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Method and system for localization of a vehicle using surface penetrating radar

  • US 10,725,171 B2
  • Filed: 12/04/2017
  • Issued: 07/28/2020
  • Est. Priority Date: 01/27/2017
  • Status: Active Grant
First Claim
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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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