Autonomous Navigation System of Ground Transport Based on Doppler Sensors for Measuring Vector Velocity
A method for processing the signal of Doppler radio frequency sensors is given, which makes it possible to measure the ground speed vector of surface vehicles (cars, tractors, autocars, etc.). The possibility of constructing a real car route in a rectangular coordinate system is shown. Special algorithms for signal processing are considered which substantially increase the accuracy of determining the Doppler frequencies of the sensors.
KeywordsDoppler effect ground speed autonomous navigation system ultrahigh frequencies spectral processing cross-correlation function
- 1.M. Kees, M. Weinberger, and J. Detlefsen, “Doppler measurement of lateral and longitudinal velocity for automobiles at millimeter-waves,” Int. Microwave Symp. IEEE MTT-S, Atlanta, GA. (1993), pp. 805–808.Google Scholar
- 2.Y. Chen, P. Vesselin, X. Jilkov, and Li Rong, “On-road target tracking using radar and image sensor based measurements,” 12th Int. Conf. Information Fusion, Seattle, WA, USA (2009), pp. 2092–2098.Google Scholar
- 4.M. Lundgren, E. Stenberg, L. Svensson, and L. Hammarstrand, “Vehicle self-localization using off-the-shelf sensors and a detailed map,” IEEE Intelligent Vehicles Symp. (IV), Dearborn, Michigan, USA (2014), pp. 522–528.Google Scholar
- 6.Ch. Xu, L. Daniel, E. Hoare, et al., “Comparison of speed over ground estimation using acoustic and radar Doppler sensors,” Proc. 11th Europ. Radar Conf., Rome, Italy, 2014, pp. 189–192.Google Scholar
- 7.D. V. Khablov, “Correlation method of processing signals of microwave Doppler sensors,” Izmer. Tekhn., No. 5, 65–68 (2017).Google Scholar