Circuitry and method

A circuitry for a mobile platform having a mobile platform coordinate system, the circuitry being configured to:

• estimate a first velocity of a first radar sensor based on first radar detection data obtained from the first radar sensor, the first radar detection data being indicative of at least two targets;
• estimate a second velocity of a second radar sensor based on second radar detection data obtained from the second radar sensor, the second radar detection data being indicative of at least two targets;
• estimate a third velocity of a third radar sensor based on third radar detection data obtained from the third radar sensor, the third radar detection data being indicative of at least two targets;
• estimate each of a mounting angle of the first radar sensor, a mounting angle of the second radar sensor, a mounting angle of the third radar sensor, and an ego-motion of the mobile platform by simultaneously solving for each of the mounting angle of the first radar sensor, the mounting angle of the second radar sensor, the mounting angle of the third radar sensor, and the ego-motion of the mobile platform using an overdetermined equation system based on:
• the estimated first velocity of the first radar sensor,
• the estimated second velocity of the second radar sensor,
• the estimated third velocity of the third radar sensor,
• a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system,
• a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system, and
• a predefined third mounting position of the third radar sensor with respect to the mobile platform coordinate system;
• and
• control movement of the mobile platform based upon the ego-motion.