Department of Mathematics and Theoretical Informatics, Technical University of Košice, 042 00 Kosice, Slovakia.
K-Mlab Organizational Unit of Ilmsens GmbH, 040 01 Kosice, Slovakia.
Sensors (Basel). 2022 Jul 13;22(14):5228. doi: 10.3390/s22145228.
The paper aims to propose a sequence of steps that will allow multi-person tracking with a single UWB radar equipped with the minimal antenna array needed for trilateration. Its localization accuracy is admittedly limited, but on the other hand, thoughtfully chosen placement of antennas can increase the detectability of several humans moving in their immediate vicinity and additionally decrease the computational complexity of the signal processing methods. It is shown that the UWB radar measuring with high rate and fine range resolution in conjunction with properly tuned processing parameters can continually track people even in the case when their radar echoes are crossing or merging. Emphasis is given to the simplified method of the time-of-arrival (TOA) estimation and association and the novel method needed for antenna height compensation. The performance of the proposed human tracking framework is evaluated for the experimental scenario with three people moving closely in a small room. A quantitative analysis of the estimated target tracks confirms the benefits of suggested high antenna placement and application of new signal processing methods in the form of decreasing the mean localization error and increasing the frequency of correct target position estimations.
本文旨在提出一系列步骤，使配备用于三边测量所需最小天线阵列的单个超宽带 (UWB) 雷达能够进行多人跟踪。诚然，其定位精度有限，但另一方面，精心选择天线的放置位置可以提高几个在其附近移动的人的检测能力，并降低信号处理方法的计算复杂性。结果表明，与适当调整的处理参数相结合的高速率和细距离分辨率的 UWB 雷达测量可以在雷达回波交叉或合并的情况下连续跟踪人员。重点介绍了到达时间 (TOA) 估计和关联的简化方法以及用于天线高度补偿的新方法。使用三个人在小房间内近距离移动的实验场景评估了所提出的人体跟踪框架的性能。对估计目标轨迹的定量分析证实了建议的高天线位置和以降低平均定位误差和增加正确目标位置估计频率的形式应用新信号处理方法的好处。
