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Angle tracking using FMCW radar based localization system

Position and direction finding are essential operations for almost every localization system. This paper presents an approach for the tracking of the orientation of industrial vehicles based on the FMCW radar system with a phased array antenna. To find the orientation of the mobile base station relative to stationary transponders an amplitude comparison approach has been successfully applied. A concept of the position tracking realized with the Extended Kalman Filter described in [1] has been extended to track the angle orientation of moving vehicle as well.