Patent Description:
A linearly swept-source in sonic, radio, and optical frequency ranges have been used to estimate a range (e.g., distance) of reflectors with high resolution, low hardware cost, and lightweight signal processing. Frequency modulation continuous wave (FMCW) radar, optical frequency-domain reflectometry (OFDR), and swept-source optical coherence tomography (SS-OCT) are typical applications of linear swept sources. Combined with multiple sweeps, FMCW-based sensing systems can simultaneously estimate the range and (radial) velocity of reflectors. Besides the range and velocity estimates, azimuthal angular directions of reflectors can be estimated if an array of FMCW-based sensors is used.

For example, an FMCW radar transmits linearly frequency-modulated continuous waves, whose frequency pattern follows a saw tooth or triangular pattern with respect to time. Reflected signals from various objects of interest are mixed with the local oscillator signal, which is used to generate the transmitted signal, produce analog beat signals, and output digital beat signals via analog-to-digital converters (ADCs). Since the frequency of the beat signal is proportional to the distance of an object, a standard fast Fourier transform (FFT) of the beat signal can be used to identify peaks and estimate the distance. In the case of moving object(s), the frequency of the beat signal also depends on a radial velocity between the FMCW radar and the object. This velocity can be estimated by a second FFT across multiple linear FM scans.

An OFDR interferometer, similarly, provides beat signals that are produced by the optical interference between two light signals: one reference signal originates from a linearly chirped highly coherent light source and the other is from reflection or backscattering light from an optical path of a fiber under test. The resulting interference signal is collected as a function of the optical frequency of a tunable laser source (TLS). An FFT is then used to convert this frequency domain information to spatial information.

Similarly, SS-OCT employs linearly frequency-swept laser to provide high accuracy range solution measurements for imaging applications. With a tunable laser source that scans through a wide range of frequencies with fast sweeping speed and narrow instantaneous linewidth, SS-OCT acquires all range information in a single axial scan from the frequency spectrum of the interference signal between reflected light signal and a stationary reference signal.

One common issue related to all three applications is that the range resolution degrades when the swept source is not completely linearly modulated. The source nonlinearity can be due to nonlinear tuning and phase noise of the laser source, impairments of a low-cost voltage-controlled oscillator (VCO), and temperature sensitivity of the laser source. The non-linearity results in spectrum spreading of beat signals and, hence, deteriorates the spatial resolution and sensitivity. The nonlinearity effect is also range-dependent: smaller at short measurement distances and greater at long measurement distances.

State-of-art computational methods use a known reference branch to achieve nonlinearity correction. Specifically, the unknown non-linearity of the modulated source causes the unknown shift in the range estimation, making the entire estimation system underdetermined. To that end, some systems use a dedicated path of a known distance to eliminate at least one unknown from the range estimation and to estimate the nonlinearity of the modulation. However, using the dedicated path requires additional hardware resources, which is undesirable for some applications and increases the overall cost of a system.

<CIT> discloses that a frequency modulated continuous wave (FMCW) radar comprises a frequency sweep generator for producing a swept frequency signal. A discriminator receives a portion of the swept frequency signal and produces a reference difference-frequency signal.

<CIT> discloses that a frequency modulation continuous wave (FMCW)-based system includes an emitter to transmit at least one linearly modulated wave of radiation to a scene and a receiver to receive a reflection of the transmitted wave from one or multiple objects located at different locations in the scene.

Accordingly, it is an objective of the present disclosure to implement a cos-effective FMCW-based system configured to estimate and overcome non-linearity in linearly swept sources.

Some embodiments are based on a recognition that one of the reasons for the need for a reference arm is due to the sampling of high-frequency signals. The FMCW-based systems explore frequency modulations and spectrum measurements at high frequencies. However, sampling a signal at such high frequencies is very expensive.

To that end, various FMCW-based systems use beat signals with lower frequencies for the measurements. For example, a measurement arm of the FMCW-based systems mixes the transmitted signal with the reflection to generate the beat signal. Similarly, the reference arms mixes its delayed copy with a known delay to produce another beat signal for nonlinearity compensation. The hardware components for generating the beat signal need precise manufacturing and assembling, and, hence, are relatively expensive.

Some embodiments are based on the realization that for compensation of the non-linearity of source modulated signals, it is desired to measure the modulated signal itself, and not the beat signal after mixing the modulated signal and a known delay copy. Such measurement would avoid building a dedicated reference arm and would require just an arrangement of the sensor on the path of the modulated signal. However, the cost of building a dedicated path with a known delay, the mixer, and sampling the high frequency modulated signal makes this approach impractical.

Some embodiments are based on the realization that due to the modulation of the transmitted signal in the FMCW-based systems, at different instances of time the modulated signal has different frequencies. Hence, if a frequency filter that passes only specific frequencies is placed on a path of the modulated signal the outputs of the frequency filter can be seen as analogous to sampling. These outputs, however, would be very sparse and typically not suitable for non-linearity compensation.

For example, an etalon is a device having two reflecting glass plates, usually employed for measuring small differences in the wavelength of light using the interference it produces. However, the etalon can act as a frequency filter, in which the refractive index of the etalon and the distance between the plates governs the passing wavelengths. Advantageously, the etalon is inexpensive, i.e., cheaper to manufacture than the reference arm. However, the sampling property of the frequency filter such as etalon is sparse. As used herein, sparse sampling is sampling with a sampling frequency at least <NUM> times less than the modulated frequency of the transmitted wave in the frequency domain. For example, if the sampling frequency for the reference arm is <NUM>, while the etalon peaks of passing wavelength are reported every <NUM> which corresponds to a sampling frequency of only <NUM>.

To that end, there is a need for a system and method to use sparse sampled linearly modulated signal for non-linearity compensation. Some embodiments are based on the realization that if the signal sparsely sampled in the time domain is transformed into the frequency domain, that transformed non-linear frequency signal would have a known linear component representing the desired linear modulation and the unknown non-linear component representing the undesired non-linearity of the modulation. Hence, the undesired non-linearity of modulation can be recovered based on a difference between the non-linear frequency signal and a linear frequency signal corresponding to the linear modulation in the frequency domain.

Such a recovery is a computationally expensive ill-posed problem. However, some embodiments are based on the realization that the recovery can be simplified when the unknown non-linear frequency signal is approximated with unknown coefficients of a known basis function. In such a formulation, the non-linearity of modulation is defined by the coefficients of a basis function approximating a difference between the non-linear frequency signal and a linear frequency signal corresponding to the linear modulation in the frequency domain. For example, the coefficients of the basis function can be determined by solving a least square problem to minimize the difference.

Moreover, some embodiments are based on realization proved by the experiments, that when the estimation of non-linearity in the frequency domain is formulated as a computational estimation of a frequency signal transformed from the samples in the time domain, the reduction of the rate of the sampling in the time domain has little effect on the accuracy of estimation of the of non-linearity. Such an understanding allows some embodiments to further simplify the hardware requirements for the FMCW-based system. For example, in some embodiments, the sampling in the time domain is sparse, e.g., <NUM> times less than the modulated frequency of the transmitted wave in the frequency domain, thereby reducing the cost of the time-domain sensor.

