Negative obstacle sensing is one of the most difficult problems for unmanned ground vehicle in unstructured environments.The regular obstacle sensors,such as stereo vision,infrared detector and ladar,have their limited performances in unconstructed environments.Ultra-wideband SAR (synthetic aperture radar) sensors have the ability to operate in all weather,all lighting and foliage covered conditions,which have been received widely.Sensing negative obstacle by ultra-wideband SAR for unmanned ground vehicle was an effective way.Image geometry of negative obstacle was expounded.The simulation image of negative obstacle was obtained by simulation based on MATLAB,and the conclusion that the image feature of negative obstacle is the shadow area next to shine area is obtained.Moreover,a real data experiment is presented and the experimental result proves the same conclusion again.%野外环境下的凹障碍感知一直是地面无人作战平台环境感知面临的难题,长期以来常规传感器,例如立体视觉、红外相机和激光雷达,都没有取得好的效果.超宽带合成孔径雷达作为一种全天时、全天候的高分辨率雷达,在目标感知方面得到了广泛的运用.基于超宽带合成孔径雷达感知凹障碍是一种有效的感知手段,阐述了凹障碍的雷达成像几何,利用MATLAB模拟仿真合成孔径雷达数据获得了凹障碍图像,分析得出了凹障碍在雷达图像表现出由阴影区和光亮区紧密相连的特征,并通过实测数据成像获得的凹障碍图像结果,对凹障碍雷达图像特征进行了进一步的验证.
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