Frequency and timing offset estimation in bistatic radar

A method of controlling a radar receiver comprising:

• storing, in a memory, a map data including a transmitter location;
• determining, by a location sensor, a receiver location and a receiver velocity;
• receiving, by an antenna, a first electromagnetic signal including a data indicative of the transmitter location;
• extracting, by a signal processor, an observed multipath component from the first electromagnetic signal, and detecting an observed frequency and an observed timing for the observed multipath component;
• determining, by a numerical processor, a plurality of reflective surface locations in response to the map data, the transmitter location and the receiver location;
• performing, by the numerical processor, a ray tracing algorithm in response to the plurality of reflective surface locations, the transmitter location and the receiver location to extract an expected multipath component having an expected frequency and an expected timing and for determining a frequency offset in response to a difference between the expected frequency and the observed frequency and a timing offset in response to a difference between the expected timing and the observed timing;
• determining, by the numerical processor, a location of a dynamic object and a velocity of the dynamic object in response to the transmitter location, the receiver location, the receiver velocity, the frequency offset, the timing offset and the map data;
• and
• generating, by a vehicle controller, a motion path in response to the location of the dynamic object and the velocity of the dynamic object and for controlling a vehicle along the motion path.

A vehicle comprising:

• a radar receiver configured to:
• storing, in a memory, a map data including a transmitter location;
• determine, by a location sensor, a receiver location and a receiver velocity;
• receive, by an antenna, a first electromagnetic signal including a data indicative of the transmitter location;
• extract, by a signal processor, an observed multipath component from the first electromagnetic signal and for generating an observed frequency and an observed timing for the observed multipath component;
• determine, by a numerical processor, a plurality of reflector locations in response to the map data, the transmitter location and the receiver location;
• perform, by the numerical processor, a ray tracing algorithm in response to the plurality of reflector locations, the transmitter location and the receiver location to extract an expected multipath component having an expected frequency and an expected timing and for determining a frequency offset in response to a difference between the expected frequency and the observed frequency and a timing offset in response to a difference between the expected timing and the observed timing;
• determine, by the numerical processor, a location of a dynamic object and a velocity of the dynamic object in response to the transmitter location, the receiver location, the receiver velocity, the frequency offset, the timing offset and the map data;
• and
• a vehicle controller configured to:
• generate a motion path in response to the location of the dynamic object and the velocity of the dynamic object;
• and
• controlling the vehicle along the motion path.