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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2021, Vol. 55 Issue (6): 1208-1214    DOI: 10.3785/j.issn.1008-973X.2021.06.022
    
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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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     
Received: 15 June 2020      Published: 30 July 2021
CLC:  TP 391  
Fund:  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）
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Jin-hai ZHOU
Shi-yi ZHOU
Yang CHANG
Geng-jun WU
Yi-chuan WANG
Cite this article:

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.

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


基于超宽带雷达基带信号的多人目标跟踪

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 
Fig.1 Frequency pulse and its baseband signal
Fig.2 Algorithm block diagram for CLEAN
Fig.3 Schematic diagram for jumping-window method
Fig.4 Algorithm block diagram for JPDA
Fig.5 Environment configuration of data collection
Fig.6 Radar-frame map
Fig.7 CLEAN detection of a single radar frame
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
Tab.1 Comparison of target detection processing time
Fig.8 Results of CLEAN detection (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
Tab.2 Measurement clotting
Fig.9 Tracking results of measured process S1~S4
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
Tab.3 RMSE of tracking
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