Using a prototype 77GHz radar with its' FMCW output modified to provide frequency-ramps in alternate directions, the dataset available to download from the bottom of this page was captured from a moving vehicle.
All radar data is subject to a shift dictated by the doppler effect, as discussed here: https://arxiv.org/pdf/2011.03512.pdf.
The magnitude of the doppler shift that a specific object presents is dependent on the radial velocity of that object, from the radar’s frame of reference.
This specific adaptation to the radar’s usual mode of operation causes the “direction” of doppler shift for every azimuth of data captured to alternate, which allows for easier programmatic identification of the radial speed component of features within the radar’s field of view.
Please get in touch at industrial.automation@navtechradar.com if you would like to explore this work further.
To add some context to the captured data, the vehicle’s position and attitude were logged alongside the raw radar data.
Playing back the radar data as a TCP stream is done using using the playback utility.