Polar Coordinate Tracking Filter for Millimeter Wave Radar
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Solution Overview
Problem
Conventional tracking filters, such as Kalman filters, introduce errors and require additional hardware/processing power when dealing with millimeter wave signal processing systems, particularly in applications where sensor inputs and system parameters are represented in different domains.
Innovation Solution
A millimeter wave signal processing system that employs a tracking filter configured to maintain linear relations between data represented in polar form and system models, allowing for accurate tracking of objects in motion without the need for domain conversion, thereby reducing errors and computational complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional tracking filters (Kalman filter) are used for millimeter wave signal processing, then tracking functionality is provided, but measurement precision deteriorates due to domain conversion errors and additional processing complexity
Solution Approach 1:
The patent changes the mathematical representation parameters from Cartesian coordinates to polar coordinates for the state variables. By representing the object state in terms of radial distance and angle rather than x and y positions, the system eliminates the need for domain conversion and linearization approximations, thereby improving measurement precision while reducing processing complexity
Solution Approach 2:
Instead of converting polar measurements to Cartesian state variables and back (the conventional approach), the patent inverts the approach by directly formulating the Kalman filter in polar coordinates. This inversion eliminates the intermediate conversion step and its associated errors, achieving more accurate tracking without additional processing complexity
2Adaptability or versatility
If domain conversion is performed to align sensor inputs with system parameters, then compatibility is improved, but measurement precision deteriorates due to approximation errors
Solution Approach 1:
The patent changes the parameter representation to use polar coordinates for both sensor inputs and system state variables. This parameter change allows direct compatibility between polar sensor measurements and the system model without requiring conversion to Cartesian coordinates, thereby maintaining domain compatibility while eliminating approximation errors
Solution Approach 2:
The patent uses polar coordinates as an intermediary representation that naturally bridges the sensor input domain and the system parameter domain. By formulating the state-space model in polar coordinates, the system creates a direct mathematical bridge between measurements and state variables, eliminating the need for error-prone domain conversion
3Adaptability or versatility
If Extended Kalman filter with linearization is used, then adaptability to different domains is improved, but device complexity increases due to additional hardware/processing power requirements
Solution Approach 1:
The patent changes the mathematical formulation to use polar coordinates for state variables, which eliminates the need for linearization approximations. This parameter change reduces the computational requirements significantly, as the system can use standard Kalman filter operations without the additional complexity of Jacobian calculations and iterative linearization required by Extended Kalman filters
Data Source
AI summary
According to an aspect, a millimeter wave signal processing system comprising, a millimeter wave signal carrying a set of data represented in a polar form, a tracking filter configured to provide a set of variables in the polar form that is determined from the set of data and a system model that maintain linear relation with the set of variable and the set of data. According to another aspect, the millimeter wave is a radar signal reflected from an object, the set of data is a measurement of an object in motion comprising a range, an angle, and a radial velocity, and the set of variables comprising a range, an angle, a radial velocity, and tangential velocity. Wherein the set of variables comprising a radial acceleration and a tangential acceleration.