Some embodiments use optical filters that can be placed directly on the path of the modulated signal. For example, in one embodiment, the optical filter includes an etalon producing an etalon signal, such that the samples in the time domain are peaks of the etalon signal at the different time instances making the samples in the time domain sparse. Specifically, the etalon can be seen as an optical interferometer that includes two refractive plates or mirrors separated by a small, fixed distance. The refractive index of the etalon and the distance between the plates governs the passing wavelengths.

In an etalon, the refractive index of the medium between two mirrors increases as the incident optical field increases in intensity, resulting in a shift in the transmission peaks of the etalon to other wavelengths and, thus, frequency sweeping. Hence, the peaks of the etalon signal can be sampled in the time domain to result in a sparse signal that is sparsely sampled for different time instances. However, even such a sparsely sampled signal is sufficient for the compensation of the non-linearity of the modulation according to the principles of some embodiments.

An aspect of the invention discloses a frequency modulation continuous wave-based system, comprising: an emitter configured to transmit at least one wave of radiation to a scene, where the transmitted wave is linearly modulated in a frequency domain, and where the linear modulation is subject to impairments causing a non-linearity of the transmitted wave in the frequency domain. The FMCW-based system further comprises a receiver configured to receive a reflection of the transmitted wave from one or multiple objects in the scene; a mixer operatively connected to the emitter and the receiver and configured to interfere a copy of the wave transmitted by the emitter with the reflection of the transmitted wave received by the receiver to generate a beat signal with spectrum peaks corresponding to reflections from the one or multiple objects in the scene, wherein the beat signal is distorted due to the non-linearity of the modulation caused by the impairments; an analog-to-digital converter (ADC) operatively connected to the mixer and configured to generate samples of the distorted beat signal; and a frequency filter configured to pass signals at predetermined frequencies, the frequency filter is operatively connected to the emitter passing the linearly modulated waveform transmitted by the emitter at different time instances at the predetermined frequencies to generate measurements of the modulated waveform in a time-domain. The FMCW-based system further comprises at least one processor configured to convert the measurements of the linearly modulated wave from the time-domain into a frequency-domain to produce a non-linear frequency signal, wherein the non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation; determine coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component in the frequency domain; and detect one or multiple spectrum peaks in the distorted beat signal with the distortion compensated according to the basis function with the determined coefficients to determine one or multiple distances to the one or multiple objects in the scene.

Another aspect of the invention discloses a method, comprising transmitting, by an emitter, at least one wave of radiation to a scene, where the transmitted wave is linearly modulated in a frequency domain, and where the linear modulation is subject to impairments causing a non-linearity of the transmitted wave in the frequency domain; receiving, by a receiver, a reflection of the transmitted wave from one or multiple objects in the scene; interfering, by a mixer, a copy of the transmitted wave with the received reflection of the transmitted wave to generate a beat signal with spectrum peaks corresponding to reflections from the one or multiple objects in the scene, where the beat signal is distorted due to the non-linearity of the modulation caused by the impairments; generating, by an analog-to-digital converter (ADC), samples of the distorted beat signal; and passing, by a frequency filter, signals at predetermined frequencies, where the frequency filter is operatively connected to the emitter passing the linearly modulated wave transmitted by the emitter at different time instances at the predetermined frequencies to generate measurements of the modulated wave in a time-domain. The method further comprises converting the measurements of the linearly modulated wave from the time-domain into a frequency-domain to produce a non-linear frequency signal, where the non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation; determining coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component in the frequency domain; and detecting one or multiple spectrum peaks in the distorted beat signal with the distortion compensated according to the basis function with the determined coefficients to determine one or multiple distances to the one or multiple objects in the scene.

While the above-identified drawings set forth presently disclosed embodiments, other embodiments are also contemplated, as noted in the discussion. This disclosure presents illustrative embodiments by way of representation and not limitation. Numerous other modifications and embodiments can be devised by those skilled in the art which fall within the scope and spirit of the principles of the presently disclosed embodiments.

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. It will be apparent, however, to one skilled in the art that the present disclosure may be practiced without these specific details. In other instances, apparatuses and methods are shown in block diagram form only in order to avoid obscuring the present disclosure.

As used in this specification and claims, the terms "for example," "for instance," and "such as," and the verbs "comprising," "having," "including," and their other verb forms, when used in conjunction with a listing of one or more components or other items, are each to be construed as openended, meaning that the listing is not to be considered as excluding other, additional components or items. The term "based on" means at least partially based on. Further, it is to be understood that the phraseology and terminology employed herein are for the purpose of the description and should not be regarded as limiting. Any heading utilized within this description is for convenience only and has no legal or limiting effect.

<FIG> illustrates a block diagram of a frequency modulation continuous wave (FMCW)-based system <NUM>, according to an example embodiment. The FMCW-based system <NUM> (hereinafter also referred as "a system <NUM>") includes at least one emitter <NUM> configured to transmit at least one linearly modulated wave <NUM> of radiation (hereinafter also referred to as "a modulated signal <NUM>") to a scene. In various implementations, the emitter <NUM> includes a linear modulator to linearly modulate a waveform in a frequency domain. For example, the emitter <NUM> may include a source component generating the FMCW waveforms, a power amplifier, and antennas configured to send the FMCW waveforms to the media. The modulation of the FMCW waveforms is subject to impairments causing a non-linearity of the modulation of the transmitted FMCW wave in the frequency domain. For example, the non-linearity of the modulation can be caused by the aging of the hardware and/or surrounding temperature that varies over time.

The system <NUM> further includes at least one receiver <NUM> to receive a reflection of a transmitted wave from one or multiple objects/reflectors located at different locations in the scene. The system <NUM> also includes a mixer <NUM> operatively connected to the emitter <NUM> and the receiver <NUM> to interfere (or to beat) a copy of the linearly modulated wave <NUM> outputted by the emitter <NUM> with the reflection <NUM> of the transmitted wave received by the receiver <NUM> to produce a beat signal <NUM>. For example, the receiver <NUM> may include receiving antennas, a low noise amplifier (LNA), and the mixer <NUM> that multiplies the received waveform (i.e., the reflection <NUM> of the transmitted wave) with the source FMCW waveform (i.e., the linearly modulated wave <NUM>).

Beating, performed by the mixer <NUM>, comprises determining a difference between two frequencies i.e., a frequency of the copy of the modulated wave <NUM> and a frequency of the reflection <NUM> of the transmitted wave. The beating produces the beat signal <NUM> that is oscillated with a beat frequency, where the beat frequency corresponds to the difference between the two frequencies. Thus, the beat signal <NUM> is at a considerably lower frequency than the linearly modulate wave <NUM> and the reflection <NUM> of the transmitted wave. Due to the beating of the copy of the linearly modulated wave <NUM> and the reflection <NUM> of the transmitted wave, the beat signal <NUM> includes spectrum peaks corresponding to reflections from the different locations at the scene. However, the beat signal <NUM> is distorted due to the non-linearity of the modulation. This distortion can include or cause one or a combination of spread and shift of the spectrum peaks of the beat signal <NUM>, which reduces the accuracy of the range estimation.

