부산대학교 도서관

It is still challenging to accurately localize unmanned aerial vehicles (UAVs) from a ground control station (GCS) using various sensors. The mmWave frequency-modulated continuous wave (FMCW) radars offer excellent performance for target detection and localization in harsh environments and low lighting conditions. However, the estimated angle of arrival (AoA) of targets in the captured scene is quite poor. This article focuses on improving AoA estimation by combining the cutting-edge machine learning (ML) algorithms with a mechanical radar rotor setup. An mmWave FMCW radar system is mounted on a programmable rotor to capture range–angle maps of targets at various locations. The range–angle images are then labeled and trained further with the Yolov3 algorithm. Subsequent testing reveals that for detected target objects, the centroid of the bounding boxes from the detected objects provides accurate AoA estimation with very low root mean square error (RMSE). The results show that the proposed approach outperforms traditional methods in terms of performance and estimation accuracy.