A non-invasive microwave measuring device (01) is for calculating the flow rate of a fluid. The device (01) includes a non-invasive microwave fluid velocity measuring device (03) having a patch antenna or horn antenna to generate a microwave signal (14) that is transmitted at a specific elevation angle α towards the fluid surface (16) and to receive the reflected microwave signal (15) from the fluid surface (16) with a doppler shift frequency. The measuring device (03) is suspended from a drone (02) by a suspension system (04). The suspension system (04) eliminates vibration noise generated by the drone (02). At least one vibration sensor eliminates false velocity readings. At least one angle sensor compensates for Pitch, Roll and Yaw from the drone (02) that influence the fluid surface velocity measurement.

An airborne radar system and signal interpretation approach that detects slow moving ground targets using angle and Doppler of Keystone formatting process, and is referred to as Angle-Doppler Keystone Formatting (ADK). ADK collapses the clutter ridge to a constant Doppler or to a constant angle, thereby transforming a clutter ridge in angle-Doppler space into a horizontal line of constant Doppler or a vertical line of constant angle. Clutter may then be filtered more effectively, such as by using multiple beams as the source of STAP training data or by using multiple Doppler bins.

Provided is a method for movement estimation and movement compensation of a target object that can be applied without introducing restrictions on antenna placement. The present invention provides a radar apparatus including: a radar signal transmission-reception unit acquiring a radar signal acquired by measurement using a transmission antenna and a reception antenna, and a measurement time of the radar signal; a velocity candidate control unit holding a setting of a velocity candidate set of a target object; a velocity estimation imaging unit generating a radar image applied with movement compensation by using each velocity candidate; a velocity estimation unit selecting an estimated velocity from a velocity candidate set, based on comparison of each generated radar image; and an output image imaging unit generating a final output image applied with movement compensation using an estimated velocity.

A scan aggregator and filter for an autonomous vehicle includes a plurality of radar sensors, where each radar sensor performs a plurality of individual scans of a surrounding environment to obtain data in the form of a radar point cloud including a plurality of detection points. The scan aggregator and filter also includes an automated driving controller in electronic communication with the plurality of radar sensors. The automated driving controller is instructed to filter each of the individual scans to define a spatial region of interest and to remove the detection points of the radar point cloud that represent moving objects based on a first outlier-robust model estimation algorithm. The automated driving controller aggregates a predefined number of individual scans together based on a motion compensated aggregation technique to create an aggregated data scan and applies a plurality of density-based clustering algorithms to filter the aggregated data scan.

A method (100; 200) for digital signal processing (S(t)) of a pulse and scanning radar during an observation of a coastal zone in land/sea detection mode, the signal being sampled according to a two-dimensional temporal map, a distance dimension (d) and a recurrence dimension (rec), comprising: selecting a digital terrain model file (MNT) of the observed coastal zone; transforming (110; 210) the temporal map and/or the digital terrain model file to obtain a transformed temporal map and/or a transformed digital terrain model file the data of which are expressed in a common reference frame; constructing (120) a mask (MT; MF) from the transformed digital terrain model file; and applying (130) the mask to the samples (E(d, rec); E(d, Δf)) of the map associated with the transformed temporal map, in such a way as to obtain filtered samples (Ef(d, rec); Ef(d, Δf)).

A radar device is mounted on a vehicle, which is a moving object, and includes a doppler correction phase-rotation controller and a phase rotator. Based on the speed of the vehicle, the doppler correction phase-rotation controller calculates a Doppler correction phase-rotation amount for correcting a Doppler frequency due to movement of the vehicle. By using the Doppler correction phase-rotation amount, the phase rotator pre-corrects Doppler frequency components with respect to a radar transmission signal in each transmission interval of the radar transmission signal.

A method and an apparatus for removing a motion artifact of a radar are provided. The method includes: obtaining a radar signal for a target to be measured by the radar; measuring posture of the radar; estimating a motion artifact caused by movement of the radar based on a vertical angle, a horizontal angle based on the posture of the radar, and displacement; and correcting the radar signal according to the motion artifact. The posture of the radar includes the vertical angle at which the radar signal is radiated in a vertical direction about a central axis, the horizontal angle at which the radar signal is radiated in a horizontal direction about the central axis, and the displacement of the radar according to the movement of the radar.

A method and apparatus for processing a transceiver signal (115) detected by a transceiver (110). The method includes obtaining (51) a processed signal from the transceiver signal (115), the processed signal having frames (200, 300) corresponding to respective time intervals (t1, t2, t3, t4), wherein the frames define bins (210, 310) configured according to a quantized resolution (dr) of the transceiver signal (115). The method further includes obtaining (S2) data related to a relative motion of the transceiver (110) during a time interval (t1, t2, t3, t4) and initializing (S3) a residual distance to zero. For each frame (200, 300) and each respective time interval (t1, t2, t3, t4) the method further includes determining (S4) a shift distance (ds1, ds3) corresponding to a sum of the residual distance and a distance value (d1, d2) corresponding to a relative motion of the transceiver (110) in the respective time interval (t1, t2, t3, t4) and rounding (S5) the determined shift distance (ds1, ds3) with respect to the distance resolution (dr) to a rounded shift distance. The method then further includes updating (S6) the residual distance based on a difference between the determined shift distance (ds1, ds3) and the rounded shift distance, and generating (S7) an adjusted frame (304) by shifting the bins (310) of the frame by the rounded shift distance to account for relative transceiver motion with respect to the object (150) in the respective time interval. The method finally includes processing (S8) the signal by integrating bin values (210, 310) over the adjusted frames (300).

An airborne radar system and signal interpretation approach that detects slow moving ground targets using angle and Doppler of Keystone formatting process, and is referred to as Angle-Doppler Keystone Formatting (ADK). ADK collapses the clutter ridge to a constant Doppler or to a constant angle, thereby transforming a clutter ridge in angle-Doppler space into a horizontal line of constant Doppler or a vertical line of constant angle. Clutter may then be filtered more effectively, such as by using multiple beams as the source of STAP training data or by using multiple Doppler bins.

According to an example aspect of the present invention, there is provided monitoring living facilities by a multichannel radar. A field of view within a frequency range from 1 to 1000 GHz, for example between 1 to 30 GHz, 10 to 30 GHz, 30 to 300 GHz or 300 to 1000 GHz, is scanned using a plurality of radar channels of the radar. Image units comprising at least amplitude and phase information are generated for a radar image on the basis of results of the scanning. Information indicating at least one error source of a physical movement of the radar and interrelated movements of targets within the field of view are determined on the basis of the image units. Results of the scanning are compensated on the basis of the determined error source. A radar image is generated on the basis of the compensated results.