Radar odometry on fixed-wing small unmanned aircraft

@article{Quist2016RadarOO,
  title={Radar odometry on fixed-wing small unmanned aircraft},
  author={Eric B. Quist and Randal W. Beard},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
  year={2016},
  volume={52},
  pages={396-410}
}
This paper develops an odometry algorithm for unmanned air vehicles (UAVs) based solely on radar measurements. The radar return from stationary ground-based scatterers is used to create a range-compressed image, which can be used to estimate the relative motion of the UAV. The Hough transform is used to extract scatterer features from the range-compressed image and to solve the data association problem. The estimated relative motion of the aircraft based on radar return is then fused with… CONTINUE READING

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