Height-Estimation of Objects Using Radar

A radar system comprising:

• a processor coupled to a transceiver,
• the transceiver coupled to an array of receive antennas, the transceiver configured to receive reflection signals from the array of receive antennas representing versions of a radar signal that are reflected by one or more objects;
• the processor configured to:
• generate from multiple receive channels of the radar system corresponding to respective receive antennas of the array of receive antennas, raw data representing time-domain samples of the reflection signals;
• generate a range-elevation map based on the raw data, the range-elevation map comprising complex numbers for a set of range bins and a set of elevation bins;
• identify, within the range-elevation map, an elevation bin of the set of elevation bins and a range bin of the set of range bins that are associated with a selected object of the one or more objects;
• determine a measured height of the selected object based on the elevation bin and the range bin;
• and
• calculate a de-noised height of the selected object based on the measured height of the selected object and one or more previously measured heights of the selected object.

A non-transitory computer-readable storage media device comprising computer-executable instructions that, responsive to execution by at least one processor, implement:

• a height-estimation module configured to:
• receive, from multiple receive channels of a radar system, raw data representing time-domain samples of reflection signals representing versions of a radar signal that have been reflected by one or more objects;
• generate a range-elevation map comprising complex numbers for a set of range bins and a set of elevation bins based on the raw data;
• identify an elevation bin of the elevation bins and a range bin of the range bins that are associated with a selected object of the one or more objects;
• determine a measured height of the selected object based on the elevation bin and the range bin;
• and
• calculate a de-noised height of the selected object based on the measured height of the selected object and one or more previously measured heights of the selected object.