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.

Problem description

  • 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.

Work proposal

  • 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.