公开(公告)号：US20170090016A1

公开(公告)日：2017-03-30

申请号：US15145091

申请日：2016-05-03

Applicant: Texas Instruments Incorporated

Inventor： Muhammad Zubair Ikram ,  Murtaza Ali

IPC: G01S7/40

CPC classification number: G01S7/4004 ,  G01S3/023 ,  G01S7/4026 ,  G01S13/931 ,  G01S19/235 ,  G01S2013/0245

Abstract: This invention is present an iterative method for joint antenna array calibration and direction of arrival estimation using millimeter-wave (mm-Wave) radar. The calibration compensates for array coupling, phase, and gain errors and does not require any training data. This method is well suited for applications where multiple antenna elements are packaged in a chip and where offline calibration is either expensive or is not possible. This invention is also effective when the array coupling is a function of direction of arriving waves from the object. It is also applicable to any two-dimensional array shape. Real experiment results demonstrate the viability of the algorithm using real data collected from a four-element array.

公开(公告)号：US20160109566A1

公开(公告)日：2016-04-21

申请号：US14919587

申请日：2015-10-21

Applicant: Texas Instruments Incorporated

Inventor： Yucheng Liu ,  Vikram VijayanBabu Appia ,  Muhammad Zubair Ikram

IPC: G01S13/66 ,  G01S13/86

CPC classification number: G01S13/66 ,  G01S13/867

Abstract: Camera-assisted tracking of point objects in a radar system is provided. An extended Kalman filter framework based on both radar and camera observations is used to track point objects detected in frames of radar signal data. This framework provides a minimum mean square estimation of the current state of a point object based on previous and current observations from both frames of radar signals and corresponding camera images.

Abstract translation: 提供了雷达系统中点对象的相机辅助跟踪。 基于雷达和摄像机观测的扩展卡尔曼滤波器框架用于跟踪在雷达信号数据帧中检测的点对象。 该框架基于来自雷达信号和相应的相机图像的两个帧的先前和当前观测值提供点对象的当前状态的最小均方估计。

公开(公告)号：US20160103213A1

公开(公告)日：2016-04-14

申请号：US14877888

申请日：2015-10-07

Applicant: Texas Instruments Incorporated

Inventor： Muhammad Zubair Ikram ,  Murtaza Ali

IPC: G01S13/66 ,  G01S13/64 ,  G01S13/42

CPC classification number: G01S13/42 ,  G01S13/584 ,  G01S13/723 ,  G01S13/931

Abstract: A method for tracking objects in three dimensions in a radar system is provided that includes receiving spherical coordinates of an estimated location of each object of a plurality of detected objects, a range rate of each object, and variances for the spherical coordinates and the range rate of each object, determining whether or not each object is currently being tracked, updating a tracking vector for an object based on the object spherical coordinates, range rate, and variances when the object is currently being tracked, and initializing a tracking vector for an object when the object is not currently being tracked, wherein a tracking vector for an object is a process state vector for an extended Kalman filter designed to track an object, elements of the tracking vector including Cartesian coordinates of the object location, the object velocity in three directions, and the object acceleration in three directions.

Abstract translation: 提供了一种用于在雷达系统中跟踪三维物体的方法，其包括接收多个检测对象的每个对象的估计位置的球面坐标，每个对象的范围速率，以及球面坐标和范围速率的方差 确定每个对象当前是否正在被跟踪，当对象当前被跟踪时，基于对象球坐标，范围速率和方差来更新对象的跟踪向量，以及初始化对象的跟踪向量 当对象当前未被跟踪时，其中对象的跟踪向量是被设计为跟踪对象的扩展卡尔曼滤波器的处理状态向量，包括对象位置的笛卡尔坐标的跟踪矢量的元素，三个对象速度 方向，物体加速三个方向。

公开(公告)号：US20150256929A1

公开(公告)日：2015-09-10

申请号：US14638974

申请日：2015-03-04

Applicant: Texas Instruments Incorporated

Inventor： Muhammad Zubair Ikram

IPC: H04R3/00

CPC classification number: H04R3/02 ,  H04M3/00 ,  H04M3/002 ,  H04M9/082 ,  H04R2499/11

Abstract: A method and a system for echo cancellation. The method includes receiving incoming downlink signal sample, performing Kalman filter time update of linear filter, constructing data matrix for linear filter adaptation, performing Kalman filter measurements update on linear filter, performing Kalman filter time update on non-linear filter, constructing data matrix for non-linear filter adaptation, performing Kalman filter measurements update on non-linear filter, generating echo using adapted linear and non-linear filters, subtracting the echo from microphone signal to generate echo free uplink signal, and uplinking the echo free signal to the far-end.

