A Security Radar System Based on the Ultrasonic Sensor, Servo Motor, and Raspberry Pi with Kalman Filtering

¹ Department of Engineering, University of Quebec in Abitibi-Témiscamingue (UQAT), Rouyn-Noranda Campus (Canada)
² Department of Engineering, University of Quebec in Abitibi-Témiscamingue (UQAT), Rouyn-Noranda Campus (Canada)

^* Abdenout Hellas: Abdenour.hellas@uqat.ca

Abstract

This study presents the design and implementation of a remote-controlled radar system capable of detecting nearby objects and displaying real-time distance and position information through a Pygame-based graphical interface. Unlike previous works that relied on Arduino boards, this research integrates a Raspberry Pi 4 B with Python and Pygame, enabling faster processing and enhanced real-time visualization. The proposed system achieves a 270° scanning range, surpassing earlier ultrasonic radar systems typically limited to 180°. To improve measurement reliability, a Kalman filter was applied to reduce sensor noise and refine distance estimation. Experimental tests conducted at various ranges confirmed the system’s high performance, achieving an accuracy of 99.32%, which is significantly higher than comparable ultrasonic radar systems reported in the literature. The developed radar offers an effective, low-cost, and adaptable solution for object detection in multiple contexts, including semi-autonomous vehicles, security monitoring, navigation, and robotics applications.