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52 Autonomous Mobile Robots
Amplitude
Random phase fluctuations
Discrete spurious signal
f 0 Frequency
FIGURE 2.4 Phase noise in the FMCW transceiver occurs due to the instability of
the VCO.
(a) 50
Features
40
30
Power (dB) 20
10
0
–10
0 20 40 60 80 100 120 140 160 180 200
Range (m)
FIGURE 2.5 Thousand range bins plotted together for the same azimuth. (a) It shows
the full range bin (200 m). (b) It shows the power returns from the feature at a distance
of 10.25 m. The power noise affecting the returned power peaks is less than that during
target absence within the range bin.
© 2006 by Taylor & Francis Group, LLC
FRANKL: “dk6033_c002” — 2006/3/31 — 17:29 — page 52 — #12
