Resolving range rate ambiguity in sensor returns

A system comprising

• one or more computer processors;
• and
• one or more non-transitory storage media storing instructions which, when executed by the one or more computer processors, cause performance of steps that include:
• transmitting, using one or more transmitters, a first transmitted signal into an environment, the first transmitted signal corresponding to a first range rate window size;
• receiving, using one or more receivers, a first received signal including at least a portion of the first transmitted signal that has been reflected from an object in the environment;
• determining, using a processing circuit, a first detected range rate of the object based on the first received signal;
• after transmitting the first transmitted signal, transmitting, using the one or more transmitters, a second transmitted signal into the environment, the second transmitted signal corresponding to a second range rate window size;
• receiving, using the one or more receivers, a second received signal including at least a portion of the second transmitted signal that has been reflected from the object in the environment;
• determining, using the processing circuit, a second detected range rate of the object based on the second received signal;
• computing, using the processing circuit, a first range rate window index based on a first range rate window index difference, the first detected range rate, the second detected range rate, the first range rate window size, and the second range rate window size;
• in accordance with a determination that the first range rate window index meets predefined criteria, computing, using the processing circuit, an estimated range rate based on the first range rate window index difference;
• and
• in accordance with a determination that the first range rate window index does not meet the predefined criteria, foregoing computing an estimated range rate based on the first range rate window index difference.

One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause performance of steps that include:

• transmitting, using one or more transmitters, a first transmitted signal into an environment, the first transmitted signal corresponding to a first range rate window size;
• receiving, using one or more receivers, a first received signal including at least a portion of the first transmitted signal that has been reflected from an object in the environment;
• determining, using a processing circuit, a first detected range rate of the object based on the first received signal;
• after transmitting the first transmitted signal, transmitting, using the one or more transmitters, a second transmitted signal into the environment, the second transmitted signal corresponding to a second range rate window size;
• receiving, using the one or more receivers, a second received signal including at least a portion of the second transmitted signal that has been reflected from the object in the environment;
• determining, using the processing circuit, a second detected range rate of the object based on the second received signal;
• computing, using the processing circuit, a first range rate window index based on a first range rate window index difference, the first detected range rate, the second detected range rate, the first range rate window size, and the second range rate window size;
• in accordance with a determination that the first range rate window index meets predefined criteria, computing, using the processing circuit, an estimated range rate based on the first range rate window index difference;
• and
• in accordance with a determination that the first range rate window index does not meet the predefined criteria, foregoing computing an estimated range rate based on the first range rate window index difference.