Real-Time UWB-OFDM Radar-Based Navigation in Unknown Terrain

We present a signal processing algorithm and simulation study for aerial navigation with an ultrawideband orthogonal frequency division multiplexed (UWB-OFDM) radar in Global Positioning System (GPS)-denied environments. Stationary scatterers are detected and tracked using an M/N detector and modified global nearest neighbor (GNN) tracker. The radar measurements to the scatterers are combined with inertial navigation system (INS) measurements in an extended Kalman filter (EKF) to compute the aircraft position. The estimation error of the proposed algorithm is analyzed through computer-based simulations with/without radar measurements from the scatterers and with varying signal-to-noise ratio (SNR).

[1]  S. Sukkarieh,et al.  Autonomous airborne navigation in unknown terrain environments , 2004, IEEE Transactions on Aerospace and Electronic Systems.

[2]  Richard A. Brown,et al.  Introduction to random signals and applied kalman filtering (3rd ed , 2012 .

[3]  Peter Swerling,et al.  Probability of detection for fluctuating targets , 1960, IRE Trans. Inf. Theory.

[4]  D Garmatyuk,et al.  Multifunctional Software-Defined Radar Sensor and Data Communication System , 2011, IEEE Sensors Journal.

[5]  D.S. Garmatyuk,et al.  Simulated Imaging Performance of UWB SAR Based on OFDM , 2006, 2006 IEEE International Conference on Ultra-Wideband.

[6]  Young-Jin Lee,et al.  Terrain-based navigation: Trajectory recovery from LiDAR data , 2008, 2008 IEEE/ION Position, Location and Navigation Symposium.

[7]  A. J. Henley,et al.  Terrain aided navigation: current status, techniques for flat terrain and reference data requirements , 1990, IEEE Symposium on Position Location and Navigation. A Decade of Excellence in the Navigation Sciences.

[8]  Meir Pachter,et al.  Anti-Temporal-Aliasing Constraints for Image-Based Feature Tracking Applications With and Without Inertial Aiding , 2010, IEEE Transactions on Vehicular Technology.

[9]  D. Garmatyuk,et al.  Deception jamming modeling in radar sensor networks , 2008, MILCOM 2008 - 2008 IEEE Military Communications Conference.

[10]  Michael Veth,et al.  Fusion of Imaging and Inertial Sensors for Navigation , 2006 .

[11]  Michael Veth,et al.  Fusion of Low-Cost Imaging and Inertial Sensors for Navigation , 2007 .

[12]  D. A. Shnidman,et al.  Binary integration for Swerling target fluctuations , 1998 .

[13]  M. Suycott,et al.  LOCO GPSI: preserve the GPS advantage for defense and security , 2004 .

[14]  Dirk Haehnel,et al.  Are GSM Phones THE Solution for Localization? , 2006, WMCSA.

[15]  Hugh F. Durrant-Whyte,et al.  Inertial navigation systems for mobile robots , 1995, IEEE Trans. Robotics Autom..

[16]  T.D. Hall.  Radiolocation using AM broadcast signals: The role of signal propagation irregularities , 2004, PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556).

[17]  Dmitriy Garmatyuk,et al.  Radar and data communication fusion with UWB-OFDM software-defined system , 2009, 2009 IEEE International Conference on Ultra-Wideband.

[18]  Peter S. Maybeck,et al.  Stochastic Models, Estimation And Control , 2012 .

[19]  Matthew Rabinowitz,et al.  A new positioning system using television synchronization signals , 2005, IEEE Transactions on Broadcasting.

[20]  F. Gustafsson,et al.  Marginalized Particle Filter for Accurate and Reliable Terrain-Aided Navigation , 2009, IEEE Transactions on Aerospace and Electronic Systems.

[21]  L. B. Hostetler,et al.  Nonlinear Kalman filtering techniques for terrain-aided navigation , 1983 .

[22]  M. Jonsson,et al.  Position Correction Using Echoes From a Navigation Fix for Synthetic Aperture Sonar Imaging , 2009, IEEE Journal of Oceanic Engineering.

[23]  J. Dezert.  Improvement of strapdown inertial navigation using PDAF , 1999 .