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The detection of foreign object debris (FOD) is a critical safety issue in airport operations. Nowadays, the most advanced detection systems are high frequency radars installed along the runway. In this article, the authors propose a synthetic aperture radar (SAR) aboard a small unmanned aerial system (UAS), a quadcopter, flying sideways over the runway as FOD detection system. This solution can operate during the daily airport operations and does not require permanent installations near the runways. To focus SAR images, an accurate knowledge of the platform position is needed. So, the hardest challenge in SAR imaging with UAS is an effective mitigation and compensation of uncontrolled movements. For this reason, a specific back propagation algorithm was developed. The FOD detection technique was tested in a general aviation airfield (Serristori, Arezzo, Italy) and in two Italian commercial airports: Milan Linate Airport (LIN), Olbia Costa Smeralda Airport (OLB).

Radar systems operating aboard unmanned aerial systems (UASs) or drones are gaining lot of interest in the remote sensing field. UASs have recently been tested as platforms for synthetic aperture radar (SAR) systems. There are many expectations regarding the interferometric capabilities of UAS-based radar interferometers. Nevertheless, its implementation introduces new problems, which demand advanced processing techniques. To date, only few works presented interferometric data acquired aboard UAS. In this paper repeat-pass interferometric tests are presented, performed with an S-band UAS-based SAR. By using corner reflectors subject to known displacements, the interferometric capabilities of the sensor are demonstrated. Results from two measurement campaigns are presented: data acquired in controlled scenario and in a vegetated slope. A focusing algorithm that considers the UAS position and attitude information, able to cope with the UAS instabilities, is presented and discussed. At the knowledge of the authors, the experimental results obtained are the first systematic demonstration of repeat-pass UAS-based SAR interferometry, validated by ground truth.

Interferometric radars are widely used sensors for structural health monitoring. They are able to perform dynamic measurements of displacement with sub-millimeter precision. Today, the Ku-band is the most common, due to the spread of commercial systems operating in this band. At the same time, the W-band sensors are gaining ever more interest. Other popular systems work in the X-band. Since the characteristics of the measurements dramatically depend on the operative frequency, it is essential to highlight their differences. For instance, higher frequency allows for high displacement resolution, but it is more subject to phase wrapping and decorrelation effects. In this paper, a direct comparison between radars operating in X, Ku, and W-band for bridge monitoring is carried out. The radars provide frequency-modulated continuous-wave signals. Experimental campaigns were performed both in controlled and realistic scenarios (a stayed bridge). The results of the experiments demonstrate that all the three sensors are suitable for performing dynamic structure monitoring despite their differences. It is worth noting that this comparative analysis has highlighted the role of amplitude variation in phase/displacement measurement. Regarding this point, the three different bands exhibit significant differences.

Interferometric radars are widely used for monitoring civil structures. Bridges are critical structures that need to be constantly monitored for the safety of the users. In this work, a frequency-modulated continuous wave (FMCW) multiple-input multiple-output (MIMO) radar was used for monitoring an arched bridge in Catanzaro, Italy. Two measurements were carried out; a first standard measurement was made in a monostatic configuration, while a subsequent measurement was carried out in a multimonostatic configuration in order to retrieve the components of the deck displacement. A method that is able to predict the measurement uncertainty as a function of the multimonostatic geometry is provided, thereby aiming to facilitate the operators in the choice of the proper experimental setup. The multimonostatic measurement revealed a displacement along the horizontal direction that was four times higher than the one along the vertical direction, while the values reported in the literature correspond to a ratio of at most around 0.2. This is the first time that such a large ratio detected by radar has been reported; at any rate, it is compatible with the arched structure of this specific bridge. This case study highlights the importance of techniques that are able to retrieve at least two components of the displacement.

The use of Kalman filtering techniques for landslide monitoring has proved effective as a tool for estimating and predicting land displacements. Ground-Based Synthetic Aperture Radars (GBSAR) are popular remote sensing instruments able to provide displacement maps of the investigated area, with submillimeter precision. These instruments outperform other sensors in several respects, such as all-weather and all-day monitoring. However, in some cases, for instance in vegetated scenarios, the displacement is affected by a significant uncertainty due to the decorrelation of the radar signal. In such a case, to retrieve any reliable information, noise must be filtered out using appropriate methods. Given the success of kinematic modeling of landslide movements through Kalman filtering, this technique seems to be the optimal candidate for processing the displacement measured by interferometric GBSAR data. This paper investigates this idea, by applying Kalman Filter to GBSAR measurements acquired in two different campaigns: a landslide monitoring in north Spain, and a sliding glacier monitoring in the Alpes, Italy. A proper initialization of the algorithm parameters is fundamental for a correct application of the Kalman filter. In this work, we present a strategy that exploits information from coherent pixels for tuning the filtering parameters and optimizing the filter performance on areas with low coherence.

