Method and system for localization of a vehicle using surface penetrating radar
First Claim
1. A method for localization of a vehicle, the method comprising:
- transmitting a first radar signal having a first frequency into a subsurface region under a vehicle;
acquiring a first set of surface penetrating radar (SPR) images of a first subsurface region based on the first radar signal;
determining a first set of location data for the vehicle based on the first set of SPR images;
transmitting a second radar signal having a second frequency into the subsurface region, the second frequency being greater than the first frequency;
acquiring a second set of SPR images of a second subsurface region at least partially overlapping the first subsurface region based on the second radar signal; and
determining a second set of location data for the vehicle based on the first set of location data and based on the second set of SPR images, wherein the second set of location data are at a greater resolution than the first set of location data.
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Abstract
A method and a surface penetrating radar (SPR) system for localization of a vehicle are disclosed. The method includes transmitting a radar signal having a first frequency into a subsurface region adjacent to a vehicle. A first set of SPR images of a first subsurface volume within the subsurface region is acquired and location data for the vehicle are determined from the first set of SPR images. A second radar signal having a frequency that is greater than the first frequency is transmitted into the subsurface region and a second set of SPR images of a second subsurface volume within the subsurface region is acquired. The second subsurface volume at least partially overlaps the first subsurface volume. Location data are determined from the second set of SPR images at a greater resolution than the location data determined from the first set of SPR images.
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Citations
23 Claims
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1. A method for localization of a vehicle, the method comprising:
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transmitting a first radar signal having a first frequency into a subsurface region under a vehicle; acquiring a first set of surface penetrating radar (SPR) images of a first subsurface region based on the first radar signal; determining a first set of location data for the vehicle based on the first set of SPR images; transmitting a second radar signal having a second frequency into the subsurface region, the second frequency being greater than the first frequency; acquiring a second set of SPR images of a second subsurface region at least partially overlapping the first subsurface region based on the second radar signal; and determining a second set of location data for the vehicle based on the first set of location data and based on the second set of SPR images, wherein the second set of location data are at a greater resolution than the first set of location data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A surface penetrating radar (SPR) system, comprising:
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an SPR antenna array comprising a plurality of antenna elements and configured to transmit a first radar signal having a first frequency and a second radar signal having a second frequency into a subsurface region adjacent to a vehicle, the second frequency being greater than the first frequency, the antenna elements further configured to receive a return radar signal from the sub surface region; a radar processor in communication with the SPR antenna array, the radar processor configured to; acquire a first set of SPR images of a first subsurface region based on the first radar signal; and acquiring a second set of SPR images of a second subsurface region at least partially overlapping the first subsurface region based on the second radar signal; and a registration module in communication with the processor, the registration module configured to; determine a first set of location data for the vehicle based on the first set of SPR images; and determine a second set of location data for the vehicle based on the first set of location data and based on the second set of SPR images, wherein the second set of location data are at a greater resolution than the first set of location data. - View Dependent Claims (20, 21, 22, 23)
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Specification