Aerospace and Electronic Systems Magazine October 2017 - 31

Fertig, Baden, and Guerci

Figure 8.

Simultaneous returns from LOS, single-bounce, and double-bounce paths. (a) Example 1, range-Doppler map, illustrating multiple local maxima for a
single moving vehicle. (b) Example 1, LIDAR image with rays corresponding to maxima shown in (a). (c) Example 2, range-Doppler map, illustrating
multiple local maxima for a single moving vehicle. (d) Example 2, LIDAR image with rays corresponding to maxima shown in (c).

Vehicle Localization with MER
The CRLB has previously been applied to quantify the localization capability associated with MER [8]. Consistent with the earlier discussion
of phenomenology, the CRLB was constructed assuming that specular reflection takes place. Although the approach taken for the CRLB
was sufficiently flexible to address higher-order multipath modes, the
analysis focused on the simultaneous presence of all, or a subset of, the
LOS, single-bounce, and double-bounce paths. Hybrid CRLB was also
employed to estimate the accuracy required of the city model.
OCTOBER 2017

The CRLB demonstrates the superior localization performance
provided by MER relative to traditional GMTI processing approaches, in which vehicle position uncertainty is a function of
only range and angle accuracy. When projected onto the ground,
the range and angle measurements from a LOS return in standard
GMTI result in an elliptical uncertainty region (for position) that
is narrow in the range dimension but broad in cross-range. It is
common for the range resolution of a GMTI system to be 10 to
100 times finer than that of the cross-range resolution. In MER,
multiple multipath modes from a single vehicle are exploited. The

IEEE A&E SYSTEMS MAGAZINE

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