Hybrid Primary and Secondary Radar Concepts for 6D Wireless Locating and Multi-Perspective Imaging for Cooperative Mobile Systems

用于协作移动系统的 6D 无线定位和多视角成像的混合主次雷达概念

• 批准号: 389508242
• 负责人: Professor Dr.-Ing. Martin Vossiek
• 金额: --
• 依托单位: Institut für Mikrowellentechnik (MWT)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2017
• 资助国家: 德国
• 起止时间: 2016-12-31 至 2020-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/389508242?language=en
• 关键词: Hybrid; Primary; Secondary; Radar; Concepts

Sensor systems for fully automated driving and navigation of mobile robots are currently the subject of intensive research. Radar techniques for radiolocation, navigation and environment mapping are very promising topics and indeed are often requisite sensor modalities for applications in harsh environments, like public roads, industry and planetary exploration. While primary radar is used to monitor passive targets, radar measurements between cooperating localization units are based on secondary-radar principles. Typical resolution issues arising from the large wavelengths associated with radar technology can be effectively addressed with synthetic aperture radar (SAR). SAR techniques, however, require accurate information on antenna pose and trajectory. The functionality and in particular the basic hardware are very similar with both primary and secondary radar. Building both sensor modalities with identical hardware and implementing a cooperating setup consisting of radio localization, pose determination and SAR imaging has scarcely been investigated to date. The proposed funding plan is aimed at filling this gap by investigating for the first time ever hybrid primary/secondary radar concepts. A group of cooperating mobile units will form the recording situation. Each unit is equipped with a hybrid MIMO primary/secondary radar system performing measurements in all directions. The novel hybrid 79GHz primary/secondary radar system and associated MIMO antenna array will be investigated and designed during the project. The complete 6D pose (3D rotation and 3D translation) and the trajectory of each mobile unit will be determined with a cooperative MIMO wirelss locating system. While in motion, each unit produces a SAR/ MIMO image of its surroundings. When combined, these images provide a multi-perspective map of the environment. The study should establish how effective radiolocation-based, multi-perspective SAR imaging is in tackling typical issues, such as shadowing und specular reflections. Another aspect of the hybrid approach, namely, the pose determination, should benefit from a comparison of overlapping primary radar images. The self-organization of the sensor cluster in all 6 dimensions is particularly challenging. In this context, variants of the so-called depth-first search algorithm specially adapted to the localization problem will be an important research topic.Both applicants have carried out extensive, relevant preparatory studies and research in the fields of radar and MIMO technologies, radiolocation and radar imaging and can draw on outstanding resources for the complex and wide-ranging program of works. Innovative hybrid radar techniques will emerge from this research effort which will pave the way for new options for autonoumous driving and mobile robot navigation.

用于移动机器人全自动驾驶和导航的传感器系统是目前深入研究的主题。用于无线电定位、导航和环境测绘的雷达技术是非常有前途的主题，而且实际上通常是公共道路、工业和行星探索等恶劣环境中应用所必需的传感器模式。虽然一次雷达用于监视无源目标，但协作定位单元之间的雷达测量基于二次雷达原理。合成孔径雷达 (SAR) 可以有效解决与雷达技术相关的大波长引起的典型分辨率问题。然而，SAR 技术需要有关天线姿态和轨迹的准确信息。一次雷达和二次雷达的功能，特别是基本硬件非常相似。迄今为止，几乎没有研究过使用相同的硬件构建两种传感器模式并实施由无线电定位、姿态确定和 SAR 成像组成的协作设置。拟议的资助计划旨在通过首次研究混合一次/二次雷达概念来填补这一空白。一组协作的移动单元将形成录音情境。每个单元都配备了混合 MIMO 主/辅雷达系统，可在各个方向进行测量。该项目期间将研究和设计新型混合 79GHz 主/辅雷达系统和相关 MIMO 天线阵列。每个移动单元的完整 6D 位姿（3D 旋转和 3D 平移）和轨迹将通过协作 MIMO 无线定位系统确定。在运动时，每个单元都会生成其周围环境的 SAR/MIMO 图像。当组合起来时，这些图像提供了环境的多视角地图。该研究应确定基于无线电定位的多视角 SAR 成像在解决阴影和镜面反射等典型问题方面的有效性。混合方法的另一个方面，即姿态确定，应该受益于重叠一次雷达图像的比较。传感器集群在所有 6 个维度上的自组织尤其具有挑战性。在此背景下，专门适应定位问题的所谓深度优先搜索算法的变体将成为一个重要的研究课题。两位申请人都在雷达和MIMO技术、无线电定位等领域进行了广泛的相关准备研究和研究。和雷达成像，可以利用优秀的资源来完成复杂而广泛的工作计划。这项研究工作将产生创新的混合雷达技术，这将为自动驾驶和移动机器人导航的新选择铺平道路。

项目成果

A Wireless Local Positioning System Concept and 6D Localization Approach for Cooperative Robot Swarms Based on Distance and Angle Measurements

• DOI: 10.1109/access.2020.3004651
• 发表时间: 2020
• 期刊: IEEE Access
• 影响因子: 3.9
• 作者: Johanna Geiss;Erik Sippel;Patrick Gröschel;M. Hehn;Martin Schütz;M. Vossiek

An Iterative Extended Kalman Filter for Coherent Measurements of Incoherent Network Nodes in Positioning Systems

用于定位系统中非相干网络节点相干测量的迭代扩展卡尔曼滤波器

• DOI: 10.1109/access.2020.2975290
• 发表时间: 2020
• 期刊: IEEE Access
• 影响因子: 3.9
• 作者: M. Hehn;E. Sippel;und M. Vossiek
• 通讯作者: und M. Vossiek

Chirp-Sequence-Based Imaging Using a Network of Distributed Single-Channel Radar Sensors

使用分布式单通道雷达传感器网络进行基于线性调频脉冲序列的成像

• DOI: 10.1109/icmim.2019.8726699
• 发表时间: 2019
• 期刊: 2019 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility (ICMIM)
• 作者: M. Steiner;T. Grebner;und C. Waldschmidt
• 通讯作者: und C. Waldschmidt

Millimeter-Wave SAR-Imaging With Radar Networks Based on Radar Self-Localization

基于雷达自定位的雷达网络毫米波SAR成像

• DOI: 10.1109/tmtt.2020.2995225
• 发表时间: 2020
• 期刊: IEEE Transactions on Microwave Theory and Techniques
• 影响因子: 4.3
• 作者: M. Steiner;T. Grebner;und C. Waldschmidt
• 通讯作者: und C. Waldschmidt