To analyze the beat signal <NUM>, the system <NUM> uses a processor <NUM>. To that end, the beat signal <NUM> is sampled by an analog-to-digital converter (ADC) <NUM>. The ADC <NUM> is operatively connected to the mixer <NUM>. As the beat signal <NUM> is of lower frequency, the ADC <NUM> can easily sample the beat signal <NUM>. However, the sampled beat signal <NUM> is distorted due to the non-linearities.

Some embodiments are based on the recognition that the distortion of the beat signal <NUM> depends not only on the type of non-linearity but also on the distance to the objects reflecting the linearly modulated signal <NUM>. In such a manner, the distorted beat signal depends on two types of unknowns such as non-linearity of modulation and the distances to the reflecting objects. For example, different non-linearity of the modulation can cause different spreads and shifts of the peaks of the beat signal <NUM>, where the peaks of the beat signal <NUM> may be caused by the reflection of the linearly modulated signal <NUM> from the same object. However, different non-linearity of the modulation can cause the same spreads and shifts of the peaks of the beat signal <NUM>, where the peaks of the beat signal <NUM> may be caused by the reflection of the modulated signal <NUM> from the objects at different distances from the source of non-linearity. Accordingly, the representation of the distorted beat signal <NUM> is ill-posed, i.e., underdetermined, because different combinations of values of the non-linearity and the distance to the object can result in the same distorted beat signal <NUM>.

However, some embodiments are based on the realization that a representation of the distorted beat signal <NUM> having multiple peaks corresponding to multiple reflections of the linearly modulated signal <NUM> transforms the ill-posed problem into a well-posed, i.e., determined, problem, because only one non-linear function can cause a specific multi-peak distortion. Specifically, this realization is based on understanding that reflection of the linearly modulated signal <NUM> from a location at the scene carries the information on both the non-linearity of modulation and the reflector-dependent range/delay parameter indicative of the distance to the location. With multiple reflections M, the beat signal <NUM> is the sum of M responses characterized by M delay parameters and a common source of the non-linearity of modulation.

Some embodiments are based on the realization that the linearly modulated signal <NUM> sampled at a specific frequency may be used to estimate the source causing non-linearity in the modulation of the linearly modulated signal <NUM>, where the non-linearity in the linearly modulated signal <NUM> is resulting in the distortion in the beat signal <NUM> at the output of the mixer <NUM>. However, the linearly modulated signal <NUM> is a high-frequency signal (of the order of Gigahertz GHz). Sampling of such high-frequency signals using, for example, the ADC <NUM>, may be very expensive for some applications.

Some embodiments are based on the realization that a low-cost passive filter (or optical filter) may be used as a frequency filter <NUM> to sample the high frequency linearly modulated signal <NUM>. Further, the sampled signal may be used to obtain measurements <NUM> of the linearly modulated signal <NUM>. However, frequency filter <NUM> may sample the linearly modulated signal <NUM> at a very low frequency, approximately, at a frequency at least <NUM> times lesser than a sampling frequency of the ADC <NUM>. Therefore, the sampled signal comprises samples in the time domain, where the samples are peaks of the sampled signal at the different time instances making the samples in the time domain sparse. Thus, the sampled signal at the output of the frequency filter <NUM> comprises very less samples or is a sparsely sampled signal.

Some embodiments are based on the realization that the sparsely sampled signal may be used to estimate the source non-linearity. In the present disclosure, estimating the source non-linearity is solved as an optimization problem, where a difference between the sampled modulated signal obtained from the frequency filter <NUM> and the sum of the ideal linearly modulated signal and a source nonlinearity function is minimized to accurately estimate the source non-linearity. Further, based on the estimated source of non-linearity, the corresponding non-linearity may be compensated in the beat signal <NUM>. The compensated beat signal <NUM> may then be used to correctly determine distances to multiple objects in the scene.

To that end, the processor <NUM> may resolve <NUM> the source of non-linearity for determining the distances to the multiple objects in the scene. The processor <NUM> is connected to memory <NUM>, where the memory <NUM> is configured to store data to estimate the range information of multiple reflectors (or the objects) in the scene. The processor <NUM> may digitally sample and process the data to estimate the range information of multiple reflectors in the scene. Further, an output interface may be used to render the position of the multiple reflectors. In some embodiments, the processor <NUM> may further estimate speed information of the multiple reflectors in the scene.

Specifically, the processor <NUM> is configured to convert <NUM> the measurement <NUM> of the linearly modulated signal <NUM> (or the sparsely sampled signal) from the time domain to the frequency domain to produce a non-linear frequency signal. The transformed (or converted) non-linear frequency signal comprises a known linear component representing the desired linear modulation and the unknown non-linear component representing the undesired non-linearity of the modulation or the source of non-linearity. The undesired non-linearity of modulation is recovered based on a difference between the non-linear frequency signal and the linear frequency signal (or the linear frequency component) corresponding to the linear modulation in the frequency domain.

To reduce the complexity of calculating the source of non-linearity, the processor <NUM> is further configured to determine <NUM> coefficients of a basis function that approximates the difference between the non-linear frequency signal and the linear frequency signal corresponding to the linear modulation in the frequency domain. In this way, the source of non-linearity is estimated. Further, the estimated non-linearity is used to compensate for the distorted beat signal. The processor <NUM> is further configured to detect <NUM> one or multiple spectrum peaks in the distorted beat signal, where the distortion is compensated according to the basis function with the determined coefficients to determine the one or multiple distances to the one or multiple objects in the scene.

In some embodiments, the frequency filter <NUM> may comprises an optical etalon, where the optical etalon is a monolithic interferometric device containing two parallel reflecting surfaces. The optical etalon (also called as a Fabry-Perot etalon) comprises two mirrors with air gap in between (an air-spaced etalon). When the optical etalon is inserted into a laser beam, the optical etalon acts as an optical resonator (or cavity). In the optical resonator, the transmissivity varies approximately periodically with the optical frequency. At resonance, the reflections from the two surfaces cancel each other via destructive interference. The highest reflection losses and thus the lowest transmissivity occur in anti-resonance. The reflectivity of each of the surfaces of the optical etalon may simply result from the refractive index discontinuity between a material of the optical etalon and air (Fresnel reflection) or may be modified with dielectric coatings. By increasing the reflectivity, it is possible to sharpen the resonances without reducing a free spectral range. Thus, the optical etalon is an adjustable optical filter that may be tuned to pass (at the resonance) a specific frequency and reflect (or reject) (at the anti-resonance) other frequencies. An example of the optical etalon (the Fabry-Perot etalon) of the FMCW based system <NUM>, is described below with respect to <FIG>.

