Frequency Modulated Continuous Wave Research Articles

A Novel Machine Learning-Based ANFIS Calibrated RISS/GNSS Integration for Improved Navigation in Urban Environments.

Autonomous vehicles (AVs) require accurate navigation, but the reliability of Global Navigation Satellite Systems (GNSS) can be degraded by signal blockage and multipath interference in urban areas. Therefore, a navigation system that integrates a calibrated Reduced Inertial Sensors System (RISS) with GNSS is proposed. The system employs a machine-learning-based Adaptive Neuro-Fuzzy Inference System (ANFIS) as a novel calibration technique to improve the accuracy and reliability of the RISS. The ANFIS-based RISS/GNSS integration provides a more precise navigation solution in such environments. The effectiveness of the proposed integration scheme was validated by conducting tests using real road trajectory and simulated GNSS outages ranging from 50 to 150 s. The results demonstrate a significant improvement in 2D position Root Mean Square Error (RMSE) of 43.8% and 28% compared to the traditional RISS/GNSS and the frequency modulated continuous wave (FMCW) Radar (Rad)/RISS/GNSS integrated navigation systems, respectively. Moreover, an improvement of 47.5% and 23.4% in 2D position maximum errors is achieved compared to the RISS/GNSS and the Rad/RISS/GNSS integrated navigation systems, respectively. These results reveal significant improvements in positioning accuracy, which is essential for safe and efficient navigation. The long-term stability of the proposed system makes it suitable for various navigation applications, particularly those requiring continuous and precise positioning information. The ANFIS-based approach used in the proposed system is extendable to other low-end IMUs, making it an attractive option for a wide range of applications.

Resolution Enhanced Optical Frequency-Modulated Continuous-Wave Ranging Enabled by Pulse-Tailoring

Resolution Enhanced Optical Frequency-Modulated Continuous-Wave Ranging Enabled by Pulse-Tailoring

Decoupling and Parameter Extraction Methods for Conical Micro-Motion Object Based on FMCW Lidar.

Micro-Doppler time-frequency analysis has been regarded as an important parameter extraction method for conical micro-motion objects. However, the micro-Doppler effect caused by micro-motion can modulate the frequency of lidar echo, leading to coupling between structure and micro-motion parameters. Therefore, it is difficult to extract parameters for micro-motion cones. We propose a new method for parameter extraction by combining the range profile of a micro-motion cone and the micro-Doppler time-frequency spectrum. This method can effectively decouple and accurately extract the structure and the micro-motion parameters of cones. Compared with traditional time-frequency analysis methods, the accuracy of parameter extraction is higher, and the information is richer. Firstly, the range profile of the micro-motion cone was obtained by using an FMCW (Frequency Modulated Continuous Wave) lidar based on simulation. Secondly, quantitative analysis was conducted on the edge features of the range profile and the micro-Doppler time-frequency spectrum. Finally, the parameters of the micro-motion cone were extracted based on the proposed decoupling parameter extraction method. The results show that our method can effectively extract the cone height, the base radius, the precession angle, the spin frequency, and the gravity center height within the range of a lidar LOS (line of sight) angle from 20° to 65°. The average absolute percentage error can reach below 10%. The method proposed in this paper not only enriches the detection information regarding micro-motion cones, but also improves the accuracy of parameter extraction and establishes a foundation for classification and recognition. It provides a new technical approach for laser micro-Doppler detection in accurate recognition.

Transversal Displacement Detection of an Arched Bridge with a Multimonostatic Multiple-Input Multiple-Output Radar.

Interferometric radars are widely used for monitoring civil structures. Bridges are critical structures that need to be constantly monitored for the safety of the users. In this work, a frequency-modulated continuous wave (FMCW) multiple-input multiple-output (MIMO) radar was used for monitoring an arched bridge in Catanzaro, Italy. Two measurements were carried out; a first standard measurement was made in a monostatic configuration, while a subsequent measurement was carried out in a multimonostatic configuration in order to retrieve the components of the deck displacement. A method that is able to predict the measurement uncertainty as a function of the multimonostatic geometry is provided, thereby aiming to facilitate the operators in the choice of the proper experimental setup. The multimonostatic measurement revealed a displacement along the horizontal direction that was four times higher than the one along the vertical direction, while the values reported in the literature correspond to a ratio of at most around 0.2. This is the first time that such a large ratio detected by radar has been reported; at any rate, it is compatible with the arched structure of this specific bridge. This case study highlights the importance of techniques that are able to retrieve at least two components of the displacement.

