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Millimetre Wave strongRADARstrong Spectra Simulation and Interpretation.pdf

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Millimetre Wave RADAR Spectra Simulation and Interpretation for Outdoor SLAM Ebi Jose, Martin D. Adams School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue 639798, Singapore. Email : ebi@pmail.ntu.edu.sg, eadams@ntu.edu.sg Abstract— Millimetre Wave RADARs are more robust than cle/RADAR location. A method for accurately predicting the most other sensors used in outdoor autonomous navigation in power-range spectra (or range bins) using the RADAR range that their performance is less affected by dust, fog, moderate equation and the knowledge of the noise distributions in the rain or snow and ambient lighting conditions. This paper describes a method to accurately simulate the RADAR is explained in this paper. range spectra using the RADAR range equation. This is very Predicted observations are formed using this predicted state important in robot navigation (eg. SLAM) for generating pre- and the given RADAR equation, system and noise analyses to dictions of what can be observed from different sensor locations construct “predicted range-bins”. The actual observations take and correspondingly, providing an interpretation for observed the form of received power/range readings from the RADAR. targets. To understand the MMW RADAR range spectrum and to simulate it accurately, it is necessary to know the noise Section II brieﬂy summarises related work, while section III distributions in the RADAR spectrum. A detailed noise analysis describes FMCW RADAR operation and the noise affecting during signal absence and presence is carried out which show