Ego-Motion Estimation using Distributed Single-Channel Radar Sensors
Ego-Motion Estimation using Distributed Single-Channel Radar Sensors
复制标题
使用分布式单通道雷达传感器进行自我运动估计
DOI：
10.18725/oparu-15018
复制
发表时间：
2018
期刊：
影响因子：
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通讯作者：
C. Waldschmidt
中科院分区：
文献类型：
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作者：
Maximilian Steiner;Omar Hammouda;C. Waldschmidt
汽车的运动对所有环境传感器的相对测量有着巨大的影响。因此，精确了解配备传感器的汽车的自我运动对于更高级别的信号处理（如映射或目标参数的估计）非常重要。这可以通过具有单个测量的多个简单雷达传感器来实现。由观察公共视场的多个传感器进行的距离和速度测量针对静止目标被联合处理和过滤。该数据集用于确定车辆在x和y平面中的速度和偏航率。所提出的方法的优点是传感器的简单性，其不需要方位平面中的角度估计的能力，同时仍然提供可比较的结果。此外，这种方法使用最少两个传感器。
The motion of a car has a vast impact on the relative measurements of all environmental sensors. Consequently, the precise knowledge of the ego-motion of a sensor equipped car is important for higher level signal processing like mapping or the estimation of the target parameters. This can be achieved by multiple simple radar sensors with a single measurement. The range and the velocity measurements conducted by multiple sensors that are observing a common field of view are jointly processed and filtered for stationary targets. This dataset is used to determine the velocity and the yaw rate of the vehicle in the x- and y-plane. An advantage of the proposed approach is the simplicity of the sensors which do not need the capability of angle estimation in the azimuth plane, while still providing comparable results. In addition, this approach works with a minimum number of two sensors.