A monostatic/bistatic radar for retrieving the three-dimensional (3D) displacement vector is proposed for static and dynamic monitoring of bridges. The radar is particularly suitable for dynamic test, as it is able to detect the three components at high sampling frequency (132 Hz, in the reported case study). The monostatic/bistatic technique makes use of a multiple input multiple output (MIMO) interferometric radar equipped with two transponders. Each single transponder consists of an antenna and an amplifier and it is connected to the radar with a radiofrequency (RF) cable. A simulation has preliminarily estimated the expected accuracy in terms of positing error of transponders. The equipment and the method were experimentally tested in a controlled scenario using a vertical steel bar as target. Finally, the method was applied on a real case of interest: the dynamic monitoring of a bridge (“Ponte Nuovo sull'Arno” in Lastra a Signa, Firenze, Italy) excited by the vehicular traffic. The 3D displacement vector was detected in time and the modal frequencies of each component were estimated.

Autonomous unmanned aerial systems (UAS) are having an increasing impact in the scientific community. One of the most challenging problems in this research area is the design of robust real-time obstacle detection and avoidance systems. In the automotive field, applications of obstacle detection systems combining radar and vision sensors are common and widely documented. However, these technologies are not currently employed in the UAS field due to the major complexity of the flight scenario, especially in urban environments. In this paper, a real-time obstacle-detection system based on the use of a 77 GHz radar and a stereoscopic camera is proposed for use in small UASs. The resulting system is capable of detecting obstacles in a broad spectrum of environmental conditions. In particular, the vision system guarantees a high resolution for short distances, while the radar has a lower resolution but can cover greater distances, being insensitive to poor lighting conditions. The developed hardware and software architecture and the related obstacle-detection algorithm are illustrated within the European project AURORA. Experimental results carried out employing a small UAS show the effectiveness of the obstacle detection system and of a simple avoidance strategy during several autonomous missions on a test site.

Many Ground-Based Synthetic Aperture Radar (GBSAR) applications demand preliminary analysis to select areas with high-quality signal. That is, areas in which the phase can be processed to extract the desired information. The interferometric coherence and the amplitude dispersion index are important tools widely used in the literature to assess the quality of GBSAR images. So far, no direct relation has been found between the two. Indeed, they are parameters of different natures: amplitude dispersion index is calculated with only amplitude values, while coherence provides information also on the signal phase. The purpose of this article is to find a relation between the two parameters. Indeed, the amplitude dispersion index provides some practical advantages if compared to coherence estimators, especially to perform fast preliminary analysis. In this article, a theoretical relation between amplitude dispersion index and coherence is retrieved. GBSAR measurements acquired in different scenarios, at different working frequencies are presented and used to validate such a relation.

Unmanned aerial systems (UASs) have enormous potential in many fields of application, especially when used in combination with autonomous guidance. An open challenge for safe autonomous flight is to rely on a mapping system for local positioning and obstacle avoidance. In this article, the authors propose a radar-based mapping system both for obstacle detection and for path planning. The radar equipment used is a single-chip device originally developed for automotive applications that has good resolution in azimuth, but poor resolution in elevation. This limitation can be critical for UAS application, and it must be considered for obstacle-avoidance maneuvers and for autonomous path-planning selection. However, the radar-mapping system proposed in this paper was successfully tested in the following different scenarios: a single metallic target in grass, a vegetated scenario, and in the close proximity of a ruined building.

In this paper, a multilevel architecture able to interface an on-board computer with a generic UAV flight controller and its radio receiver is proposed. The computer board exploits the same standard communication protocol of UAV flight controllers and can easily access additional data, such as: (i) inertial sensor measurements coming from a multi-sensor board; (ii) global navigation satellite system (GNSS) coordinates; (iii) streaming video from one or more cameras; and (iv) operator commands from the remote control. In specific operating scenarios, the proposed platform is able to act as a “cyber pilot” which replaces the role of a human UAV operator, thus simplifying the development of complex tasks such as those based on computer vision and artificial intelligence (AI) algorithms which are typically employed in autonomous flight operations.

This paper reports the results of a ground penetrating radar (GPR) survey of the ground-floor of Academia Gallery (Florence, Italy) where the Michelangelo’s David is exhibited to the public. The equipment used was a step-frequency GPR operating in the 100 MHz-1 GHz band, named ORFEUS. The survey covered an area of 13 m × 7.3 m, and the scans were performed along two orthogonal directions. Acquisitions in the same direction were separated by 0.25 m from each other. The GPR was able to confirm the underground structure, as it can be deducted by planimetry and historical documentation. In particular, the radar clearly detected the air-conditioning ducts under the floor and an approximately circular foundation below the basement of the statue.

This paper summarizes the results of a two-day dynamic monitoring of Michelangelo's David subject to environmental loads (city traffic and pedestrian loading induced by tourists visiting the Accademia Gallery). The monitoring was carried out by a no-contact technique using an interferometric radar, whose effectiveness in measuring the resonant frequencies of structures and historic monuments has proved over the last years through numerous monitoring activities. Owing to the dynamic behavior of the measurement system (radar and tripod), an accelerometer has been installed on the radar head to filter out the movement component of the measuring instrument from the measurement of the David's displacement. Measurements were carried out in the presence and absence of visitors, to assess their influence on the dynamic behavior of the statue. A numerical model of the statue was employed to evaluate the experimental results.

