CAJ | 학술논문

野外和非结构化环境下的障碍探测是无人驾驶车（UGV）环境感知的难题之一。基于高度识别障碍是一种有效的解决途径，提出了干涉合成孔径雷达（InSAR）的三维障碍物成像策略，研究了 InSAR 信息处理流程，分析了干涉基线和运动误差对车载 InSAR 高程测量精度的影响，仿真了无人车前场景存在遮挡时的 InSAR 高程测量，证明了 InSAR 用于 UGV 前方环境感知的可行性。
야외화비결구화배경하적장애탐측시무인가사차（UGV）배경감지적난제지일。기우고도식별장애시일충유효적해결도경，제출료간섭합성공경뢰체（InSAR）적삼유장애물성상책략，연구료 InSAR 신식처리류정，분석료간섭기선화운동오차대차재 InSAR 고정측량정도적영향，방진료무인차전장경존재차당시적 InSAR 고정측량，증명료 InSAR 용우 UGV 전방배경감지적가행성。
It is a difficult task for an unmanned ground vehicle (UGV)to sense obstacles in out fields or unstructured environments.Because the height information is a vital feature to boost the performance of obstacle discrimination,the three-dimensional imaging technique for sensing obstacles ahead UGV of interferometric synthetic aperture radar (InSAR)was presented.The basic signal process flow of InSAR was reviewed. Special factors of the UGV platform that impact the digital elevation model (DEM)measurement precision were analyzed,such as the baseline length,platform motion errors.The DEMof a partial sight-blocked obstacle scene was obtained by processing the three-dimensional InSAR image, which proved the feasibility of applying InSAR to obstacle sensing of UGV.