Method to determine the suitability of a radar target as a positional landmark
A vehicle-based method to determine the suitability of an object in the vicinity of a vehicle as a suitable positional landmark, comprising the steps of: a) emitting a plurality of radar signals from a vehicle; b) detecting the radar returns from said emitted radar signals reflected by said object; c) analyzing at least one parameter of at least one radar return to determine the extent to which said object is a stationary object; d) analyzing at least one parameter of at least one radar return to determine the extent to which said object is a single scatterer; e) analyzing at least one parameter of a plurality of radar returns to determine the extent to which said parameter varies with the azimuthal angle between said vehicle and said object, f) determining the suitability of said landmark for the results of steps c), d) and e).
1. A vehicle-based method to determine the suitability of an object in the vicinity of a vehicle as a suitable positional landmark, wherein the suitable positional landmark is a single stationary scatterer whose scattering position, reflectivity and polarization do not vary over time, distance and observation angle,
the method comprising the steps of:
a) emitting a plurality of radar signals from a vehicle;
b) detecting the radar returns from said emitted radar signals reflected by said object;
c) analyzing at least one parameter of at least one radar return by comparing the radar return with that expected from a stationary target to determine if said object is a stationary object;
d) analyzing at least one parameter of at least one radar return by determining the correlation of the radar return with a known system-dependent single scatterer response to determine if said object is a single scatterer;
e) analyzing at least one parameter of a plurality of radar returns to determine the variation of said parameter with the azimuthal angle between said vehicle and said object; and
f) determining the suitability of said landmark for the results of steps c), d) and e).
2. A method as claimed in claim 1 used in a vehicle based system, said system including a radar antenna and receiver unit adapted to transmit radar signals and receive reflected radar detections from objects in the vicinity of the vehicle.
3. A method as claimed in claim 2 wherein said radar antenna and receiver unit comprises a plurality of antenna and receiving elements arranged as an antenna array.
4. A method as claimed in claim 2 wherein step d) comprises analyzing range profiles and Doppler profiles of the radar returns across the plurality of antennas.
5. A method as claimed in claim 1 wherein step f) comprises determining the extent to which one or more of the following varies with azimuthal angle: phase characteristics, polarization characteristics and signal-to-noise ratio.
6. A method as claimed in claim 1 wherein step c) comprises analyzing said radar parameter in conjunction with speed, direction of motion or positional data from a navigation system of said vehicle.
7. A method as claimed in claim 1 wherein in step e) said change in azimuthal angle is determined from location or speed and direction information from a navigation system of said vehicle.
8. A method as claimed claim 1 wherein step e) comprises determining from said radar, changes in the scattering center position of said object with azimuthal angle.