Dead Reckoning Meets Radar Odometry

In order to remove integration drift, this research presents DeRO, a unique dead reckoning architecture that replaces the conventional function of accelerometers as the principal sensor for position determination with the Doppler velocity of a 4D FMCW radar. It incorporates this with gyroscope data and updates a Kalman filter using accelerometer tilt and radar range measurements. By lowering position error by 47%, this system performs noticeably better than the most advanced radar-inertial techniques.