Motion Compensation in Six Degrees of Freedom for a MIMO Radar Mounted on a Hovering UAV

This article deals with the motion of a hovering unmanned aerial vehicle (UAV) with six degrees of freedom. The effects of the motion on the measured signal of a multiple-input multiple-output radar mounted underneath the UAV are analyzed. For each degree of freedom, namely the translation in
$x$
,
$y$
, and
$z$
directions as well as the rotation around
$x$
,
$y$
, and
$z$
axes, an algorithm is proposed to compensate the considered motion. The effectiveness of the proposed algorithms is demonstrated by measuring validated vital signs independent of the current UAV motion.