The dynamic impact factor (IM) is a widely accepted parameter to account for the effect of vehicles on bridges. An accurate evaluation of this IM is of paramount importance in bridge engineering, both for designing safe and economical new bridges, and for the assessment of the existing ones. At the state of the art, the current procedure for the experimental assessment of the IM of a bridge relies upon the deployment of a sensor network. The aim of this article is to propose the use of a remote sensor, the interferometric radar, for assessing the IM without the deployment of any sensor on the bridge, with evident advantages in terms of cost, time and safety of the workers. Two different case studies of bridges in Northern Iran are reported. In both cases the interferometric radar has been demonstrated an effective and reliable measurement equipment for this kind of in-field assessment.

Ground-based/terrestrial radar interferometry (GBRI) is a scientific topic of increasing interest in recent years. This article is a bibliographic review, as much complete as possible, of the scientific papers/articles published in the last 20 years, since the pioneering works in the nineties. Some statistics are reported here about the number of publications in the years, popularity of applications, operative modalities, operative bands. The aim of this review is also to identify directions and perspectives. In the opinion of authors, this type of radar systems will move forward faster modulations, wider view angle, MIMO (Multiple Input Multiple Output) systems and radar with capability to detect the vector of displacement and not only a single component.

Step-frequency continuous-wave (SFCW) modulation can have a role in the detection of small unmanned aerial vehicles (UAV) at short range (less than 1–2 km). In this paper, the theory of SFCW range detection is reviewed, and a specific method for correcting the possible range shift due to the Doppler effect is devised. The proposed method was tested in a controlled experimental set-up, where a free-falling target (i.e., a corner reflector) was correctly detected by an SFCW radar. This method was finally applied in field for short-range detection of a small UAV.

Compressive sensing (CS) is a recent technique that promises to dramatically speed up the radar acquisition. Previous works have already tested CS for ground-based synthetic aperture radar (GBSAR) performing preliminary simulations or carrying out measurements in controlled environments. The aim of this article is a systematic study on the effective applicability of CS for GBSAR with data acquired in real scenarios: an urban environment (a seven-storey building), an open-pit mine, and a natural slope (a glacier in the Italian Alps). The authors tested the most popular sets of orthogonal functions (the so-called ‘basis’) and three different recovery methods (l1-minimization, l2-minimization, orthogonal pursuit matching). They found that Haar wavelets as orthogonal basis is a reasonable choice in most scenarios. Furthermore, they found that, for any tested basis and recovery method, the quality of images is very poor with less than 30% of data. They also found that the peak signal⁻noise ratio (PSNR) of the recovered images increases linearly of 2.4 dB for each 10% increase of data.

Ground-based synthetic aperture radar (GBSAR) systems are popular remote sensing instruments for detecting the ground changes of landslides, glaciers, and open pits as well as for detecting small displacements of large structures, such as bridges and dams. Recently (2017), a novel mono/bistatic GBSAR configuration was proposed to acquire two different components of displacement of the targets in the field of view. This bistatic configuration relies on a transponder that consists—in its basic implementation—of just two antennas and an amplifier. The aim of this article was to design and experimentally test an improved transponder with cross-polarized antennas and frequency shifter that is able to prevent possible oscillations even at very high gain, as required in long-range applications. The transponder was successfully field-tested, and its measured gain was 91 dB gain.

In this paper the use of a continuous-wave microwave sensor as a non-contact tool for quantitative measurement of respiratory tidal volume has been evaluated by experimentation in seventeen healthy volunteers. The sensor working principle is reported and several causes that can affect its response are analyzed. A suitable data processing has been devised able to reject the majority of breath measurements taken under non suitable conditions. Furthermore, a relationship between microwave sensor measurements and volume inspired and expired at quiet breathing (tidal volume) has been found.

Ground-based radar interferometry is an increasingly popular technique for monitoring civil infrastructures. Many research groups, professionals, and companies have tested it in different operative scenarios, so it is time for a first systematic survey of the case studies reported in the literature. This review is addressed especially to the engineers and scientists interested to consider the applicability of the technique to their practice, so it is focused on the issues of the practical cases rather than on theory and principles, which are now well consolidated.

Ground-based radar interferometry is an increasingly popular technique for monitoring civil infrastructures. In this paper, the static testing of a bridge is reported. It was an 8-span bridge, 297 m long, named “Ponte degli Alpini,” crossing the valley of the Ardo River. The radar has been used for testing a lateral span and a central span. The obtained results present elements of novelty not previously reported in the literature. In fact, some displacement measurements of the lateral span have been affected by a horizontal shift that has to be taken into account for a correct interpretation of the measured data. Furthermore, the measurements of the central span have been carried out with the radar positioned transversally with respect to the bridge deck; this unusual arrangement has allowed for obtaining displacement maps less geometrically distorted with respect to other cases reported in the literature.