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浙江大学学报(工学版)  2021, Vol. 55 Issue (6): 1208-1214    DOI: 10.3785/j.issn.1008-973X.2021.06.022
信息与电子工程     
基于超宽带雷达基带信号的多人目标跟踪
周金海(),周世镒,常阳,吴耿俊,王依川
浙江大学 信息与电子工程学院,浙江 杭州 310027
Multi-human target tracking based on baseband signals of ultra wide band radar
Jin-hai ZHOU(),Shi-yi ZHOU,Yang CHANG,Geng-jun WU,Yi-chuan WANG
College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China
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摘要:

针对超宽带(UWB)雷达多人目标跟踪中的距离扩展问题,提出基于基带信号的方法. 该方法对射频回波信号进行下变频和抽取,通过动目标指示滤除杂波. 在基带CLEAN检测提取得到量测后,采用凝聚和跳窗方法确定目标初始状态. 运用联合概率数据关联和卡尔曼滤波进行跟踪. 在3种室内环境下开展实验. 结果表明,相对于选用射频回波直接进行处理,提出的方法对多目标跟踪的均方根误差(RMSE)小于0.26 m,在数据存储空间上减少了87.5%,在目标检测的处理时间上减少了39.7%.

关键词: 环境辅助生活(AAL)超宽带雷达基带信号人体目标检测多目标跟踪    
Abstract:

An approach based on baseband signals was proposed aiming at the range spread problem of multi-human target tracking in ultra wide band (UWB) radar. The RF echo was down-converted and decimated, and clutters were filtered out by moving target indication. The baseband CLEAN detection was applied to extract measurements. Then the initial state of the target was determined by clotting and jumping-window method. Joint probabilistic data association and Kalman filter were adopted for tracking. The experiment was conducted in three indoor environments. Results showed that the root mean square error (RMSE) of multi-target tracking was less than 0.26 m, while the data storage was reduced by 87.5% and the processing time for target detection was reduced by 39.7% compared with directly using RF echo.

Key words: ambient assisted living (AAL)    ultra wide band radar    baseband signal    human target detection    multiple target tracking
收稿日期: 2020-06-15 出版日期: 2021-07-30
CLC:  TP 391  
基金资助: 浙江省基础公益研究计划资助项目(LGF20F020014);浙江省教育厅科研资助项目(Y201941858);OPPO研究基金资助项目(CN8201807030008);浙江大学自主科研资助项目(H20151111)
作者简介: 周金海(1964—),男,实验师,从事微波光子学、智能传感技术、机器智能的研究. orcid.org/0000-0003-1797-0399. E-mail: zhoujh@zju.edu.cn
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引用本文:

周金海,周世镒,常阳,吴耿俊,王依川. 基于超宽带雷达基带信号的多人目标跟踪[J]. 浙江大学学报(工学版), 2021, 55(6): 1208-1214.

Jin-hai ZHOU,Shi-yi ZHOU,Yang CHANG,Geng-jun WU,Yi-chuan WANG. Multi-human target tracking based on baseband signals of ultra wide band radar. Journal of ZheJiang University (Engineering Science), 2021, 55(6): 1208-1214.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2021.06.022        https://www.zjujournals.com/eng/CN/Y2021/V55/I6/1208

图 1  频移脉冲及其基带信号
图 2  CLEAN算法逻辑框图
图 3  跳窗方法示意图
图 4  JPDA算法逻辑框图
图 5  数据采集的环境配置
图 6  雷达帧图像
图 7  单个雷达帧的CLEAN检测
信号类型 处理过程 平均每帧处理时间/s
射频信号 CLEAN检测 0.038
基带信号 信号转换 0.007
基带信号 CLEAN检测 0.016
表 1  目标检测处理时间对比
图 8  CLEAN检测结果(S1)
雷达帧 该帧所有量测 量测凝聚结果
1 33 33
2 103 103
3 36,78,84 36,81
4 31,37,79,83 34,81
5 80 80
6 35,37,52,78 36,52,78
7 31,33,43,51,76 32,43,51,76
8 76,99 76,99
表 2  量测凝聚
图 9  实测过程S1~S4的跟踪结果
实测环境 过程 目标 RMSE/m
实验室 S1 目标1 0.17
实验室 S1 目标2 0.26
过道 S2 目标1 0.15
过道 S2 目标2 0.11
休息厅 S3 目标1 0.17
休息厅 S3 目标2 0.13
实验室 S4 目标1 0.20
实验室 S4 目标2 0.17
表 3  跟踪的均方根误差
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