Abstract: Estimating the ego-motion of a vehicle, e.g., the self-motion of the vehicle, can be improved by pre-processing data from two or more radars onboard the vehicle using a processor common to the two or more radars. The common processor can pre-process the data using a velocity vector processing technique that can estimate a velocity vector at each point of a predefined number of points, such as arranged in a grid in the field-of-view of radars, with coordinates (X, Y, Z (optional)), where U is the component of the velocity in the X-direction, V is the component of the velocity in the Y-direction, and W is the component of the velocity in the optional Z-direction.

Abstract: Navigation systems and methods for autonomous vehicles are provided. The navigation system may include multiple navigation subsystems, including one having an inertial measurement unit (IMU). That unit may serve as the primary unit for navigation purposes, with other navigation subsystems being treated as secondary. The other navigation subsystems may include global positioning system (GPS) sensors, and perception sensors. In some embodiments, the navigation system may include a first filter for the IMU sensor and separate filters for the other navigation subsystems.