Abstract: Doppler analysis of surface-penetrating radar signals are utilized to compute or estimate parameters associated with vehicle motion. The Doppler shift may originate with reflections from subsurface or above-surface features ahead of (or behind) the moving vehicle, in which case a vehicle speed may be computed from the shift; or may originate with reflections from surface or subsurface features directly below the vehicle, in which case the shift corresponds to a vertical speed that may be used to sense the performance of, or changes in, the vehicle's suspension system.

Abstract: A system for navigating a vehicle on a terrain includes a surface-penetrating radar (SPR) system having one or more micro-antenna array having a full frequency range for acquiring real-time SPR information associated with the vehicle and one or more controllers configured to determine information associated with the terrain and/or the vehicle based at least in part on the acquired real-time SPR information. In various embodiments, the micro-antenna array(s) includes multiple micro-antenna elements, each being configured to operate at a frequency range, the frequency ranges of the micro-antenna elements collectively spanning the full frequency range greater than the frequency range of an individual one of the micro-antenna elements.