<FIG> illustrates a Fabry-Perot etalon <NUM> of the FMCW based system <NUM>, according to an example embodiment. The Fabry-Perot etalon <NUM> comprises a diffuse light source <NUM>, a collimating lens <NUM>, a cavity <NUM>, where the cavity <NUM> comprises a pair of partially reflective and slightly wedged optical flats 230a and 230b. The Fabry-Perot etalon <NUM> further comprises a focusing lens <NUM> and a screen <NUM>. The main component of the Fabry-Perot etalon <NUM> is the cavity <NUM> comprising the pair of partially reflective glass optical flats 230a, 230b (also referred as the pair of flats) spaced micrometers to centimeters apart, with the reflective surfaces facing each other. Alternatively, the Fabry-Perot etalon <NUM> may use a single plate with two parallel reflecting surfaces. The pair of flats 230a, 230b forms a reflective cavity. The flats 230a, 230b in an interferometer are often made in a wedge shape to prevent the rear surfaces from producing interference fringes. The rear surfaces often also have an anti-reflective coating.

The Fabry-Perot etalon <NUM> uses a phenomenon of multiple beam interference that arises when light from the diffused light source <NUM> is radiated through the cavity <NUM> bounded by two reflective parallel surfaces (i.e., the pair of flats 230a, 230b). Each time the light encounters one of the surfaces, a portion of the light is transmitted out, and the remaining part is reflected. The net effect is to break a single beam of light into multiple beams of light which interfere with each other. If the additional optical path length of the reflected beam (due to multiple reflections) is an integral multiple of wavelength the light, the reflected beams will interfere constructively. In other words, more is the number of reflections inside the cavity <NUM>, sharper is the interference maximum.

Further, the diffuse light source <NUM> is set at the focal plane of the collimating lens <NUM>. The diffuse light source <NUM> is used to provide illumination. Light emitted from a point on the source (point A) is focused to a single point in an image plane. In <FIG>, for ease of explanation, only one ray emitted from the point A on the source is traced. As the ray passes through the pair of flats 230a, 230b, it is reflected multiple times to produce multiple transmitted rays which may be collected by the focusing lens <NUM> and brought to point A' on the screen <NUM>. The focusing lens <NUM> may produce an inverted image of the source if the pair of flats 230a, 230b are not present. The complete interference pattern may take an appearance of a set of concentric rings, where sharpness of the rings depends on the reflectivity of the pair of flats 230a, 230b.

In the Fabry-Perot etalon <NUM>, a refractive index of the medium between the flats 230a, 230b (in this case, air) increases as the incident optical field (i.e., the light) increases in intensity. As a result, an etalon signal is produced such that a shift is introduced in the transmission peaks of the etalon signal to other wavelengths. The shift in the transmission peaks of the etalon signal causes frequency sweeping. Hence, the peaks of the etalon signal can be sampled in the time domain that results in a sparse signal that is sparsely sampled for different time instances. The optical filter such as the Fabry-Perot etalon <NUM> as described above can be used as the frequency filter <NUM> to sample the high frequency modulated signal <NUM>.

In an example embodiment, for sampling the high frequency modulated signal <NUM>, the frequency filter <NUM> may be replaced by at least one of the Michelson interferometers, the Twyman-Green interferometer, the laser unequal path interferometer (LUPI), or the step phase interferometer.

Further, a method for estimating the source of non-linearity and then compensating the beat signal <NUM> based on the estimated source of non-linearity is explained with reference to <FIG> below.

<FIG> and <FIG>, collectively, illustrate a method <NUM> for compensating non-linearity in linear swept sources the optical etalon (the Fabry-Perot etalon <NUM>) of the FMCW based system <NUM>, according to an example embodiment. <FIG> and <FIG> are described in conjunction with <FIG> and <FIG>.

At step <NUM>, at least one linearly modulated wave of radiation <NUM> (or modulated wave) is transmitted to a scene by using the emitter <NUM> where the linear modulation is subject to impairments causing a non-linearity of the transmitted wave in the frequency domain.

At step <NUM>, reflections of the transmitted wave from one or multiple objects in the scene is received by the receiver <NUM>.

At step <NUM>, a copy of the transmitted wave is interfered (or beat) with the received reflection of the transmitted wave by the mixer <NUM> to generate the beat signal <NUM>. A spectrum of the beat signal <NUM> comprises spectrum peaks corresponding to the reflections from one or multiple objects in the scene. Further, the beat signal <NUM> is distorted due to the non-linearity of the modulation.

At step <NUM>, samples of the distorted beat signal <NUM> are generated using the ADC <NUM>.

At step <NUM>, signals at predetermined frequencies are passed by the frequency filter <NUM>. The frequency filter <NUM> is operatively connected to the emitter <NUM> passing the linearly modulated wave <NUM> transmitted by the emitter <NUM> at different time instances at the predetermined frequencies to generate measurements of the linearly modulated wave <NUM> in a time domain. In particular, the Fabry- Perot etalon <NUM> generates an etalon signal such that a shift is introduced in the transmission peaks of the etalon signal to other wavelengths. The shift in the transmission peaks of the etalon signal causes frequency sweeping. Accordingly, the peaks of the etalon signal can be sampled in the time domain that results in a sparse signal that is sparsely sampled for different time instances.

At step <NUM>, the measurements of the linearly modulated wave <NUM> is converted from the time-domain into a frequency domain to produce a non-linear frequency signal. The non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation.

At step <NUM>, coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component is determined in the frequency domain. To that end, the processor <NUM> may be configured to estimate coefficients of the basis function by solving a least square problem to minimize the difference. The estimated coefficients of the basis function may be a function of a polynomial component and peak time instants.

At step <NUM>, distortion in the spectrum peaks for the distorted beat signal <NUM> is compensated based on the coefficients of the basis function. The compensated beat signal is used further to determine the distances of one or multiple objects from the emitter <NUM>. The distances of one or multiple objects may be determined based on phase information comprised by the compensated beat signal <NUM>.

The FMCW-based system <NUM> may be implemented in different embodiments. Such implementations of the FMCW-based system <NUM> are described below with reference to <FIG> and <FIG>.