Towards mmWave Altimetry for UAS: Exploring the Potential of 77 GHz Automotive Radars

Precise altitude data are indispensable for flight navigation, particularly during the autonomous landing of unmanned aerial systems (UASs). Conventional light and barometric sensors employed for altitude estimation are limited by poor visibility and temperature conditions, respectively, whilst global positioning system (GPS) receivers provide the altitude from the mean sea level (MSL) marred with a slow update rate. To cater to the landing safety requirements, UASs necessitate precise altitude information above ground level (AGL) impervious to environmental conditions. Radar altimeters, a mainstay in commercial aviation for at least half a century, realize these requirements through minimum operational performance standards (MOPSs). More recently, the proliferation of 5G technology and interference with the universally allocated band for radar altimeters from 4.2 to 4.4 GHz underscores the necessity to explore novel avenues. Notably, there is no dedicated MOPS tailored for radar altimeters of UASs. To gauge the performance of a radar altimeter offering for UASs, existing MOPSs are the de facto choice. Historically, frequency-modulated continuous wave (FMCW) radars have been extensively used in a broad spectrum of ranging applications including radar altimeters. Modern monolithic millimeter wave (mmWave) automotive radars, albeit designed for automotive applications, also employ FMCW for precise ranging with a cost-effective and compact footprint. Given the technology maturation with excellent size, weight, and power (SWaP) metrics, there is a growing trend in industry and academia to explore their efficacy beyond the realm of the automotive industry. To this end, their feasibility for UAS altimetry remains largely untapped. While the literature on theoretical discourse is prevalent, a specific focus on mmWave radar altimetry is lacking. Moreover, clutter estimation with hardware specifications of a pure look-down mmWave radar is unreported. This article argues the applicability of MOPSs for commercial aviation for adaptation to a UAS use case. The theme of the work is a tutorial based on a simplified mathematical and theoretical discussion on the understanding of performance metrics and inherent intricacies. A systems engineering approach for deriving waveform specifications from operational requirements of a UAS is offered. Lastly, proposed future research directions and insights are included.

Telemetric angle and position sensing using millimeter-wave metamaterial and a frequency-modulated continuous-wave (FMCW) chip

Abstract. We present a fully telemetric sensor concept for angle and position measurement. It is based on single-layer millimeter-wave metamaterials that exhibit an anisotropic resonant behavior in interaction with incident electromagnetic waves. The angle of rotation is determined from the reflected millimeter waves of the metamaterial target using a millimeter wave chip transceiver. We use a metamaterial geometry exhibiting anisotropic Fano-type resonant behavior. The Fano-type resonance shows a distinct minimum in the reflection spectrum, even with a single layer of metamaterial. The metamaterial target is manufactured on a printed circuit board (PCB) laminate with low-cost standard manufacturing methods. We present an analytical model estimating the resonance frequency of the metamaterial used. The model allows us to assess whether with the Fano-type metamaterial unit cell structure resonance frequencies in the millimeter wave regime are achievable and compliant with standard PCB manufacturing design rules. We performed proof-of-principle experiments with the metamaterial targets and a vector network analyzer, assisted by a detailed analysis of the sensor effect by means of finite-element method calculations. Finally, we implemented a demonstrator setup containing a state-of-the-art frequency-modulated continuous-wave (FMCW) radar chip and a metamaterial target manufactured with standard PCB manufacturing processes.

