融合超宽带雷达的室内导航与防撞-AUVSI-2015-Fused-UWB-Dewberry

Recent interest in unmanned vehicles has motivated development of novel sensors for navigation and collision avoidance that are able to operate in complex environments. While the utility  of Ultra Wideband RF techniques for indoor localization is well-established1,2, as well as UWB  radar for person tracking3,4, the fusion of both modes in one small sensor could produce a senor  ideal for use in small vehicle autonomy. Radars are now common on ground vehicles for automatic cruise control and collision warning. These radars detect the distance and relative speed of targets in the antenna field of view5,6.  Newer short-range UWB radar sensors have been recently added as parking aids, back-up warning, lane changing, and emergency braking. These radars likewise detect distance to first target in  their field of view with more advanced systems combining multiple overlapping fields into images7 . These techniques differ from Synthetic Aperture Radar (SAR), which requires motion tangentially across the measurement scene, and combining continuously collected range profiles into  a cohesive image. Pulsed-RF UWB radar has been shown to work well detecting and tracking people indoors in  high clutter environments8 . Detections generated by an array of such sensors can be combined to  track people in an office environment9 . This indicates that multiple scans from the sensor could  be combined for imaging and collision avoidance, even in high clutter.

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