<FIG> illustrates a schematic of FMCW-based system <NUM> implemented as an FMCW-based swept-source optical coherent sensing (SS-OCT) system <NUM>, according to an example embodiment. In some implementations, the swept-source OCT system includes a reference arm, a sample arm, and a photodetector. The light is generated from a frequency-swept (or wavelength sweep) laser source <NUM> with a time-frequency pattern, such as a pattern <NUM>, which is split by a beam splitter <NUM> to both a reference mirror <NUM> and a sample of interest <NUM> (hereinafter also referred as "sample <NUM>"). Backscattered and reflected light from the sample <NUM> is interfered (or beat) with reflection from the reference mirror <NUM> with a time-frequency pattern, such as a pattern <NUM>. Further, a beat signal <NUM> is detected by the detector <NUM>. At a fixed sweep rate, different beat frequencies correspond to different delays or reflections from different depths in the sample <NUM>. Thus, by applying the Fourier transform, the beat signal <NUM> can produce a beat frequency spectrum <NUM> where the spectrum peak frequency corresponds to the distance. In some embodiments, an axial profile of reflection magnitude vs. depth is obtained based on the interference signal <NUM>. In conjunction with x-y scanning, multiple axial scans may be used to create 2D and 3D comprehensive, volumetric data sets that may be used to construct arbitrary cross-sectional images, projections along arbitrary axes, or renderings similar to Magnetic Resonance Imaging (MRI) or Computed Tomography (CT).

<FIG> illustrates a schematic of FMCW-based system <NUM> implemented as an FMCW-based ranging system <NUM>, according to an example embodiment. The FMCW-based ranging system <NUM> emits a waveform to at least one reflector <NUM>, receives the reflected waveform, mixes the reflected waveform with the transmitted waveform, and generates a beat signal, according to different embodiments. The beat signal is of lower frequency than the transmitted modulated wave. Therefore, the beat signal is sampled by using an analog to digital converter. Further, based on the estimated non-linearity of the sampled beat signal is compensated.

The FMCW-based ranging system <NUM> includes an FMCW source <NUM> that sweeps the frequency over a short period of time (e.g., [<NUM>, <NUM>] GHz for automotive radar). The source FMCW waveform may be generated by a baseband FMCW waveform (e.g., [-<NUM>, <NUM>] GHz) and an up-converter to modulate the baseband FMCW waveform to the carrier frequency (e.g., <NUM>). The source FMCW waveform may be further amplified by a power amplifier <NUM> before feeding into transmitting antennas <NUM>. The transmitting antennas <NUM> send the source FMCW waveform towards the scene to detect potential at least one reflector <NUM>. A reflected waveform from at least one reflector <NUM> is captured by the receiving antennas <NUM>. The received waveform may be further passed through an LNA <NUM> to increase signal-to-noise ratio (SNR). Further, the received waveform is mixed with the source FMCW waveform by the mixer <NUM>. Consequently, a beat signal <NUM> is generated which may be further processed to estimate non-linearity in the beat signal and compensate the estimated non-linearity. Hence, sensitivity of the FMCW-based electromagnetic sensing system <NUM> is improved.

<FIG> is a schematic illustrating a FMCW waveform used by an FMCW-based ranging system <NUM>, according to an example embodiment. For a scan, the FMCW (transmitted) waveform possesses a linear frequency pattern <NUM> over a time period T and a time-domain waveform similar to <NUM>. Further, a transmission frequency f of the FMCW waveform sweeps over a bandwidth B. For the scan, the FMCW-based ranging <NUM> system is able to detect the distance of multiple reflectors, where the multiple reflectors may be stationary.

In an example embodiment, the receiver <NUM>, itself, comprises the mixer <NUM>, and the ADC <NUM>. Thus, the receiver <NUM> on reception of the reflection of the transmitted wave <NUM> may generated the beat signal <NUM> using the mixer <NUM> and further sample the beat signal <NUM> using the ADC <NUM> to convert the beat signal <NUM> from an analog domain to a digital domain for further analysis by the processor <NUM>. An exemplary receiver configured to analyze the beat signal <NUM> is described below with reference to <FIG>.

<FIG> is a block diagram illustrating the receiver <NUM> of the FMCW-based system <NUM>, according to an example embodiment. In this embodiment, the analog-to-digital converter (ADC) <NUM> samples the analog beat signal <NUM> into a digital beat signal. The digital beat signal is further transformed into the frequency domain by a Fourier transformer (FFT) <NUM>. Consequently, a spectrum <NUM> of the beat signal <NUM> over frequency is obtained which describes the reflected energy distribution over the range domain. To determine the range information of a number of strong reflectors, their corresponding peak frequencies may be identified. The peaks may be distorted due to impairments in the transmitted wave (or the modulated wave <NUM>). causing non-linearity in the beat signal <NUM>. The source of non-linearity is estimated, and the beat signal <NUM> is compensated based on the estimated source of non-linearity. Further, the compensated beat signal is used to determine distance information <NUM> associated with the reflectors.

Further, time domain waveforms and time-frequency patterns of the linearly modulated wave <NUM> (or FMCW wave) and the beat signal <NUM> are analyzed below with references to <FIG>.

<FIG> is a schematic illustrating a time-domain FMCW waveform <NUM>, according to an example embodiment. <FIG> is a schematic illustrating the time-frequency pattern <NUM> of the FMCW waveform, according to an example embodiment. <FIG> is a schematic illustrating a time-domain waveform of a beat signal <NUM>, according to an example embodiment. The time-domain waveform of the beat signal <NUM> is obtained by mixing the transmitted waveform with the reflected waveform. In <FIG>, the transmitted waveform corresponds to the modulated signal <NUM>, and the reflected waveform correspond to the reflection <NUM> of the transmitted wave (i.e., the modulated signal <NUM>). <FIG> is a schematic illustrating a time-frequency pattern of the beat signal, according to an example embodiment. Due to a round-trip delay from the transmitter to a single reflector, the time-frequency pattern <NUM> of the reflected FMCW waveform is shifted to the right as shown in <FIG>. The mixer <NUM> generates the beat signal <NUM> as shown in <FIG>. For a single reflector, the beat signal dominates at one frequency which corresponds to its distance to the transmitter. In other words, the time-frequency pattern <NUM> of the beat signal (in <FIG>) is parallel to the time axis.

<FIG> is a schematic <NUM> illustrating a time-frequency pattern of the transmitted and reflected FMCW waveforms in a presence of a source of nonlinearity, according to an example embodiment. <FIG> is a schematic <NUM> illustrating the time-frequency pattern of the beat signal for two reflectors at two distances in the presence of the source of nonlinearity, according to an example embodiment. The FMCW-based sensing system requires an ideal linear frequency pattern to determine the distance of reflectors from the beat signal (e.g., the beat signal <NUM>). When there is a source nonlinearity caused by hardware impairments, low-cost components, and open-loop VCOs, the time-frequency pattern <NUM> is no longer completely linear. For two reflectors at different distances to the transmitter, the time-frequency pattern of the reflected signal is then shifted according to the corresponding round-trip delay. For example, the time-frequency pattern of the closer reflector is shown by dashed line <NUM>, while the further reflector has a time-frequency pattern shown by dashed line <NUM>. When both reflected signals from two different reflectors are mixed with the source signal, the beat signal includes two components, which show different distortions due to the source nonlinearity. Particularly, the closer reflector provides the beat signal with the time-frequency pattern <NUM>, while the further reflectors provide the beat signal with the time-frequency pattern <NUM>. Even with the same source nonlinearity, its effect on the spectrum of the beat signal is range-dependent. When the source nonlinearity function and the range information of reflectors are both unknown, mitigating the distortion in the beat signal is difficult.