Survey of Deep Learning-Based Methods for FMCW Radar Odometry and Ego-Localization

This paper provides an in-depth review of deep learning techniques to address the challenges of odometry and global ego-localization using frequency modulated continuous wave (FMCW) radar sensors. In particular, we focus on the prediction of odometry, which involves the determination of the ego-motion of a system by external sensors, and loop closure detection, which concentrates on the determination of the ego-position typically on an existing map. We initially emphasize the significance of these tasks in the context of radar sensors and underscore the motivations behind them. The subsequent sections delve into the practical implementation of deep learning approaches, strategically designed to effectively address the aforementioned challenges. We primarily focus on spinning and automotive radar configurations within the domain of autonomous driving. Additionally, we introduce publicly available datasets that have been instrumental in addressing these challenges and analyze the importance and struggles of current methods used for radar based odometry and localization. In conclusion, this paper highlights the distinctions between the addressed tasks and other radar perception applications, while also discussing their differences from challenges posed by alternative sensor modalities. The findings contribute to the ongoing discourse on advancing radar sensor capabilities through the application of deep learning methodologies, particularly in the context of enhancing odometry and ego-localization for autonomous driving applications.

Millimeter wave-based patient setup verification and motion tracking during radiotherapy.

Position verification and motion monitoring are critical for safe and precise radiotherapy (RT). Existing approaches to these tasks based on visible light or x-ray are suboptimal either because they cannot penetrate obstructions to the patient's skin or introduce additional radiation exposure. The low-cost mmWave radar is an ideal solution for these tasks as it can monitor patient position and motion continuously throughout the treatment delivery. To develop and validate frequency-modulated continuous wave (FMCW) mmWave radars for position verification and motion tracking during RT delivery. A 77GHz FMCW mmWave module was used in this study. Chirp Z Transform-based (CZT) algorithm was developed to process the intermediate frequency (IF) signals. Absolute distances to flat Solid Water slabs and human shape phantoms were measured. The accuracy of absolute distance and relative displacement were evaluated. Without obstruction, mmWave based on the CZT algorithm was able to detect absolute distance within 1mm for a Solid Water slab that simulated the reflectivity of the human body. Through obstructive materials, the mmWave device was able to detect absolute distance within 5mm in the worst case and within 3.5mm in most cases. The CZT algorithm significantly improved the accuracy of absolute distance measurement compared with Fast Fourier Transform (FFT) algorithm and was able to achieve submillimeter displacement accuracy with and without obstructions. The surface-to-skin distance (SSD) measurement accuracy was within 8mm in the anterior of the phantom. With the CZT signal processing algorithm, the mmWave radar is able to measure the absolute distance to a flat surface within 1mm. But the absolute distance measurement to a human shape phantom is as large as 8mm at some angles. Further improvement is necessary to improve the accuracy of SSD measurement to uneven surfaces by the mmWave radar.

Separation of noisy multitone signals based on variational mode decomposition

We have observed that Variational Mode Decomposition (VMD) exhibits instability in the denoising and separation of noisy multitone signals. Specifically, minor changes in factors such as signal-to-noise ratio, frequency spacing, sampling rate, and probability distribution can significantly impact the decomposition results. To address this issue, we have developed the Dual-VMD-correlation algorithm. This algorithm effectively mitigates the impact of beat effects when harmonics of closely spaced frequencies are superimposed, enabling stable denoising of noisy multitone signals and the separation of each individual tone signal. The algorithm holds promise for applications in frequency-modulated continuous wave laser detection. It can address challenges related to denoising laser echo signals interfered with by aerosols and the difficulty in separating backscatter interference from the target reflected signal spectrum.

Highly‐Linear and Wavelength‐Tunable Frequency‐Modulated Continuous‐Wave Hybrid‐Integrated Laser

AbstractFrequency‐sweeping laser sources play a critical role in the accurate 3D mapping of frequency‐modulated continuous‐wave (FMCW) LiDAR systems, whose chirp linearity greatly impacts the measurement precision. Although various pre‐distortion algorithms have been proposed to reduce chirp nonlinearity, these open‐loop methods can rapidly suppress the chirp nonlinearity but they are susceptible to environmental variations and often exhibit subpar performance in long‐range detection scenarios. In contrast, the electro–optical phase‐locked loop (EO‐PLL) serves as a real‐time linearizing solution for FMCW LiDAR, enabling high‐precision, high‐resolution, and long‐distance measurement capabilities. In this study, a III/V‐Si3N4 hybrid‐integrated external cavity laser (ECL) is used to generate an FMCW signal over a large wavelength tuning range of 68 nm. The maximum output optical power is 15.8 mW, and the intrinsic linewidth is 0.9 kHz. By modulating the phase shifter, an FMCW signal with a chirp bandwidth of 0.7 GHz is generated at a repetition rate of 1 kHz. The pre‐distortion algorithm is combined with the gain‐tunable EO‐PLL system to suppress the chirp nonlinearity and frequency noise across multiple wavelengths, leading to a remarkable improvement in range precision from 202 to 4.2 cm when targeting a distance of 200 m.

