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.
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.
Tab.1Comparison of target detection processing time
Fig.8Results 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.2Measurement clotting
Fig.9Tracking 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.3RMSE of tracking
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