Motion compensation technique for UGV based forward looking InSAR

Forward looking InSAR can provide the heights, 2D images and coherent maps of targets ahead an unmanned ground vehicle (UGV). It is a novel alternate for an UGV to sense obstacles in unconstructed environments other than stereo cameras and LIDARs. The height is a vital feature to boost the performance of radar in obstacle discrimination. We have developed a rail based InSAR to reconstruct the 3D map of the scene ahead an UGV. Firstly, the basic signal process flow of InSAR is reviewed. Then, the motion induced factors of the UGV platform that impact the height measurement precision are analyzed, such as the baseline height, and the baseline angles. Finally, A two-stage DFT based fast image registration is adopted to estimate and compensate the motion error. Experimental results have verified the used method.