Efficient 2-D MUSIC algorithm for super-resolution moving target tracking based on an FMCW radar

Frequency modulated continuous wave (FMCW) radar is an advantageous sensor scheme for target estimation and environmental perception. However, existing algorithms based on discrete Fourier transform (DFT), multiple signal classification (MUSIC) and compressed sensing, etc., cannot achieve both low complexity and high resolution simultaneously. This paper proposes an efficient 2-D MUSIC algorithm for super-resolution target estimation/tracking based on FMCW radar. Firstly, we enhance the efficiency of 2-D MUSIC azimuth-range spectrum estimation by incorporating 2-D DFT and multi-level resolution searching strategy. Secondly, we apply the gradient descent method to tightly integrate the spatial continuity of object motion into spectrum estimation when processing multi-epoch radar data, which improves the efficiency of continuous target tracking. These two approaches have improved the algorithm efficiency by nearly 2–4 orders of magnitude without losing accuracy and resolution. Simulation experiments are conducted to validate the effectiveness of the algorithm in both single-epoch estimation and multi-epoch tracking scenarios.

Multichannel Gas Absorption Spectrometer Based on On-Chip Frequency-Modulated Continuous-Wave Interference System

Multichannel Gas Absorption Spectrometer Based on On-Chip Frequency-Modulated Continuous-Wave Interference System

Continuous adiabatic frequency conversion for FMCW-LiDAR

Continuous tuning of the frequency of laser light serves as the fundamental basis for a myriad of applications spanning basic scientific research to industrial settings. These applications encompass endeavors such as the detection of gravitational waves, the development of precise optical clocks, environmental monitoring for health and ecological purposes, as well as distance measurement techniques. However, achieving a broad tuning range exceeding 100 GHz along with sub-microsecond tuning times, inherent linearity in tuning, and coherence lengths beyond 10 m presents significant challenges. Here, we demonstrate that electro-optically driven adiabatic frequency converters utilizing high-Q microresonators fabricated from lithium niobate possess the capability to convert arbitrary voltage signals into frequency chirps with temporal resolutions below 1 µs. The temporal evolution of the frequency correlates accurately with the applied voltage signal. We have achieved to generate 200-ns-long frequency chirps with deviations of less than 1 % from perfect linearity without requiring supplementary measures. The coefficient of determination is R2>0.999\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$R^2>0.999$$\\end{document}. Moreover, the coherence length of the emitted light exceeds 20 m. To validate these findings, we employ the linear frequency sweeps for Frequency-Modulated Continuous Wave (FMCW) LiDAR covering distances ranging from 0.5 to 10 m. Leveraging the demonstrated nanosecond-level tuning capabilities, coupled with the potential to tune the eigenfrequency of lithium-niobate-based resonators by several hundred GHz, our results show that electro-optically driven adiabatic frequency converters can be used in applications that require ultrafast and flexible continuous frequency tuning characterized by inherent linearity and substantial coherence length.

Contactless and short‐range vital signs detection with doppler radar millimetre‐wave (76–81 GHz) sensing firmware

AbstractVital signs such as heart rate (HR) and respiration rate (RR) are essential physiological parameters that are routinely used to monitor human health and bodily functions. They can be continuously monitored through contact or contactless measurements performed in the home or a hospital. In this study, a contactless Doppler radar W‐band sensing system was used for short‐range, contactless vital sign estimation. Frequency‐modulated continuous wave (FMCW) measurements were performed to reduce the influence of a patient's micromotion. Sensing software was developed that can process the received chirps to filter and extract heartbeat and breathing rhythm signals. The proposed contactless sensing system eliminates the need for the contact electrodes, electric patches, photoelectric sensors, and conductive wires used in typical physiological sensing methods. The system operates at 76–81 GHz in FMCW mode and can detect objects on the basis of changes in frequency and phase. The obtained signals are used to precisely monitor a patient's HR and RR with minimal noise interference. In a laboratory setting, the heartbeats and breathing rhythm signals of healthy young participants were measured, and their HR and RR were estimated through frequency‐ and time‐domain analyses. The experimental results confirmed the feasibility of the proposed W‐band mm‐wave radar for contactless and short‐range continuous detection of human vital signs.