Further, an in-depth (mathematical) analysis of estimating the source of non-linearity in the modulated signal <NUM> and compensating the non-linearity in the beat signal <NUM> is performed. To that end, a comparative analysis between an FMCW based system with a reference arm (conventional method to estimate non-linearity) and the FMCW-based system without the reference arm (i.e., the proposed method to estimate non-linearity by using the frequency filter <NUM>) is performed. For ease of understanding SS-OCT system (describe with reference to <FIG>) which is one of the FMCW-based systems is used for analysis.

Consider the FMCW-based SS-OCT system, for comparative analysis between the accuracy of non-linearity estimation with and without reference arm. The SS-OCT system is configured to measure the non-linearity using the reference arm and further configured to measure the non-linearity using the measuring arm (i.e., without using the reference arm). SS-OCT comprises a swept-source laser configured to send a unit magnitude swept-frequency signal (in equation <NUM>) to the measurement arm: <MAT> where t is the time variable, fc is the carrier frequency, α is the frequency sweep rate or chirp rate, and ε (t) is the source nonlinearity phase function. For a perfectly linearly swept-source, ε (t) = <NUM>, i.e., the instantaneous frequency f(t) = fc + αt follows a linear pattern.

For a stationary reflector at a distance of R, a received signal (or a reflected signal) is a delayed and attenuated/enhanced copy of the transmitted signal (in equation <NUM>) is obtained: <MAT> where A is proportional to the reflectivity of the stationary target, and τ = 2R/c is the time delay.

The reflected signal is then mixed with the same source laser signal, delayed by an optical delay line (ODL), to generate the baseband beat signal (for example, the beat signal <NUM>) (represented in equation <NUM>) via an integrated coherent receiver (ICR): <MAT>.

With a perfect linearly swept-source ε(t)- ε(t-τ) = <NUM> in equation (<NUM>) and the beat signal is a complex sinusoidal signal with fb = ατ (or, equivalently, angular frequency ωb = 2πατ).

On the other hand, when the source non-linearity ε(t) is present, the beat signal in equation (<NUM>) will no longer be a sinusoidal signal due to ε(t) - ε(t - τ) ≠ <NUM> in phase. As a result, the spectrum peak of the beat signal is spread, resulting in degradation in the range resolution and signal-to-noise ratio (SNR).

Accordingly, the above analysis of estimating non-linearity may be extended to the case of multiple reflectors. Assuming K reflectors at {R<NUM>,. , RK}, the reflected signal is given as: <MAT> where τk = <NUM>RK/c. After the ICR, the baseband beat signal is given as: <MAT> where ε(t) = <NUM>, the beat signal form multiple peaks at corresponding beat frequencies of fbk = ατk. In the case of source nonlinearity, the resulting phase distortion at the beat signal is range dependent due to the dependence of the term ε(t) - ε(t - τk) on τk.

Therefore, to compensate the nonlinearity, the impact of source non-linearity ε(t) on the resulting beat signal should be mitigated, and the beat frequency that yields range estimates of multiple reflectors correctly should be estimated.

Conventionally, the non-linear compensation method uses the reference arm with a known reference target. The reference arm employs two delay paths with a known relative delay of ΔL and generates the corresponding reference beat signal, denoted as sb(t). If the relative delay of ΔL is known, different nonlinearity compensation algorithms can be used.

In one approach, it is assumed that the relative delay is small and the phase residual term ε(t) - ε(t - tref) in (<NUM>) can be approximated using the first-order local expansion (as shown in equation <NUM>) <MAT> where τref = ΔL/c is the reference delay and ζ is a small quantity. Then the nonlinearity which is represented by ε'(t) may be estimated from the reference beat signal sb(t). Further, let the estimated nonlinearity term be denoted as ε̂'(t), and the nonlinearity can be compensated to the measurement arm by applying a conjugate e-jτrefε̂'(t). Thus, from equation (<NUM>), it may be observed that approximation error in (<NUM>) aggregates, when the distance of reflector is far away from the reference distance.

In another approach, a residual-video-phase (RVP) or deskew-filtering is used. Still relying on the dedicated reference arm with the estimated nonlinearity function ε̂'(t), the nonlinearity effect in the entire range of interest may be removed using the RVP or the deskew filtering. The approach consists of three steps. First, the source nonlinearity term ε(t) originated from the transmitter side is removed: <MAT>.

Then, the deskew filtering with range-dependent time shifts is introduced to the above initially compensated s<NUM>(t) by multiplying the term of e-jπf<NUM>/α in the frequency domain: <MAT> where s<NUM>(f) is the spectrum of s<NUM> (t) and <MAT>.

Since ε(t) is known, so is sRVP(t). Therefore, the last step is to compensate SRVP(t) in s<NUM> (t) <MAT>.

The last step removes the nonlinearity effect in the measured beat signal and forms a peak at the correct beat frequency of ατ. The above analysis holds for the case of multiple reflectors. By using entire-range deskew filtering instead of a local-range compensation better performance can be achieved. Deskew filtering is described in detail with reference to <FIG> later below. Further, the accuracy of estimating ε(t) maybe improved, by using a parametric model, i.e., polynomial phase signal (PPS) model, where the PPS model describes the non-linearity source function which is a time-varying smooth function, and then estimate the parametric model coefficients from the response of a reference.

Finally, a k-sampling method has been applied to the nonlinearity compensation for the SS-OCT. In the k-sampling method, a k-sampling clock is generated in the reference arm by using the interference signal with a known delay ΔL between two paths detected by the photodiode (PD). Further, the beat signal in the measurement arm is sampled by the analog-to-digital converter (ADC) with the k-sampling clock. The sampled beat signal is then analyzed using the FFT to locate spectrum peaks for ranging. Particularly, if the k-sampling theorem is satisfied between the measurement and reference arms, the maximum measurement range Lmax is given by equation (<NUM>) <MAT> where nr and ΔL are, respectively, the refractive index and the length of the fiber delay line in the reference arm, given that the measurement arm is Michelson-type while the reference arm is Mach-Zehnder-type. When the peak frequency is located at the p-th FFT bin in the spectrum, the distance estimate L̂ is given as: <MAT> where N is the number of data used in the FFT analysis. Since the beat spectrum is discrete, the exact distance cannot be obtained from the peak position of the beat spectrum. The exact distance is evaluated by interpolation, e.g., parabolic fitting, around the peak in the spectrum.

The present disclosure proposed system (e.g., the FMCW-based system <NUM>) that accurately estimates the source of non-linearity and compensates the estimated source of non-linearity without using the dedicated reference arm. To implement the SS-OCT system without the reference arm to remove the non-linearity, initially, an etalon signal (i.e., the modulated signal <NUM> sampled by the frequency filter <NUM> implemented using etalon) is sparsely sampled in the time-domain to track laser comb wavelengths over time. With the etalon signal, at first the source nonlinearity in the frequency domain ε'(t) is estimated and then the estimated ε'(t) is used to compensate the beat signal in the measurement arm (in <FIG>). Thus, by removing the reference arm, the proposed system becomes very cost-effective while maintaining higher accuracy.

