RADAR BASED SYSTEM AND METHOD FOR DETECTION OF AN OBJECT AND GENERATION OF PLOTS HOLDING RADIAL VELOCITY DATA, AND SYSTEM FOR DETECTION AND CLASSIFICATION OF UNMANNED AERIAL VEHICLES, UAVS

摘要

A Frequency Modulated Continuous Wave, FMCW, radar system is provided. The radar system comprises one or more antennas configured to transmit and receive FMCW radar wave signals for scanning for objects within a full circular detection coverage range, and processing circuitry configured to provide scan data based on transmitted and received FMCW radar signals and azimuth position of the antenna(s). In a first aspect, the processing circuitry is configured to generate first type radar plots, where each first type radar plot holds range, radial velocity and return energy data for one or more detected objects, and configured to generate second type radar plots, where each second type radar holds azimuth, range and return energy data for one or more detected objects. In the first aspect, the processing circuitry is also configured to generate full data type radar plots by combining first and second type radar plots having corresponding range data, whereby each full data type radar plot holds azimuth, range, radial velocity and return energy data for one or more detected objects. In a second aspect, the processing circuitry is configured to generate full data type radar plots based on obtained scan data, and the processing circuitry is further configured to select irregular type radar plots from full data type radar plots, where the irregular type radar plots have velocity data representing positive and negative radial velocities within an observed radial velocity range. The processing circuitry may also be configured to generate object tracks or unmanned aerial vehicle, UAV, tracks, where each object/UAV track is based on at least two irregular type radar plots. In a third aspect, then for the plots of a generated object/UAV track, the processing circuitry is configured to determine an outer energy sum of return energies for range cells representing positive and negative radial velocity signals within a first and a second outer radial velocity range, and to determine a center energy sum of return energies for range cells representing radial velocity signals within a center range of the observed radial velocity range, and/or a total energy sum of return energies of range cells representing all observed radial velocity signals. In a fourth aspect, there is provided an unmanned aerial vehicle, UAV, system, which UAV system comprises a control station for controlling a first co-operating unmanned aerial vehicle, UAV, and a radar system configured to scan for objects within a detection coverage range and to provide scan data indicative of objects detected within the coverage range. The first UAV may be provided with a transponder holding identification information, ID, and the first UAV and the control station may be configured for exchanging transponder data.