Disclosed is a method and a system for retrieving a location of a base point of a wheeled vehicle in a local coordinate system of a tridimensional sensor mounted on the vehicle. The method includes acquiring point cloud frames while the wheeled vehicle is moving along a straight path and a curved path and a point cloud representative of a portion of the vehicle, computing a main direction vector, a main direction line and a location of an instantaneous centre of rotation of the wheeled vehicle in the local coordinate system, and retrieving the location of the base point.

The present disclosure provides a circuitry for estimating a mounting angle of a radar sensor with respect to a mobile platform coordinate system. The circuitry is configured to estimate a first velocity of a first radar sensor, based on first radar detection data obtained from the first radar sensor, wherein the first radar detection data is indicative of at least two targets; estimate a second velocity of a second radar sensor, based on second radar detection data obtained from the second radar sensor, wherein the second radar detection data is indicative of at least two targets, and estimate the mounting angle of the first radar sensor, based on the estimated first velocity, the estimated second velocity, a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system and a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system.

The present disclosure provides a circuitry for estimating a mounting angle of a radar sensor with respect to a mobile platform coordinate system. The circuitry is configured to estimate a first velocity of a first radar sensor, based on first radar detection data obtained from the first radar sensor, wherein the first radar detection data is indicative of at least two targets; estimate a second velocity of a second radar sensor, based on second radar detection data obtained from the second radar sensor, wherein the second radar detection data is indicative of at least two targets, and estimate the mounting angle of the first radar sensor, based on the estimated first velocity, the estimated second velocity, a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system and a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system.

A movement-distance measuring apparatus is provided with: an antenna, a phase detection circuit, a phase-shift calculation circuit, and a movement-distance calculation circuit. The antenna transmits a radio wave toward a plurality of reflectors arranged at constant intervals along a moving path of a moving object, and receives a reflected wave from the reflectors. The phase detection circuit detects a phase of the reflected wave received by the antenna. The phase-shift calculation circuit calculates a phase shift based on the phase detected by the phase detection circuit. The movement-distance calculation circuit calculates a movement distance of the moving object, based on the phase shift calculated by the phase-shift calculation circuit, and based on the interval of the reflectors.

A method of determining kinetic information may include: receiving a plurality of raw information related to a plurality of objects using a radar device provided in a vehicle; obtaining, by analyzing the plurality of raw information, a plurality of candidate kinetic information related to the vehicle; estimating, through spatial filtering, current first kinetic information related to the vehicle from the plurality of candidate kinetic information; and correcting, using a kinetic model, the estimated current first kinetic information based on current first kinetic information, wherein the current first kinetic information is predicted from previous first kinetic information related to the vehicle using a kinetic model.

A method of determining kinetic information may include: receiving a plurality of raw information related to a plurality of objects using a radar device provided in a vehicle; obtaining, by analyzing the plurality of raw information, a plurality of candidate kinetic information related to the vehicle; estimating, through spatial filtering, current first kinetic information related to the vehicle from the plurality of candidate kinetic information; and correcting, using a kinetic model, the estimated current first kinetic information based on current first kinetic information, wherein the current first kinetic information is predicted from previous first kinetic information related to the vehicle using a kinetic model.

The various technologies presented herein relate to utilizing direction of arrival (DOA) data to determine various flight parameters for an aircraft A plurality of radar images (e.g., SAR images) can be analyzed to identify a plurality of pixels in the radar images relating to one or more ground targets. In an embodiment, the plurality of pixels can be selected based upon the pixels exceeding a SNR threshold. The DOA data in conjunction with a measurable Doppler frequency for each pixel can be obtained. Multi-aperture technology enables derivation of an independent measure of DOA to each pixel based on interferometric analysis. This independent measure of DOA enables decoupling of the aircraft velocity from the DOA in a range-Doppler map, thereby enabling determination of a radar velocity. The determined aircraft velocity can be utilized to update an onboard INS, and to keep it aligned, without the need for additional velocity-measuring instrumentation.

A radar module determines a two-dimensional velocity vector of a heavy-duty vehicle with respect to a ground plane supporting the vehicle. The system has a radar transceiver arranged to transmit and to receive a radar signal, via an antenna array, wherein the antenna array is configured to emit the radar signal in a first direction and in a second direction different from the first direction. The radar module has a processing device to detect first and second radar signal components of the received radar signal based on their respective angle of arrival, AoA, where the first radar signal component has an AoA corresponding to the first direction and the second radar signal component has an AoA corresponding to the second direction. The processing device determines the two-dimensional velocity vector of the heavy-duty vehicle based on respective Doppler frequencies of the first and second radar signal components.

A radar module determines a two-dimensional velocity vector of a heavy-duty vehicle with respect to a ground plane supporting the vehicle. The system has a radar transceiver arranged to transmit and to receive a radar signal, via an antenna array, wherein the antenna array is configured to emit the radar signal in a first direction and in a second direction different from the first direction. The radar module has a processing device to detect first and second radar signal components of the received radar signal based on their respective angle of arrival, AoA, where the first radar signal component has an AoA corresponding to the first direction and the second radar signal component has an AoA corresponding to the second direction. The processing device determines the two-dimensional velocity vector of the heavy-duty vehicle based on respective Doppler frequencies of the first and second radar signal components.

There is provided a radar device including: a transmitter including a first antenna which, in operation, transmits a radar signal; a receiver including a second antenna which, in operation, receives an echo signal that is the radar signal reflected from an object; a stationary object boundary detector which, in operation, detects a boundary of a first region in which a stationary object exists by using the echo signal; and a stationary object boundary variations detector which, in operation, detects a second region in which temporal changes are observed in the boundary of the first region and detects a third region that is the region moving in a cross-range direction, as a first moving object.