Ego-Motion Estimation using Distributed Single-Channel Radar Sensors

The motion of a car has a vast impact on the relative measurements of all environmental sensors. Consequently, the precise knowledge of the ego-motion of a sensor equipped car is important for higher level signal processing like mapping or the estimation of the target parameters. This can be achieved by multiple simple radar sensors with a single measurement. The range and the velocity measurements conducted by multiple sensors that are observing a common field of view are jointly processed and filtered for stationary targets. This dataset is used to determine the velocity and the yaw rate of the vehicle in the x- and y-plane. An advantage of the proposed approach is the simplicity of the sensors which do not need the capability of angle estimation in the azimuth plane, while still providing comparable results. In addition, this approach works with a minimum number of two sensors.