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).