The etalon signal tracks the source laser wavelengths at coarsely sampled time instants. In the etalon, the refractive index of the medium between two mirrors increases as the incident optical field increases in intensity, resulting in a shift of the transmission peaks of the etalon to other wavelengths. The shifting of the transmission peaks of the etalon to other wavelength causes frequency sweeping. The transmission peaks can be traced by the time-domain output etalon signal as shown in <FIG>. Particularly, the etalon signal always outputs a certain number of peaks at given wavelengths.

<FIG> illustrates a method <NUM> for estimating a source of non-linearity from an etalon signal generated by the optical etalon, according to an example embodiment. <FIG> is explained below with reference to <FIG> and <FIG>, where <FIG> shows the etalon signal and non-linearity function estimation from the etalons signal. <FIG> shows a cost function to determine delay and distance by coherently accumulating a compensated beat signal using an estimated nonlinearity function from the etalon signal, according to an example embodiment. <FIG> shows an exemplary etalon signal generated by the optical etalon (such as the Fabry-Perot etalon <NUM>), according to an example embodiment. <FIG> shows a non-linear frequency swept, according to an example embodiment. <FIG> shows a linear component of a non-linear swept frequency, according to an example embodiment. <FIG> shows a non-linear component of the non-linear swept frequency, according to an example embodiment.

Method <NUM> may be implemented by the processor <NUM>. At step <NUM>, the etalon signal (e.g., <FIG>) may be obtained. At step <NUM>, the etalons peaks may be converted into wavelength based on the mathematical expression of equation (<NUM>): <MAT> where λc is the base wavelength, me is the peak index (e.g., me= {<NUM>, <NUM>,. , <NUM>} in <FIG>), mc is the index of the peak at the center (e.g., mc= <NUM> in <FIG>), and pe is the order of etalon (e.g., pe = <NUM>).

At step <NUM>, the frequency corresponding to the wavelength determined at step <NUM> is obtained based on equation (<NUM>): <MAT>.

For the etalon signal in <FIG>, frequencies converted from the wavelengths corresponding to the peaks are shown in red dots in <FIG>.

Further, to estimate the nonlinearity function, at step <NUM> the swept frequency f(t) is decomposed as a sum of a linearly swept-frequency term and a polynomial component of order P, <MAT> where the term within the bracket represents the ideal linearly swept frequency and <MAT> are unknown coefficients for the nonlinearity function. At step <NUM>, the center frequency fc at the peak point which gives the largest frequency change over all chosen peaks is determined. On the other hand, the linear frequency signal is a linear function of time with a constant term of a center frequency fc at an etalon peak with the largest frequency change over all of the etalon peaks and a time coefficient of a relative frequency change over a time interval between two neighboring etalon peaks measured at two neighboring instances of time.

At step <NUM>, the chirp rate α is determined by relative frequency change from the center frequency to the next frequency point over the time interval between the two peaks. As shown in <FIG>, the red dot denotes the determined center frequency, and the blue line denotes the chirp rate.

Further, by denoting fr(t) = f(t) - (fc - αt), the nonlinearity coefficients βi can be estimated by a least-square solution. To that end, all values of fr(t) are grouped, i.e., fr= [fr(t<NUM>),. , fr(tM)]T at the M peak time instants, t = [t<NUM>,. Then at step <NUM>, the coefficient vector β = [β<NUM>,. , βP]T can be estimated as: <MAT> where the matrix T = [t<NUM>, t<NUM>,. <FIG> shows the estimated non-linearity function <MAT> with βi estimated from the equation (<NUM>). In <FIG>, it is seen that the frequency-domain nonlinearity function is less than <NUM> before the center peak and larger than zero after it. From <FIG>, the reconstructed swept frequency f̂(t) (denoted as black curves) agrees with the original frequency pattern from the etalon signal in red dots.

Let the estimated frequency-domain nonlinearity function be denoted as <MAT>, where β̂i is from equation (<NUM>). The phase-domain non-linearity function can be recovered as: <MAT> where ϕ is a fixed but unknown phase term. To compensate the phase-domain non-linearity ε̂(t)of equation (<NUM>), the deskew-filtering approach may be applied.

In some embodiments, the non-linearity compensation method for joint distance estimation and non-linearity compensation is used. At first, from equation (<NUM>), the noisy beat signal at the measurement arm is given as: <MAT> where vb(t) is the measurement noise. The idea is to coherently sum the compensated beat signal with the determined parameter set {fc, α, βi} as shown in <FIG>. To that end, the cost function is constructed as: <MAT> where ε̂(t) is from equation (<NUM>). From equation (<NUM>), it can be observed that ζ = τ, the compensated beat signal is coherently combined. By locating the maximum of the cost function, the delay can be estimated as τ̂ = argmaxζη(ζ).

With the estimated delay τ̂, the optimally compensated beat signal is reconstructed as: <MAT>.

In this way, an optimally compensated beat signal can correct the spectrum spread of the originally measured beat signal (e.g., beat signal <NUM>) and form a sharp peak around the correct beat frequency. This is further explained below with numerical results. To that end, a comparative analysis between the proposed reference-arm free approach and the k-sampling method using the reference arm is provided below with reference to <FIG>.

<FIG> illustrates the experimental setup of the SS-OCT system <NUM> implemented to compare a reference-arm free approach with a k-sampling method using a reference arm, according to an example embodiment. <FIG> is described below in conjunction with <FIG> shows the time-domain beat signal from the measurement arm <NUM> (ch1), according to an example embodiment. <FIG> shows the reference signal from the reference arm <NUM> (ch2), according to an example embodiment.

In <FIG>, the SS-OCT system <NUM> (also called as "a system <NUM>") comprises a swept-source laser <NUM>, a frequency filter <NUM>, where the frequency filter <NUM> corresponds to the frequency filter <NUM>. The SS-OCT system <NUM> further comprises the reference arm <NUM>, a measurement arm <NUM>, a coupler <NUM>, and a target (i.e., an object or a reflector) <NUM>. The reference arm <NUM> comprises a first coupler <NUM> and a second coupler <NUM>, a first optical delay line 1142a and a second optical delay line 1142b, and a balanced photo detector (BPD) <NUM>. Similarly, the measurement arm <NUM> comprises a coupler <NUM>, an optical delay line <NUM>, a lens <NUM>, an integrated coherent receiver (ICR) <NUM>, and a circulator <NUM>.

