser lidar system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2015/0177367 A1 - Document ID: US20150177367A1 - Status: Published application - Kind: A1 - Application number: 14/575,642 - Filed: 2014-12-18 - Published: 2015-06-25 - Earliest claimed: 2013-12-19 - Assignees: DSCG Solutions, Inc. - Applicants: DSCG Solutions, Inc. - Inventors: Richard SEBASTIAN; Kendall BELSLEY - Web page: https://patentgrep.com/patent/US20150177367A1 ## CPC - G01S 7/4814: {of transmitters alone} - G01S 7/493: Extracting wanted echo signals - G01S 17/06: Systems determining position data of a target - G01S 17/34: using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal - G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - 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 In one general aspect, a non-transitory computer-readable storage medium storing instructions that when executed cause one or more processors to perform a process. The process can include producing emitted electromagnetic radiation based on a frequency pattern and receiving reflected electromagnetic radiation reflected from an object. The process can include defining combined frequency data based on a frequency of the emitted electromagnetic radiation and a frequency of the reflected electromagnetic radiation. The process can also include defining a set of spectral bins, based on a Fourier transform, in a frequency domain based on the combined frequency data, and can include identifying a subset of the set of spectral bins. ## Claims ### Claim 1 A non-transitory computer-readable storage medium storing instructions that when executed cause one or more processors to perform a process, the process comprising: producing emitted electromagnetic radiation based on a frequency pattern; receiving reflected electromagnetic radiation reflected from an object; defining combined frequency data based on a frequency of the emitted electromagnetic radiation and a frequency of the reflected electromagnetic radiation; and defining a set of spectral bins, based on a Fourier transform, in a frequency domain based on the combined frequency data. ### Claim 2 (depends on 1) The non-transitory computer-readable storage medium of claim 1, further comprising: defining a frequency based on the set of spectral bins. ### Claim 3 (depends on 1) The non-transitory computer-readable storage medium of claim 1, further comprising: identifying a subset of the set of spectral bins. ### Claim 4 (depends on 3) The non-transitory computer-readable storage medium of claim 3, wherein the identifying the subset of the set of spectral bins is based on a criteria related to a number of spectral bins adjacent a maximum spectral bin. ### Claim 5 (depends on 3) The non-transitory computer-readable storage medium of claim 3, further comprising: producing time series data based on the subset of the set of spectral bins using an inverse Fourier transform. ### Claim 6 (depends on 5) The non-transitory computer-readable storage medium of claim 5, further comprising: defining phase angle data based on the time series data. ### Claim 7 (depends on 6) The non-transitory computer-readable storage medium of claim 6, further comprising: identifying a datapoint from the phase angle data as an outlier. ### Claim 8 (depends on 7) The non-transitory computer-readable storage medium of claim 7, further comprising: modifying the combined frequency data based on the datapoint. ### Claim 9 (depends on 1) The non-transitory computer-readable storage medium of claim 1, further comprising: dividing the combined frequency data into at least a first segment of combined frequency data and a second segment of combined frequency data, the defining of the set of spectral bins is based on the first segment of the combined frequency data. ### Claim 10 (depends on 9) The non-transitory computer-readable storage medium of claim 9, further comprising: identifying the first segment of the combined frequency data as an outlier segment of the combined frequency data. ### Claim 11 (depends on 1) The non-transitory computer-readable storage medium of claim 1, wherein the emitted electromagnetic radiation is amplified by an optical amplifier. ### Claim 12 An apparatus, comprising: a laser configured to produce emitted electromagnetic radiation based on a frequency pattern; a receiver configured to receive reflected electromagnetic radiation reflected from an object; an analyzer configured to define combined frequency data based on a frequency of the emitted electromagnetic radiation and a frequency of the reflected electromagnetic radiation, the analyzer configured to iteratively perform spectral analysis on the combined frequency data until a beat frequency is determined based on a threshold condition. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the spectral analysis includes: defining a set of spectral bins, based on a Fourier transform, in a frequency domain based on the combined frequency data; and identifying a subset of the set of spectral bins. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the identifying the subset of the set of spectral bins is based on a number of spectral bins adjacent a maximum spectral bin. ### Claim 15 (depends on 12) The apparatus of claim 12, wherein the spectral analysis includes producing time series data based on a set of spectral bins using an inverse Fourier transform. ### Claim 16 (depends on 12) The apparatus of claim 12, wherein the spectral analysis includes defining phase angle data based on time series data. ### Claim 17 (depends on 12) The apparatus of claim 12, wherein the spectral analysis includes identifying a datapoint from phase angle data as an outlier. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein the spectral analysis includes modifying the combined frequency data based on the datapoint. ### Claim 19 (depends on 12) The apparatus of claim 12, wherein the spectral analysis includes: dividing the combined frequency data into at least a first segment of combined frequency data and a second segment of combined frequency data. ### Claim 20 (depends on 12) The apparatus of claim 12, wherein the threshold condition includes performing a specified number of iterations. ### Claim 21 (depends on 12) The apparatus of claim 12, wherein the emitted electromagnetic radiation is amplified by an optical amplifier. ### Claim 22 A method, comprising: defining combined frequency data based on a frequency of electromagnetic radiation emitted toward an object from a laser and a frequency of electromagnetic radiation reflected from the object; defining a set of spectral bins based on the combined frequency data; identifying a subset of the set of spectral bins; producing time series data based on the subset of the set of spectral bins defining phase angle data based on the time series data; and modifying the combined frequency data based on the phase angle data. ### Claim 23 (depends on 22) The method of claim 22, wherein the identifying the subset of the set of spectral bins is based on a criteria related to a number of spectral bins adjacent a maximum spectral bin. ### Claim 24 (depends on 22) The method of claim 22, wherein the set of spectral bins is defined using a Fourier transform in a frequency domain, and the producing time series data is based on the subset of the set of spectral bins using an inverse Fourier transform. ### Claim 25 (depends on 22) The method of claim 22, further comprising: amplifying the electromagnetic radiation emitted toward the object from the laser.