This paper describes a small unmanned aerial vehicle (UAV)-based synthetic aperture radar (SAR) system using low-cost radar (5–6 GHz), position (GNSS/RTK) and attitude (IMU) sensors for the generation of high-resolution images. Measurements using straight as well as highly curved flight trajectories and varying flight speeds are presented, showing range and cross-range lobe-widths close to the theoretical limits. An analysis of the improvements obtained by the use of attitude angles (roll, pitch, and yaw), to correct for the relative offsets in antenna positions as the UAV moves, is included. A capability to generate SAR images onboard with the back-projection algorithm has been implemented using a GPU accelerated single-board computer. Generated images are transmitted to ground using a Wi-Fi data link.

中文翻译：

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基于小型无人机的 SAR 系统，使用具有机载成像能力的低成本雷达、位置和姿态传感器

本文介绍了一种基于小型无人机 (UAV) 的合成孔径雷达 (SAR) 系统，该系统使用低成本雷达 (5–6 GHz)、位置 (GNSS/RTK) 和姿态 (IMU) 传感器生成高分辨率图像。介绍了使用直线和高度弯曲的飞行轨迹和不同的飞行速度进行的测量，显示范围和横向波瓣宽度接近理论极限。包括对通过使用姿态角（滚动、俯仰和偏航）获得的改进的分析，以校正无人机移动时天线位置的相对偏移。使用 GPU 加速的单板计算机实现了使用反投影算法生成机载 SAR 图像的能力。生成的图像使用 Wi-Fi 数据链路传输到地面。