Method for calibrating offsets between doppler-based sensors on a mobile platform

A method for calibrating relative positions of sensors on a mobile platform, the method comprising, during a first calibration period:

• accessing a first frame captured by a first sensor on the mobile platform, the first frame comprising a first set of points containing radial positions, azimuthal positions, radial distances, and radial velocities relative to a first field of view of the first sensor;
• accessing a second frame captured by a second sensor on the mobile platform, the second frame comprising a second set of points containing radial positions, azimuthal positions, radial distances, and radial velocities relative to a second field of view of the second sensor;
• isolating a first cluster of points, in the first set of points, representing a first static reference surface in the first frame;
• isolating a second cluster of points, in the second set of points, representing a second static reference surface in the second frame;
• deriving a first absolute motion of the first sensor based on radial positions, azimuthal positions, radial distances, and radial velocities of points in the first cluster of points;
• deriving a second absolute motion of the second sensor based on radial positions, azimuthal positions, radial distances, and radial velocities of points in the second cluster of points;
• and
• calculating a first rotational offset between the first sensor and the second sensor based on the first absolute motion and the second absolute motion.