Patent ID: 11921194
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 4:
5. The radar anti-spoofing system of claim 1, wherein weighting the importance sampling for each variable that is part of the state variable is done by determining:

wti=wt−1i*p(Zt|Xti,Zt−1), p
   ⁡
   (
   
    
     
      Z
      t
     
     |
     
      X
      t
      i
     
    
    ,
    
     Z
     
      t
      -
      1
     
    
   
   )
  
  ∝
  
   
    
     ∏
      
    
    
     j
     =
     1
    
    5
   
   ⁢
   
    (
    
     1
     +
     
      e
      
       -
       
        |
        
         
          
           X
           t
           i
          
          (
          j
          )
         
         -
         
          
           Z
           
            t
            -
            1
           
          
          (
          j
          )
         
        
        |
        
         
          /
          2
         
         ⁢
         
          σ
          j
         
        
       
      
     
    
    )
   
  
 

wherein wti represents weights of sampled points at time step t, p(Zt|Xti,Zt−1) is a posterior distribution, {Xti}i=1N is a set of sampled points, and σj represents a variance that depends upon a dynamic range of a corresponding component.