A sensor aiming device includes: a target positional relationship processing unit for outputting positional relationship information of first and second targets; a sensor observation information processing unit configured to convert the observation result of the first and second targets into a predetermined unified coordinate system according to a coordinate conversion parameter, perform time synchronization at a predetermined timing, and extract first target information indicating a position of the first target and second target information indicating a position of the second target; a position estimation unit configured to estimate a position of the second target using the first target information, the second target information, and the positional relationship information; and a sensor correction amount estimation unit configured to calculate a deviation amount of the second sensor using the second target information and an estimated position of the second target and estimate a correction amount.

An object information acquisition unit acquires object information including an object distance between a radar device and a reflection object and an object azimuth angle at which the reflection object is located. A roadside object extraction unit extracts roadside object information on a roadside object from the object information. An axis deviation angle estimation unit estimates a vertical axis deviation angle from the roadside object information. The vertical axis deviation angle is an angle of deviation of an actual mounting direction from a reference mounting direction in a vertical direction. The actual mounting direction is an actual direction of the radar device, and the reference mounting direction is a direction of the radar device when the radar device is mounted in a reference state.

An axis deviation detection device detects a deviation of a central axis of an in-vehicle measurement device that executes measurement using radar waves. The axis deviation detection device performs correction of data that are obtained by the measurement device, to generate first data. Furthermore, the axis deviation detection device generates second data, based on behavior of the vehicle as measured by a sensor unit. The axis deviation detection device then detects the deviation of the central axis, from the first and second data.

A method for calibrating a radar system includes generating an RF oscillator signal and distributing the RF oscillator signal to a plurality of phase shifters each providing a respective phase-shifted RF oscillator signal; receiving the phase-shifted RF oscillator signals by corresponding radar chips and radiating the phase-shifted RF oscillator signal via a first RF output channel of a first one of the radar chips; receiving a back-scattered signal by at least one RF input channel of each radar chip and generating a plurality of base-band signals by down-converting the received signals into a base band using the phase-shifted RF oscillator signals received by the corresponding radar chips; determining a phase for each base-band signal; and adjusting the phase shifts caused by the phase shifters such that the phases of the base-band signals match a predefined phase-over-antenna-position characteristic.

A method for calibrating a sensor unit disposed on a load-bearing device of an industrial truck includes the steps of: determining a first position of the sensor unit relative to an object located remotely from the industrial truck, displacing the sensor relative to the object in a first direction by a first distance, determining a second position of the sensor unit relative to the object, determining the spatial position or arrangement of the sensor unit relative to the load-bearing device based on the first and second positions, the direction of movement, and the distance between the first and second positions.

A radar device. The radar device includes a transceiver apparatus that comprises at least three transmit antennas and at least three receive antennas or comprises at least two transmit antennas and at least two receive antennas having two-dimensional beam forming, wherein the transceiver apparatus is configured to emit radar radiation using the transmit antennas, to receive radar radiation using the receive antennas, and to generate radar data on the basis of the received radar radiation. The radar device further comprises an evaluation apparatus that is configured to establish whether radar radiation has propagated between the transceiver apparatus and the at least one target either directly or at least partly by way of at least one reflection by evaluating the radar data using a multitarget angle estimation model, wherein the multitarget angle estimation model takes the propagation of radar radiation along at least four paths into consideration.

A three-dimensional (3D) terrain reconstruction method for a scoured area around bridge pier foundation based on a mechanical scanned imaging sonar includes scanning an overall terrain of a scoured area around bridge pier foundation with a sonar from different azimuths to acquire n sonar images of a foundation scouring terrain; intercepting multiple analysis sections from each of acquired sonar images at a same distance; extracting key parameters of upper and lower edges on a terrain imaging strip in each of the analysis sections in the image, and transforming extracted parameters to a 3D space, a fan-shaped beam surface of the sonar being represented with a fan-shaped arc; recognizing a scour terrain profile in the analysis section; recognizing terrain profiles one by one, and respectively extracting spatially scattered 3D coordinate data; and performing interpolation and fitting on the spatially scattered data, thus implementing 3D reconstruction for the foundation scouring terrain.

A method for calibrating a vehicular radar sensing system includes disposing two spaced apart calibrating radars at respective transmitting locations that are spaced from a vehicle calibration location at an end of line portion of a vehicle assembly line, and moving a vehicle along the vehicle assembly line, the vehicle including an electronic control unit (ECU) and a vehicular radar operable to sense exterior of the vehicle. Signals are transmitted via the first and second calibrating radars at the transmitting locations and, with the vehicle at the vehicle calibration location, the plurality of radar receivers of the vehicular radar receive the transmitted signals transmitted by the first and second calibrating radars, and the vehicular radar generates an output that is processed at the ECU. Responsive to processing at the ECU of the output of the vehicular radar, misalignment of the vehicular radar at the vehicle is determined.

A method carried out using a radar level gauge system, the tank having a tank roof supporting the radar level gauge system, a tank wall, and a tank atmosphere in a space defined by a surface of a product in the tank, the tank roof, and the tank wall, wherein the method comprises generating and transmitting an electromagnetic first transmit signal; propagating the first transmit signal through the tank atmosphere towards a corner reflector formed by the surface of the product and the tank wall where the surface of the product meets the tank wall, the corner reflector being at a known horizontal distance from the radar level gauge system; receiving an electromagnetic first reflection signal resulting from reflection of the first transmit signal at the corner reflector; and performing a filling level determination and/or a verification operation for the radar level gauge system based on a timing relation between the first transmit signal and the first reflection signal, and the known horizontal distance between the radar level gauge system and the corner reflector.

The invention relates to a system and a method for automatically harmonizing the position and/or orientation between an apparatus on board a mobile carrier and a reference frame of said mobile carrier, said mobile carrier being provided with an inertial unit able to provide measurements in the reference frame. The system comprises: at least one accelerometer mechanically coupled to the onboard apparatus, and providing acceleration measurements in a reference frame referred to as the associated onboard apparatus, a reception unit configured to receive measurements provided by said inertial unit and measurements provided by the accelerometer, a computing unit configured to calculate values of parameters defining a geometric transformation for conversion of data from the reference frame of the carrier and the reference frame of the onboard apparatus, from the measurements, carried out for at least two different flight orientations, by said inertial unit and by said accelerometer.