US 11,774,572 B2
Method and system for measuring the velocity of a carrier with respect to the ground
Jérémy Barra, Grenoble (FR); Olivier Debicki, Grenoble (FR); Suzanne Lesecq, Grenoble (FR); Nicolas Mareau, Grenoble (FR); Laurent Ouvry, Grenoble (FR); and Mykhailo Zarudniev, Grenoble (FR)
Assigned to COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES, Paris (FR)
Filed by COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES, Paris (FR)
Filed on Dec. 19, 2019, as Appl. No. 16/721,773.
Claims priority of application No. 1873484 (FR), filed on Dec. 20, 2018.
Prior Publication US 2020/0200891 A1, Jun. 25, 2020
Int. Cl. G01S 13/60 (2006.01); B60R 11/00 (2006.01); G01S 15/60 (2006.01); G01S 13/64 (2006.01); G01S 13/18 (2006.01); G01S 13/524 (2006.01); G01S 13/58 (2006.01); G01S 13/931 (2020.01); G01S 13/88 (2006.01)
CPC G01S 13/60 (2013.01) [B60R 11/00 (2013.01); G01S 15/60 (2013.01); G01S 13/18 (2013.01); G01S 13/524 (2013.01); G01S 13/589 (2013.01); G01S 13/64 (2013.01); G01S 13/882 (2013.01); G01S 13/931 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for measuring the velocity of a carrier vehicle with respect to the ground, the carrier vehicle moving parallel to the ground and being equipped with a radar or sonar having an emission and reception cone about a line of sight, the method comprising the following steps:
(a) orienting the line of sight of the radar or sonar toward the ground, such that a footprint on the ground of said emission and reception cone is passed through by the projection onto the ground of the velocity vector of the carrier vehicle;
(b) using the radar or sonar to emit a plurality of signals that are directed toward the ground, and to acquire respective echo signals at a plurality of echo delay time values;
(c) processing the acquired echo signals so as to obtain, for one or more of the plurality of echo delay time values, a corresponding Doppler spectrum;
(d) for said one or more echo delay time value, identifying an uppermost, in absolute value, frequency value of the corresponding Doppler spectrum; and
(e) computing the velocity of the carrier vehicle with respect to the ground as a function of: its height with respect to the ground, said one or more uppermost frequencies and the corresponding echo delay time values.