For instance, the swept-source laser <NUM> emits laser light with a wavelength of <NUM>µm and with a repetition frequency at x kHz. The laser light is then split into the reference arm <NUM> (denoted as Ch2 or channel <NUM>) and the measurement arm <NUM> (denoted as Ch1 or channel <NUM>). For the reference arm <NUM>, a k-sampling clock is generated. To that end, the reference arm <NUM> comprises a clock generator (not shown in the <FIG>). On the other hand, the measurement arm <NUM> further splits the laser light into two paths: one path goes through the circulator <NUM> and lens <NUM> to the target <NUM>. The laser light is then reflected by the target <NUM>, where the reflected laser light is interfered with the other path to generate the beat signal.

Meanwhile, an etalon signal, generated by the frequency filter <NUM>, along with a trigger signal <NUM> is generated from channel <NUM> (or Ch3). For the k sampling-based method (i.e., while using the reference arm <NUM>), the SS-OCT system <NUM> uses signals from ch1 and ch2 for the nonlinearity compensation. On the other hand, for the reference-arm free method, the SS-OCT system <NUM> uses the measurement arm <NUM> in ch1 and the etalon signal in ch3. From <FIG> and <FIG>, it can be observed that both time-domain signals are modulated in amplitude.

Further, spectra of the beat signal before and after non-linearity compensation from the measurement arm <NUM> are compared in <FIG>.

<FIG> shows the spectrum of the beat signal from the measurement arm <NUM> before non-linearity compensation, according to an example embodiment. <FIG> shows a spectrum of the beat signal from the measurement arm <NUM> after the non-linearity compensation, according to an example embodiment. In <FIG>, the spectrum of the beat signal from the measurement arm <NUM> is spread over a peak that corresponds to the target distance. In fact, the impact of the source nonlinearity causes not only the peak spread but also the shift of the spectrum peak. In contrast in <FIG>, is clearly shown that the peak-to-sidelobe level is significantly improved, and the spread peak in <FIG> is much more focused around the beat frequency with higher spectrum power of <NUM> dB.

Further, range estimation performance of the proposed reference arm free approach is evaluated, and results are shown in <FIG>. To that end, a mirror is placed as the object at <NUM> distances with a step size of <NUM>µm. For each distance, the measurements are repeated <NUM> times to calculate the range estimation statistics, e.g., bias and standard deviation. <FIG> shows a measured profile of FMCW-based system without the reference arm, according to an example embodiment. The measured profile corresponds to a set of <NUM> distances versus a ground truth in the horizontal axis. The result is overlapped with the diagonal <NUM>° line for comparison. For each distance, the mean of these <NUM> distance estimates from the compensated peak frequency in <FIG> and the standard deviation around the mean is plotted. Overall, the results show a small estimation bias (up to <NUM>µm) and a standard deviation up to <NUM>µm. Further, it is observed that the estimation bias may be contributed by the amplitude modulation which is not accounted for.

In some embodiment, based on the estimated source of non-linearity deskew filtering approach is used to compensate the beat signal based on the estimated source of non-linearity.

<FIG> is a block diagram <NUM> illustrating a deskew filtering process to correct the beat signal with an estimated nonlinearity function, according to an example embodiment. <FIG> illustrates a different nonlinearity correction approach, based on the beat signal from unknown reflectors (for example target <NUM> in <FIG>) and the estimated nonlinearity function (as explained with respect to equation <NUM>) from a reference beat signal.

At step <NUM>, the nonlinearity resulted from a transmitter side in a beat signal <NUM> is removed first using an estimated nonlinearity function <NUM>. At step <NUM>, the deskew filter is applied to the initially compensated beat signal. The deskew filter applies range-dependent/frequency-dependent time shifts to the input signal. In other words, an amount of time shifts is different for different frequency components. Since the frequency is directly related to the range for the beat signal, the deskew filter aims to compensate the range-dependent distortion for different reflectors such that the remaining distortion is range-independent. At step <NUM>, the remaining range-independent distortion for all frequency/range is removed with the help of the estimated nonlinearity function <NUM>. The fully compensated beat signal is then transformed into the frequency domain by application of an FFT <NUM>. The range information <NUM> of unknown reflectors may be determined by a spectrum <NUM> of the beat signal. Accordingly, the effect of non-linear component is controlled.

The description provides exemplary embodiments only and is not intended to limit the scope, applicability, or configuration of the disclosure. Rather, the following description of the exemplary embodiments will provide those skilled in the art with an enabling description for implementing one or more exemplary embodiments. Contemplated are various changes that may be made in the function and arrangement of elements without departing from the spirit and scope of the subject matter disclosed as set forth in the appended claims. Specific details are given in the following description to provide a thorough understanding of the embodiments. However, understood by one of ordinary skill in the art can be that the embodiments may be practiced without these specific details. For example, systems, processes, and other elements in the subject matter disclosed may be shown as components in block diagram form in order not to obscure the embodiments in unnecessary detail. In other instances, well-known processes, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the embodiments. Further, like reference numbers and designations in the various drawings indicated like elements.

Also, individual embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be rearranged. A process may be terminated when its operations are completed but may have additional steps not discussed or included in a figure. Furthermore, not all operations in any particularly described process may occur in all embodiments. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, the function's termination can correspond to a return of the function to the calling function or the main function.

When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine-readable medium.

Further, embodiments of the present disclosure and the functional operations described in this specification can be implemented in digital electronic circuitry, in tangibly embodied computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Further, some embodiments of the present disclosure can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible non transitory program carrier for execution by, or to control the operation of, data processing apparatus. Further still, program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus.

A computer program (which may also be referred to or described as a program, software, a software application, a module, a software module, a script, or code) can be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

Claim 1:
A frequency modulation continuous wave (FMCW)-based system, comprising:
an emitter (<NUM>) configured to transmit at least one wave of radiation to a scene, wherein the transmitted wave is linearly modulated in a frequency domain, and wherein the linear modulation is subject to impairments causing a non-linearity of the transmitted wave in the frequency domain;
a receiver (<NUM>) configured to receive a reflection of the transmitted wave from one or multiple objects in the scene;
a mixer (<NUM>) operatively connected to the emitter and the receiver and configured to interfere a copy of the wave transmitted by the emitter with the reflection of the transmitted wave received by the receiver to generate a beat signal with spectrum peaks corresponding to reflections from the one or multiple objects in the scene, wherein the beat signal is distorted due to the non-linearity of the modulation caused by the impairments;
an analog-to-digital converter (ADC) (<NUM>) operatively connected to the mixer and configured to generate samples of the distorted beat signal;
a frequency filter (<NUM>) configured to pass signals at predetermined frequencies, the frequency filter is operatively connected to the emitter passing the linearly modulated wave transmitted by the emitter at different time instances at the predetermined frequencies to generate measurements of the modulated wave in a time-domain; and
characterized by further comprising:
at least one processor (<NUM>) configured to:
convert the measurements of the linearly modulated wave from the time-domain into a frequency-domain to produce a non-linear frequency signal, wherein the non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation;
determine coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component in the frequency domain; and
detect one or multiple spectrum peaks in the distorted beat signal with the distortion compensated according to the basis function with the determined coefficients to determine one or multiple distances to the one or multiple objects in the scene.