Experimental Analysis of Radar Odometry by Commercial Ultralight Radar Sensor for Miniaturized UAS

被引：20
|
作者：
Scannapieco, Antonio Fulvio [1 ]
Renga, Alfredo [1 ]
Fasano, Giancarmine [1 ]
Moccia, Antonio [1 ]
机构：
[1] Univ Naples Federico II, Dept Ind Engn, Piazzale V Tecchio 80, I-80125 Naples, Italy
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2018年 / 90卷 / 3-4期
关键词：
UAS; Radar; Odometry; CFAR; ASSIGNMENT; ALGORITHMS;
D O I：
10.1007/s10846-017-0688-1
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Autonomous navigation of miniaturized Unmanned Aircraft Systems (UAS) in complex environments, when Global Positioning System is unreliable or not available, is still an open issue. This paper contributes to that topic exploring the use of radar-only odometry by existing commercial ultralight radars. The focus is set on an end-to-end Multiple-Target Tracking strategy compliant with desired sensor and platform, which exploits both range and bearing measurements provided by the radar. A two-dimensional odometry approach is then implemented. Main results show real-time capabilities and standard deviation of errors in Forward and Cross-range directions smaller than 1.50 m and 3.00 m, respectively. Field test data are also used to discuss the potential of this technique, challenging issues, and future improvements.
引用
收藏
页码：485 / 503
页数：19
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