| 摘要 |
In described examples of a method of estimating position of an obstacle (302) with a radar apparatus, an azimuth frequency (wx), an elevation frequency (wz) and a range of the obstacle are estimated to generate an estimated azimuth frequency (wx _est), an estimated elevation frequency (wz est) and an estimated range of the obstacle. A metric (ξ) is estimated from one or more of the estimated azimuth frequency (wx est), the estimated elevation frequency (wz est) and the estimated range of the obstacle. The metric (ξ) is compared to a threshold to detect an error in at least one of the estimated azimuth frequency (wx _est) and the estimated elevation frequency (wz est). On error detection, a sign of at least one of the estimated azimuth frequency (wx est) and the estimated elevation frequency (wz_est) is inverted to generate a true estimated azimuth frequency and a true estimated elevation frequency respectively. |
