An Enhanced MUSIC DoA Scanning Scheme for Array Radar Sensing in Autonomous Movers

In this paper, we present an enhanced MUltiple SIgnal Classification (MUSIC) scheme for Direction of Arrival (DoA) scanning using a linear antenna array system. The goal is to construct an obstruction map based on the DoA scanning results for an autonomous mover when navigating in a pedestrian rich environment. A low complexity DoA estimation scheme, which eliminates the requirement of a computationally expensive Eigen Decomposition (ED) in conventional MUSIC algorithm, is developed. An Orthogonal Projection Matrix (OPM) scheme is used. Furthermore, a QR decomposition method is employed to implement the pseudo inverse matrix calculation required in the OPM scheme. This leads to a very computing efficient approach and facilitates real time implementation in hardware accelerators. The simulation results show that the proposed scheme can perform comparably to the conventional scheme at a much lower computing complexity.