Stockel, PhilippPhilippStockelWallrath, PatrickPatrickWallrathHerschel, ReinholdReinholdHerschelPohl, NilsNilsPohl2023-09-142023-09-142023https://publica.fraunhofer.de/handle/publica/45068210.1109/TAES.2023.32661812-s2.0-85153351986This paper deals with the motion of a hovering UAV with six degrees of freedom. The effects of the motion on the measured signal of a MIMO radar mounted underneath the UAV are analyzed. For each degree of freedom, namely the translation in x-, y- and z-direction as well as the rotation around x-, y- and z-axis, an algorithm is proposed to compensate the considered motion. The effectiveness of the proposed algorithms is demonstrated by measuring validated vital signs independent of the current UAV motion.enAutonomous aerial vehiclesAzimuthChirpFMCW radarinertial measurement unit (IMU)Measurement errorsMIMO radarMIMO radarmotion compensationRadarRadar antennasradar detectionunmanned arial vehicle (UAV)vital signsjournal article