An 80–84.8 GHz PLL with auto-tracking Miller divider for FMCW applications

To generate high frequency signals for frequency modulated continuous wave (FMCW) application, components such as doubler, tripler or multiplier are usually utilized to process further signals from the low frequency voltage controlled oscillator (VCO). In this paper, a phase-locked loop (PLL) is intended to be the primary part used to generate frequency modulated continuous wave (FMCW) signals from 80 to 84.8 GHz by utilizing a fundamental frequency VCO. To divide those high frequency output signal and large output bandwidth, the auto-tracking Miller divider topology is proposed. This new topology can achieve 9 GHz locking range. In order to generate FMCW signals with a straight-line triangular chirp, the cascaded PLL is used. The integrated jitter from 1 kHz to 1 GHz is 887 fs for the cascaded PLL, while the single stage PLL used 1.264 ps. Moreover, when architecture with doubler or multiplier is used, the fundamental tone has an effect towards the next systems, while the cascaded PLL does not. It can be highlighted that this work achieves the best RMS-FMerror/BWchirp and RMS-FMerror/(BWchirp × fc × Tc) with value of 0.013% and 0.77e−12, respectively. The designed PLL for FMCW signal generator is implemented in 28 nm CMOS technology. By using a supply voltage of 1.2 V, the chip consumes power of 102 mW. Including all the chip pads, the implemented circuit occupies a silicon area of 1440 µm × 820 µm.

Synthetic Aperture Ladar Motion Compensation Method Based on Symmetric Triangle Linear Frequency Modulation Continuous Wave Segmented Interference

Synthetic Aperture Ladar (SAL) is a sensor that combines laser detection technology with synthetic aperture technology to achieve ultra-high-resolution imaging. Due to its extremely short wavelength, SAL is more sensitive to motion errors. The micrometer-level motion will affect the target’s azimuth focus. This article proposes an SAL motion compensation method based on Symmetric Triangular Linear Frequency Modulation Continuous Wave (STLFMCW) segmented interference, utilizing the characteristics of a triangular wave, to solve the problem of target azimuth defocusing. This article first establishes an STLFMCW echo signal model based on the SAL system under the influence of motion errors. Secondly, the radial velocity gradient along the azimuth direction is extracted using the triangular-wave-positive and -negative frequency modulation signals segmented interference method. Then, for the initial phase wrapping problem, the frequency spectral cross-correlation method is used to accurately estimate the initial radial velocity error. The radial velocity gradient is integrated along the azimuth to obtain the platform motion trajectory. Finally, the compensation functions are constructed to complete the echo Range Cell Migration (RCM) correction and residual phase compensation, resulting in a focused SAL image. This article verifies the practical effect of this method in eliminating motion errors using only one-period STLFMCW signal through simulation and real experiments. The quantitative results show that compared with the traditional method, the proposed method reduces the azimuth Peak Sidelobe Ratio (PSLR) by 8dB and the Integrated Sidelobe Ratio (ISLR) by 9 dB. This method has significant improvements and is of great significance for high-resolution FMCW SAL imaging.

Fully Integrated 24-GHz 1TX-2RX Transceiver for Compact FMCW Radar Applications.

