Correlation-based Motion Estimation for the Compensation of Horizontal Movements of a Hovering UAV

This paper deals with the horizontal motions of a UAV equipped with a MIMO radar pointing to the ground. For the estimation of the horizontal motions a correlation-based method is used to calculate the current velocities from the radar data. Afterwards, the velocities are fused with data from an IMU and the resulting position is used to compensate the horizontal motions of the system. The effectiveness of the proposed method is proven by compensating the motions of a radar on a moving platform to make the breathing motion of a person in the measured scene visible.