	US 12,117,536 B2
	Systems and methods for transforming autonomous aerial vehicle sensor data between platforms
Steven Chao, San Francisco, CA (US); Ganesh Kumar, Santa Clara, CA (US); and Apurbaa Mallik, Santa Clara, CA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Aug. 11, 2022, as Appl. No. 17/819,124.
Prior Publication US 2024/0053487 A1, Feb. 15, 2024
Int. Cl. G01S 19/23 (2010.01); G01S 19/24 (2010.01)

CPC G01S 19/235 (2013.01) [G01S 19/24 (2013.01)]

20 Claims

1. A method comprising:

receiving, by an unmanned aerial vehicle (UAV), vehicle radar data and radar calibration data from a vehicle, as well as location information for a location of the vehicle;

determining a simulated UAV at the location of the vehicle;

establishing an orientation for a simulated radar on a bottom of the simulated UAV;

determining a height for the simulated UAV to match a field of view of the simulated radar;

for each radar event detected in the vehicle radar data, performing a geometrical transformation to convert the vehicle radar data set into a UAV perspective;

converting the vehicle radar data into a vehicle coordinate frame using the radar calibration data and vehicle global positioning system (GPS) coordinates;

converting the vehicle coordinate frame from a global frame into a UAV coordinate frame using UAV GPS coordinates; and

converting the UAV coordinate frame into a simulated radar sensor frame to generate a simulated bird's eye view of an environment around the vehicle.