Terrain imaging millimetre wave radar

Scheding, Steve; Brooker, Graham; Bishop, Mark; Hennessy, R.; Maclean, A.

doi:10.1109/icarcv.2002.1234782

Cited by 10 publications

(6 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Typically, millimeter-wave radar in the mining industry has been limited to slope stability monitoring (Macfarlane & Robertson, 2004;Reeves, Stickley, Noon, & Longstaff, 2000) (and systems by GroundProbe and Reutech) or imaging large underground cavities [stopes, ore passes (Brooker, Hennesy, Scheding, & Bishop, 2005;Noon et al, 2002)], although there is a growing focus on its application to environmental mapping, volume estimation, and machine component tracking (e.g., bucket localization). In general, this mining focus has been spearheaded by work done at the Australian Centre for Field Robotics and CRCMining (Brooker et al, 2005;Brooker, Hennesy, Lobsey, Bishop, & WidzykCapehart, 2007;Scheding, Brooker, Hennesy, Bishop, & Maclean, 2002;Widzyk-Caperhart, Brooker, Hennesy, Lobsey, & Scheding, 2006). Scanning laser range finders operating in the (near) infrared have found more widespread application in the mining environment, arguably due to the lower sensor costs and maturity of the technology.…”

Section: Introductionmentioning

confidence: 99%

Performance of laser and radar ranging devices in adverse environmental conditions

Ryde

Hillier

2009

Journal of Field Robotics

View full text Add to dashboard Cite

A comparative evaluation of millimeter-wave radar and two-dimensional scanning lasers in dust and rain conditions for sensor applications in field robotics is presented. A robust and reliable method for measuring the level of suspended dust (or other obscurant media) by determining the transmission coefficient is developed and used for quantitative assessment of sensor performance. The criteria of target acquisition reliability, precision, and accuracy under varying environmental conditions are assessed via sensor operation in a controlled environment. This environment generated dust and rain of varying densities. Sensor performance is also assessed for the potential effect on digital terrain mapping and haul truck localization due to sensor-specific behaviors in these conditions (e.g., false targets, increased noise). Trials on a research electric face shovel are conducted to test observed behaviors. It is concluded that laser scanners are suitable for environments with transmissions exceeding 92%-93%/m for targets closer than 25 m. The radar remained relatively unaffected by the generated conditions of rain (50-70 mm/h) and dust (10-m visibility); however, its accuracy (0.1 m with a corner reflector and 0.3 m on a haul truck), free-space clutter, and scan rate were insufficient for locating unmodified haul trucks for this application. C 2009 Wiley Periodicals, Inc.

show abstract

Section: Introductionmentioning

confidence: 99%

Performance of laser and radar ranging devices in adverse environmental conditions

Ryde

Hillier

2009

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…The Brownout Landing Aid System Technology (BLAST) presented in [22] uses a 94 GHz MMW radar, which is adapted from a radar missile seeker: its cost remains incompatible with UAV-based low-cost applications. Similar approaches can be found in the mobile robotics domain for 3D perception of the environment [24], [25].…”

Section: D Mapping Principle With Radarmentioning

confidence: 98%

Design of lightweight airborne MMW radar for DEM generation. Simulation results

Rouveure¹,

Tourrette²,

Jaud

et al. 2017

Robotics and Autonomous Systems

View full text Add to dashboard Cite

There is a growing need for lightweight airborne platforms that could provide precise information about the environment (topography, presence of obstacles, etc.) filling the data gap between aerial/satellite remote sensing and terrestrial systems. A major limitation of classical sensors such as vision or laser is that they are ineffective in degraded visual conditions. Millimeter-wave radar provides an alternative solution to overcome the shortcomings of optical solutions, because in the microwave range, data can be acquired independently of atmospheric conditions and time of the day. The intended application of a new radar sensor is the construction of digital elevation models of the overflown environments. As the design of new radar sensors for light airborne platforms is subject to specific technological constraints, a simulator of airborne radar surveys is developed. The objective of the simulator is to help the designer in defining the main parameters of the future airborne radar, and in developing radar signal processing algorithms.

show abstract

“…Another source of noise which affects the range spectra is the phase noise in (7). Phase noise is generated by the path leakage of the transmitted signal to the mixer, resulting in a spectrum of frequencies with finite bandwidth instead of a single beat frequency.…”

Section: B Range Noise Estimationmentioning

confidence: 99%

“…This linearly increasing chirp is transmitted via the antenna. An FMCW radar measures the distance to an object by mixing the received signal with a portion of the transmitted signal [7]. The mixer output (point in Fig.…”

Section: Fmcw Radar Operationmentioning

confidence: 99%

Predicting Millimeter Wave Radar Spectra for Autonomous Navigation

Jose¹,

Adams

Mullane

et al. 2010

IEEE Sensors J.

View full text Add to dashboard Cite

Millimeter Wave (MMW) radars are currently used as range measuring devices in applications such as automotive driving aids (Langer and Jochem, 1996), (Rohling and Mende, 1996), the mapping of mines (Brooker et al., 2005) and autonomous field robotics (Brooker, 2001), (Langer, 1996). This recent interest is largely due to the advantages MMW radars offer over other range measuring sensors, as their performance is less affected by dust, fog, rain or snow and ambient lighting conditions. MMW radars can provide received signal strength values, at all discrete range intervals, within the working range of the radar (Clark and Durrant-Whyte, 1997), (Scheding et al., 2002). The received power versus range spectra hence contain useful range to target information, but are also corrupted by noise. User defined stochastic algorithms can then be implemented, which exploit this rich data to improve object detection and mapping performance. This is in contrast to many other range measuring devices which typically internally threshold received signals, to provide single hard decisions only, on the estimated range to objects (Mullane, 2007). This paper addresses the issues of predicting the power-range spectra from MMW radars which use the Frequency Modulated Continuous Wave (FMCW) range estimation technique. This is important for two reasons. First, in automotive and autonomous robotic applications, such sensors are used in conjunction with vehicle navigation and map state estimation filters. This is so that (typically uncertain) vehicle motion knowledge can be optimally fused with the noisy sensor information, to infer estimates of the state of interest (typically, the vehicle's pose (position and orientation) and/or information of the surrounding object locations). Hence, it is essential that predicted power versus range spectra can be computed, to apply a Bayesian recursive estimation framework, based on previous measurements, and uncertain vehicle motion information. Second, it is extremely useful to be able to simulate MMW radar data, given certain environmental configurations. This aids the development of reliable object detection algorithms, based on theoretical sensor and noise models, which can then be applied more effectively to real MMW radar data.Index Terms-Millimeter wave RADAR, power range spectra, autonomous robotics.

show abstract

Terrain imaging millimetre wave radar

Cited by 10 publications

References 2 publications

Performance of laser and radar ranging devices in adverse environmental conditions

Performance of laser and radar ranging devices in adverse environmental conditions

Design of lightweight airborne MMW radar for DEM generation. Simulation results

Predicting Millimeter Wave Radar Spectra for Autonomous Navigation

Contact Info

Product

Resources

About