Detection and Monitoring of People in Collapsed Buildings Using a Rotating Radar on a UAV

Stockel, Philipp; Wallrath, Patrick; Herschel, Reinhold; Pohl, Nils

doi:10.1109/trs.2023.3342368

Cited by 1 publication

(1 citation statement)

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“…Mini-UAVs equipped with lightweight frequency modulation continuous wave (FMCW) radar are becoming promising candidates for near-range sensing [1,2] and high-rise building [3,4] detection thanks to their maneuverability and flexibility. However, many factors such as ambient airflow disturb the trajectory of mini-UAVs severely, preventing them from sampling the data uniformly along a straight line.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Deviation Estimation Method for UAV-Borne Through-Wall Radar

Chen,

Zeng,

Zhong

et al. 2024

Remote Sensing

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Mini–unmanned aerial vehicles (mini-UAVs) are emerging as a promising platform for through-wall radar to sense the enclosed space in cities, especially high-rise buildings, due to their excellent maneuverability. However, due to unavoidable environmental interference such as airflow, mini-UAVs are prone to trajectory deviation thus degrading their sensing accuracy. Most of the existing approaches model the impact of trajectory deviation into a polynomial phase error on the received signal, which cannot fit the space-variant motion error well. Moreover, the large trajectory deviations of UAVs introduce the unavoidable envelope error. This article proposes an autofocusing algorithm based on the back projection (BP) image, which directly estimates the trajectory deviations between the actual and measured track. Thus, the problem of the 2D space variability of the motion error can be circumvented. The proposed method mainly consists of two steps. First, we estimate the trajectory deviation in the line-of-sight (LOS) direction by exploring the underlying linear property of the wall embedded in the BP imaging result. Then, the estimated trajectory deviation in the LOS direction is compensated for to obtain an updated BP image, followed by a Particle Swarm Optimization (PSO) approach to estimate the trajectory deviation along the track through focusing targets behind the wall. Simulations and practical experiments show that the proposed algorithm can accurately estimate the serious trajectory deviations larger than the range resolution, improving the sensing robustness of UAV-borne through-wall radar greatly.

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