Abstract translation: 一种用于回波消除的方法和系统。 该方法包括接收进入的下行链路信号采样，执行线性滤波器的卡尔曼滤波时间更新，构建用于线性滤波器适配的数据矩阵，对线性滤波器执行卡尔曼滤波测量更新，对非线性滤波器执行卡尔曼滤波时间更新，构建数据矩阵 非线性滤波器适应，在非线性滤波器上执行卡尔曼滤波器测量更新，使用适应的线性和非线性滤波器生成回波，从麦克风信号中减去回波以产生无回声上行链路信号，以及将无回波信号上行到远端 -结束。

公开(公告)号：US11762071B2

公开(公告)日：2023-09-19

申请号：US16689647

申请日：2019-11-20

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Muhammad Zubair Ikram ,  Do-Kyoung Kwon

IPC: G01S7/497 ,  G01S7/40 ,  G01S13/931 ,  G06T7/90 ,  G06T7/70 ,  G06T7/80 ,  G01S17/931

CPC classification number: G01S7/497 ,  G01S7/40 ,  G01S13/931 ,  G01S17/931 ,  G06T7/70 ,  G06T7/80 ,  G06T7/90

Abstract: A method for multi-sensor calibration includes imaging a calibration target with a first sensor using a first modality to obtain a first set of data and a second sensor using a second modality that is different from the first modality to obtain a second set of data. A border of the calibration target is identified based on the first set of data. A first centroid location of the calibration target is identified based on the border of the calibration target. A border of a pattern disposed on the calibration target is identified based on the second set of data. A second centroid location of the calibration target is identified based on the border of the pattern. Calibration data for the first sensor and the second sensor is generated based on the first centroid location and the second centroid location.

公开(公告)号：US11454698B2

公开(公告)日：2022-09-27

申请号：US16679404

申请日：2019-11-11

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Muhammad Zubair Ikram ,  Adeel Ahmad

IPC: G01S7/40 ,  G01S7/41 ,  G01S13/93 ,  G01S13/931 ,  G01S13/06

Abstract: A device includes one or more processors configured to receive radar data, and generate a plurality of occupancy grid maps based on the radar data. Each of the occupancy grid maps corresponds to a respective one of a plurality of candidate angles. The one or more processors is also configured to select one of the candidate angles as a sensor mount angle based on the occupancy grid maps, and trigger an action based on the sensor mount angle and the radar data.

公开(公告)号：US20220206109A1

公开(公告)日：2022-06-30

申请号：US17479002

申请日：2021-09-20

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Muhammad Zubair Ikram ,  Adeel AHMAD ,  Dan WANG ,  Murtaza ALI

IPC: G01S7/35 ,  G01S13/34 ,  G01S13/931

Abstract: An apparatus, including processing unit (PU) cores and computer readable storage devices storing machine instructions for determining a distance between a target object and a radar sensor circuit. The PU cores receive a beat signal generated by the radar sensor circuit and compensate for a phase difference between the received beat signal and a reconstruction of the received beat signal to obtain a phase compensated beat signal. The phase compensated beat signal is then filtered to remove spurious reflections by demodulating the phase compensated beat signal using an estimated frequency of the phase compensated beat signal. The PU cores then apply a low pass filter to the demodulated phase compensated beat signal, resulting in a modified beat signal. The PU cores then determine the distance between the target object and the radar sensor circuit using the modified beat signal.

公开(公告)号：US11125856B2

公开(公告)日：2021-09-21

申请号：US16201726

申请日：2018-11-27

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Muhammad Zubair Ikram ,  Adeel Ahmad ,  Dan Wang ,  Murtaza Ali

IPC: G01S13/34 ,  G01S7/35 ,  G01S13/931

Abstract: An apparatus, including processing unit (PU) cores and computer readable storage devices storing machine instructions for determining a distance between a target object and a radar sensor circuit. The PU cores receive a beat signal generated by the radar sensor circuit and compensate for a phase difference between the received beat signal and a reconstruction of the received beat signal to obtain a phase compensated beat signal. The phase compensated beat signal is then filtered to remove spurious reflections by demodulating the phase compensated beat signal using an estimated frequency of the phase compensated beat signal. The PU cores then apply a low pass filter to the demodulated phase compensated beat signal, resulting in a modified beat signal. The PU cores then determine the distance between the target object and the radar sensor circuit using the modified beat signal.

公开(公告)号：US10539669B2

公开(公告)日：2020-01-21

申请号：US14877888

申请日：2015-10-07

Applicant: Texas Instruments Incorporated

Inventor： Muhammad Zubair Ikram ,  Murtaza Ali

IPC: G01S13/42

Abstract: A method for tracking objects in three dimensions in a radar system is provided that includes receiving spherical coordinates of an estimated location of each object of a plurality of detected objects, a range rate of each object, and variances for the spherical coordinates and the range rate of each object, determining whether or not each object is currently being tracked, updating a tracking vector for an object based on the object spherical coordinates, range rate, and variances when the object is currently being tracked, and initializing a tracking vector for an object when the object is not currently being tracked, wherein a tracking vector for an object is a process state vector for an extended Kalman filter designed to track an object, elements of the tracking vector including Cartesian coordinates of the object location, the object velocity in three directions, and the object acceleration in three directions.

公开(公告)号：US09741358B2

公开(公告)日：2017-08-22

申请号：US14300690

申请日：2014-06-10

Applicant: Texas Instruments Incorporated

Inventor： Devangi N Parikh ,  Muhammad Zubair Ikram

IPC: H04B15/00 ,  G10L21/0208 ,  G10L21/0272 ,  H04M1/60 ,  H04R3/00

CPC classification number: G10L21/0208 ,  G10L21/0272 ,  H04M1/60

Abstract: A method of interference suppression is provided that includes receiving a first audio signal from a first audio capture device and a second audio signal from a second audio capture device wherein the first audio signal includes a first combination of desired audio content and interference and the second audio signal includes a second combination of the desired audio content and the interference, performing blind source separation using the first audio signal and the second audio signal to generate an output interference signal and an output audio signal including the desired audio content with the interference suppressed, estimating interference remaining in the output audio signal using the output interference signal, and subtracting the estimated interference from the output audio signal to generate a final output audio signal with the interference further suppressed.