A fully integrated 24-GHz radar transceiver with one transmitter (TX) and two receivers (RXs) for compact frequency modulated continuous wave (FMCW) radar applications is here presented. The FMCW synthesizer was realized using a fractional-N phase-locked loop (PLL) and programmable chirp generator, which are completely integrated in the proposed transceiver. The measured output phase noise of the synthesizer is -80 dBc/Hz at 100 kHz offset. The TX consists of a three-bit bridged t-type attenuator for gain control, a two-stage drive amplifier (DA) and a one-stage power amplifier (PA). The TX chain provides an output power of 13 dBm while achieving <0.5 dB output power variation within the range of 24 to 24.25 GHz. The RX with a direct conversion I-Q structure is composed of a two-stage low noise amplifier (LNA), I-Q generator, mixer, transimpedance amplifier (TIA), a two-stage biquad band pass filter (BPF), and a differential-to-single (DTS) amplifier. The TIA and the BPF employ a DC offset cancellation (DCOC) circuit to suppress the strong reflection signal and TX-RX leakage. The RX chain exhibits an overall gain of 100 dB. The proposed radar transceiver is fabricated using a 65 nm CMOS technology. The transceiver consumes 220 mW from a 1 V supply voltage and has 4.84 mm2 die size including all pads. The prototype FMCW radar is realized with the proposed transceiver and Yagi antenna to verify the radar functionality, such as the distance and angle of targets.

Frequency modulated continuous wave and time of flight LIDAR with single photons: a comparison.

In this study, we compare the two prominent Light Detection and Ranging (LIDAR) technologies: Frequency Modulated Continuous Wave (FMCW) and Time of Flight (ToF). By constructing a setup capable of performing both LIDAR methods at the single photon level using a Superconducting Nanowire Single Photon Detector (SNSPD), we compare the accuracy and investigate the dependence of the resulting images and accuracy on the signal power and the corresponding signal to noise ratio. We demonstrate that both LIDAR methods are able to reconstruct 3D environments with a signal-to-noise ratio as low as 0.03. However, the accuracy of FMCW LIDAR is shown to degrade in the low photon regime, while ToF LIDAR accuracy is shown to be stable across the same range. Lastly, we use a median de-noising convolution filter to effectively combat the typical "salt and pepper" noise found in LIDAR images, further enhancing the performance of both methods.

Interpolation linearization predistortion technology for FMCW LiDAR.

Frequency-modulated continuous-wave (FMCW) laser ranging technology is an important development direction of light detection and ranging (LiDAR) for the future. It has the advantages of high ranging accuracy, high resolution, wide range, and no ranging blind zone. A distributed feedback laser can be used as a high-quality light source in FMCW laser ranging systems because of its wide frequency modulation range, simple frequency modulation mode, and small package. Aiming at the nonlinear problem of the laser in the frequency modulation process, we present a novel, to our knowledge, predistortion algorithm based on interpolation linear fitting to enhance the linearity of the FMCW laser for LiDAR systems. The sweeping frequency curve of the laser is obtained using the Hilbert transform, and then the sweeping frequency curve is segmented and linearly fitted to calculate the interpolated driving current signals corresponding to linear frequency changes. Using this method, we achieved a nonlinearity error lower than 1e-7 for the swept-frequency signal and demonstrated that the ranging error is less than ±5c m at a distance of 100m in the FMCW system. In addition, we also demonstrated a 3D static object point cloud with high imaging quality. Compared with the iterative predistortion algorithm based on the function fitting, this method avoids fitting errors at the inflection points of the triangular swept-frequency signal and the complexity of multiple iterative calculations. It enables rapid generation of pre-distorted swept-frequency signals, making it particularly suitable for real-time applications of automotive LiDAR systems.

Lightweight high output power C-band FMCW SIMO radar system for small drones

ABSTRACT Radar technology is critical for subsurface sensing applications since it enables the extraction of surface information remotely without being affected by environmental factors such as illumination and weather conditions. Hence, their usage on drones has become extremely essential as these vehicles need to accumulate data while flying over different and possibly difficult-to-access terrains regardless of visibility conditions. A frequency-modulated continuous-wave (FMCW) single input multiple output (SIMO) radar system is developed to provide near real-time radar images onboard. The system is comprised of a transceiver module, specifically designed for synthetic aperture radar (SAR) applications, to produce images in real-time. GPU-based computation is utilized to optimize processing power, while enabling range profiles to be generated and SIMO SAR images to be created during flight. The system can be easily mounted on UAV or multirotor systems. The detection and ranging performance of the system are examined by performing several experiments at the campus. Objects up to 100 metres are successfully detected by the radar system. The system demonstrates excellent ability to generate 2D SIMO SAR images, effectively identifying building and guard-box exteriors that are consistent with images from Google Earth.