Aerial Radar Velocity Correction for Rotational Motion
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Solution Overview
Problem
Doppler-based velocity estimation in radar sensors for aerial vehicles is erroneous due to significant rotational motion, leading to additional tangential velocity measurements for detected objects and obstacles.
Innovation Solution
A method and apparatus that corrects the error in radar sensor measurements by determining the angular velocity of the sensor from radial velocity, estimated radial velocity, and distance to the object, using a model, and employing a position estimator like a Kalman filter to enhance positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If doppler-based velocity estimation is used in aerial vehicles with rotational motion, then velocity measurement is obtained, but measurement precision deteriorates due to additional tangential velocity from rotation
Solution Approach 1:
The patent extracts the harmful rotational component from the measured velocity signal by identifying and separating the tangential velocity caused by sensor rotation from the radial velocity of the target object. This is achieved by detecting the rotational motion of the sensor and removing its contribution from the doppler measurement, thereby recovering the true radial velocity.
Solution Approach 2:
The patent introduces an intermediary computational model that relates the sensor's rotational motion to the apparent velocity changes in the doppler signal. By using this intermediate relationship, the system can compensate for rotational effects and recover accurate radial velocity measurements despite the sensor's rotation.
2Measurement precision
If rotational motion of the radar sensor is accounted for, then positioning accuracy is improved, but device complexity increases due to additional processing requirements
Solution Approach 1:
The patent makes the velocity estimation system multi-functional by enabling it to handle both stationary and rotating sensor scenarios through a unified approach. The same doppler processing pipeline is used, but with an added rotational compensation module that can be activated based on sensor motion characteristics, making the system adaptable to different operational modes.
Solution Approach 2:
The system performs self-compensation for rotational effects by using the measured doppler signal itself to detect and correct for sensor rotation. The algorithm identifies rotational motion from the velocity measurements and automatically compensates for it, eliminating the need for separate rotation sensors or external reference systems.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Accurately determines the movement of the radar sensor by correcting for rotational distortions, enabling precise positioning of the aerial vehicle.
Implementation Method 1
retrieving measurement data from a radar sensor
Implementation Method 2
determining a radial velocity of a detected stationary object relative to the radar sensor from the measurement data
Data Source
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AI summary
The present invention is related to a method, a computer program code, and an apparatus for evaluating measurement data from a radar sensor of an aerial vehicle. In a first step, measurement data from the radar sensor are retrieved (S1). A radial velocity of a detected stationary object relative to the radar sensor is determined (S2) from the measurement data. An angular velocity of the radar sensor is then determined (S3) from the determined radial velocity, an estimated radial velocity of the detected object relative to the radar sensor, which is estimated from a model, and a distance to the detected object. The determined angular velocity of the radar sensor and a determined translational velocity of the radar sensor may be used (S4) for positioning of the aerial vehicle. The invention is further related to an aerial vehicle, which uses such method or apparatus.