Target tracking with doppler information
Background & motivation
- Radar is a commonly used sensors for ships, and detects objects by sending out an electromagnetic pulse and measure the two-way travel time.
- Some radars also have doppler capabilities, which means they also can measure the relative velocity of the object.
- The autonomous ferry prototype millAmpere 2 (mA2) is equipped with a partially doppler-capable radar.
- Doppler information can be very beneficial in sensor data processing (object segmentation).
- For sensor fusion, the uncertain doppler measurement is weighted against more precise measurements from e.g. lidar.
- Extend the data processing pipeline to segregate targets based on doppler information.
- Extend the mA2 target tracking algorithm with doppler information.
- Perform simulations or experiments to investigate the performance difference with and without doppler.
- Include other sensors like a lidar and cameras (if time).
- Write report.
Figure 1: An illustration of the doppler effect.