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Experimental Analysis of Radar Odometry by Commercial Ultralight Radar Sensor for Miniaturized UAS

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Abstract

Autonomous navigation of miniaturized Unmanned Aircraft Systems (UAS) in complex environments, when Global Positioning System is unreliable or not available, is still an open issue. This paper contributes to that topic exploring the use of radar-only odometry by existing commercial ultralight radars. The focus is set on an end-to-end Multiple-Target Tracking strategy compliant with desired sensor and platform, which exploits both range and bearing measurements provided by the radar. A two-dimensional odometry approach is then implemented. Main results show real-time capabilities and standard deviation of errors in Forward and Cross-range directions smaller than 1.50 m and 3.00 m, respectively. Field test data are also used to discuss the potential of this technique, challenging issues, and future improvements.

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Acknowledgements

The authors want to thank Roberto Opromolla and Amedeo R. Vetrella for their valuable support during experimental campaign.

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Authors and Affiliations

  1. Department of Industrial Engineering, University of Naples “Federico II”, Piazzale V. Tecchio, 80, 80125, Naples, Italy

    Antonio Fulvio Scannapieco, Alfredo Renga, Giancarmine Fasano & Antonio Moccia

Authors
  1. Antonio Fulvio Scannapieco
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  2. Alfredo Renga
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  3. Giancarmine Fasano
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  4. Antonio Moccia
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Corresponding author

Correspondence to Antonio Fulvio Scannapieco.

Additional information

This work has been supported by Regione Campania within the framework of European Social Fund “P.O. Campania 2007/2013-2014/2020”. Part of this research was also carried out in the framework of “Programma STAR”, financially supported by UniNA and Compagnia di San Paolo, and in the framework of “Programma per il finanziamento della ricerca di Ateneo” funded by UniNA.

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Scannapieco, A.F., Renga, A., Fasano, G. et al. Experimental Analysis of Radar Odometry by Commercial Ultralight Radar Sensor for Miniaturized UAS. J Intell Robot Syst 90, 485–503 (2018). https://doi.org/10.1007/s10846-017-0688-1

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