CPC G01S 13/52 (2013.01) [G01S 7/40 (2013.01); G01S 7/497 (2013.01); G01S 13/931 (2013.01); G01S 2013/932 (2020.01); G01S 2013/9323 (2020.01); G01S 2013/9324 (2020.01)] | 15 Claims |
1. A system on a moving vehicle comprising:
an active Doppler sensor;
one or more processors; and
a memory storing instructions that, when executed by the one or more processors, causes the system to perform:
obtaining a Doppler velocity from each of one or more entities using the active Doppler sensor, wherein the Doppler velocity is with respect to the moving vehicle;
determining one or more calibration parameters of the active Doppler sensor based on respective Doppler velocities from at least a portion of the entities, wherein the determining of the one or more calibration parameters comprises:
determining one or more stationary entities, within the one or more entities;
forming one or more clusters, each of the clusters comprising at least a portion of the one or more stationary entities and defining a relationship between a location of one of the entities with respect to the active Doppler sensor and the Doppler velocity of the respective one of the entities;
fitting, to each of the one or more clusters, a signal model defining the Doppler velocities of the each of the entities in relation to a mounting offset angle or an azimuth offset angle of the active Doppler sensor and a mounting location of the active Doppler sensor;
determining a degree of fit of the signal model to each of the one or more clusters;
removing any of the clusters having a degree of fit lower than a threshold while retaining remaining clusters; and determining the one or more calibration parameters based on the retained remaining clusters;
determining a location of the vehicle based on one or more of the calibration parameters; and
causing the vehicle to perform a driving action based on the determined location.
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