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.

The transmitter includes a phase shifter that shifts a phase of an input signal and outputs a shifted signal; a first control circuit changes a phase shift amount of the phase shifter; a phase difference signal output circuit outputs a phase difference signal between the shifted signal and the reference signal; an extreme value output circuit outputs a value of the phase difference signal when the phase difference signal becomes the extreme value; a target value output circuit outputs a target value based on an output from the extreme value output circuit; and a second control circuit controls the phase shift amount of the phase shifter such that a value of the phase difference signal coincides with the target value. The phase shifter outputs, as a transmission wave, the input signal the phase of which is shifted by the phase shift amount controlled by the second control circuit.

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 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.

An axis deviation angle estimation device estimates a vertical axis deviation angle of a radar device based on roadside object information including information on a plurality of reflection points on a roadside object and road surface information including information on a plurality of reflection points on a road surface. 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.

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.

A method of inspecting a static monitoring installation including creating a reference image from signal reflections from static objects in a monitoring space determining a reference value from the reflections of the reference image, creating a comparison image from the signal reflections from the static objects in the space, wherein the comparison image is recorded with a time offset after the reference image, determining at least one comparison value from the reflections of the comparison image, and outputting a fault signal when a deviation of the comparison value and the reference value exceeds a threshold value.

A method and a device for separating echo signals of STWE SAR in elevation are provided. The method includes that: aliasing echo signals of multiple sub-swaths are received; for a target sub-swath of the multiple sub-swaths, multiple sub-beams associated with the target sub-swath are generated, the multiple sub-beams pointing to different directions of the target sub-swath respectively, and a null of each of the multiple sub-beams being used for deep nulling suppression on echo signals of sub-swaths except the target sub-swath; and the aliasing echo signals are processed based on the multiple sub-beams and multiple nulls corresponding to the multiple sub-beams to generate a target echo signal of the target sub-swath.

An outside sensor unit includes an outside sensor, a main bracket, a support bracket, a rotation device, and a position adjustment device. The outside sensor detects the outside of a vehicle. The main bracket is attached to a vehicle body. The support bracket supports the outside sensor and is attached to the main bracket. The rotation device has a rotation axis line which is substantially parallel to a roll axis of the vehicle and connects the support bracket and the main bracket together rotatably around the rotation axis line. The position adjustment device is capable of adjusting the relative rotation position between the support bracket and the main bracket around the rotation axis line.

A calibration utilizes reference data indicative of a position of a target element relative to a reference location, of a position of a reference point on a rotatable support relative to the reference location, orientation data indicative of at least one angular position of the rotatable support, and antenna measurement data indicative of electromagnetic echo signals received by a radar antenna from the target element. A measured position of the target element relative to the radar antenna is determined based on at least a portion of the antenna measurement data. A reference position of the target element relative to the radar antenna is determined based on the reference data and on at least a portion of the orientation data. At least one bias value or function associated with the orientation data and/or the antenna measurement data is determined based on a deviation between the determined measured position and reference position.