Page 58 - Autonomous Mobile Robots

2 Millimeter Wave

RADAR Power-Range

Spectra Interpretation

for Multiple Feature

Detection

Martin Adams and Ebi Jose

CONTENTS

2.1 Introduction ............................................................ 42
2.2 Related Work .......................................................... 44
2.3 FMCW RADAR Operation and Range Noise........................ 45
2.3.1 Noise in FMCW Receivers and Its Effect on Range
Detection....................................................... 47
2.4 RADAR Range Spectra Interpretation................................ 48
2.4.1 RADAR Range Equation ..................................... 50
2.4.2 Interpretation of RADAR Noise .............................. 50
2.4.2.1 Thermal noise ...................................... 51
2.4.2.2 Phase noise ......................................... 51
2.4.3 Noise Analysis during Target Absence and Presence ....... 53
2.4.3.1 Power-noise estimation in target absence ......... 53
2.4.3.2 Power-noise estimation in target presence ........ 57
2.4.4 Initial Range Spectra Prediction .............................. 60
2.5 Constant False Alarm Rate Processor for True Target Range
Detection ............................................................... 64
2.5.1 The Effect of the High Pass Filter on CFAR ................. 65
2.5.1.1 Missed detections with CFAR ..................... 66
2.5.1.2 False alarms with CFAR ........................... 67
2.6 Target Presence Probability Estimation for True Target Range
Detection ............................................................... 68
2.6.1 Target Presence Probability Results .......................... 72

41

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c002” — 2006/3/31 — 17:29 — page 41 — #1