Considerations on radar localization in multi-target environments

Rabe, Hanno; Denicke, Eckhard; Armbrecht, Gunnar; Musch, Thomas; Rolfes, Ilona

doi:10.5194/ars-7-5-2009

Cited by 11 publications

(10 citation statements)

References 5 publications

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“…Geometrically, ghost objects can appear in lateration networks, which represents a wrong data association of the sensor's object lists. A precise derivation, how ghost objects appear, is given by Rabe et al [6].…”

Section: Methodsmentioning

confidence: 99%

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Evaluation of a Novel Radar Based Scanning Method

Fritsche

Wagner²

2016

Journal of Sensors

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The following paper introduces a novel scanning method for mapping and localization purposes in mobile robotics. Our method is based on a rotating monostatic radar network, which determines the positions of objects around the scanner via a continuously running lateration algorithm. The estimation of surfaces with ultrawideband radar networks has been studied experimentally in lab environments, especially with lateration, envelopes of spheres, and SEABED algorithms. But we do not see a link to the field of mapping and localization of mobile robots, where laser scanners are dominating. Indeed, only few research groups use radars for mapping and localization, but their applied sensor principle is based on a rotating focused radar beam. Consequently, only 2D radar scanners are known inside the robotic world and methods for 3D scanning with radars need to be investigated. This paper will derive the theoretical background of the sensor principle, which is based on a radar network on a rotating joint, and discuss its erroneous influences. We were performing first scans of standard geometries and deriving a model in order to compare theoretical and experimental measurement results. Furthermore, we present first mapping approaches and a simulation of a scanner with multiple sensors.

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Section: Methodsmentioning

confidence: 99%

“…The range measurement accuracy is defined by the root-mean-square (rms) measurement error [10, p. 167]. According to (6), the range measurement error is formed of the root-sum-square of three error components. The dominating component is the S/N-dependent random range measurement error RN .…”

Section: Considerations On Erroneous Influences On Position Estimatiomentioning

confidence: 99%

Evaluation of a Novel Radar Based Scanning Method

Fritsche

Wagner²

2016

Journal of Sensors

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“…This approach is an alternative to equation (12) or (13) and does not need any adjustment of tolerances to obtain full accuracy [Fölster and Rohling, 2005;Rabe et al, 2009;Huang and Narayanan, 2014]. Specialized minimization methods [Press et al, 1989] are optional since the minima are easy to find, as shown in Figure 4.…”

Section: 1002/2016rs005974mentioning

confidence: 99%

“…One could combine monostatic and bistatic radar and obtain the target position with only two platforms [ Rabe et al , ], but the problem with the strong eigenecho is then unavoidable.…”

Section: Target Location At Low Frequencies Using Three Platformsmentioning

confidence: 99%

“…Low-frequency radar must then be adapted to handle both the directivity and the bandwidth problem. There is the possibility of using geometrical methods, or trilateration [Groginsky, 1959;Lübbert, 2005;Fölster and Rohling, 2005;Rabe et al, 2009;Fritsche and Wagner, 2015;Huang and Narayanan, 2014;Samokhin et al, 2014;Brida and Machaj, 2013], for the azimuth problem. This approach requires some combinatorics in order to handle the ordering and the confluence of radar echoes.…”

Section: Introductionmentioning

confidence: 99%

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A study of some FMCW radar algorithms for target location at low frequencies

Sandström

Akeab

2016

Radio Sci.

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FMCW (frequency‐modulated continuous wave) radar is a simple and inexpensive technique for target location. The resolution is given by the available bandwidth and the directivity of the antenna. Resolution is not a problem at high frequencies, while at low frequencies (the HF and VHF band), and especially for mobile platforms, the required size of the antenna becomes impractical. In order to obtain the bearing of the targets, without relying on directivity, one may use a simple two‐dimensional trilateration method that involves several platforms. Since this approach covers an area, rather than a sector, the range is reduced to some tens of kilometers. The VHF band and a bandwidth below 10 MHz is a good choice if the priority is to reduce radio interference. Fast targets, corresponding to a significant Doppler shift, have not been considered. The problem of ghost targets has been studied for both monostatic and multistatic radar. When there is a confluence of echoes, more bandwidth is required to maintain the accuracy of a few meters that is normally obtained in the simulation.

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Scanning Techniques with Low Bandwidth Radar for Robotic Mapping and Localization

Fritsche

Wagner

2016

Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Rev

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Considerations on radar localization in multi-target environments

Cited by 11 publications

References 5 publications

Evaluation of a Novel Radar Based Scanning Method

Evaluation of a Novel Radar Based Scanning Method

A study of some FMCW radar algorithms for target location at low frequencies

Scanning Techniques with Low Bandwidth Radar for Robotic Mapping and Localization

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