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. 2013 Sep 9;13(9):11969-97.
doi: 10.3390/s130911969.

Through-the-wall localization of a moving _target by two independent ultra wideband (UWB) radar systems

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Through-the-wall localization of a moving _target by two independent ultra wideband (UWB) radar systems

Dušan Kocur et al. Sensors (Basel). .

Abstract

In the case of through-the-wall localization of moving _targets by ultra wideband (UWB) radars, there are applications in which handheld sensors equipped only with one transmitting and two receiving antennas are applied. Sometimes, the radar using such a small antenna array is not able to localize the _target with the required accuracy. With a view to improve through-the-wall _target localization, cooperative positioning based on a fusion of data retrieved from two independent radar systems can be used. In this paper, the novel method of the cooperative localization referred to as joining intersections of the ellipses is introduced. This method is based on a geometrical interpretation of _target localization where the _target position is estimated using a properly created cluster of the ellipse intersections representing potential positions of the _target. The performance of the proposed method is compared with the direct calculation method and two alternative methods of cooperative localization using data obtained by measurements with the M-sequence UWB radars. The direct calculation method is applied for the _target localization by particular radar systems. As alternative methods of cooperative localization, the arithmetic average of the _target coordinates estimated by two single independent UWB radars and the Taylor series method is considered.

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Figures

Figure 1.
Figure 1.
The _target localization by two ultra wideband (UWB) radar systems. The basic scenario.
Figure 2.
Figure 2.
Geometrical interpretation of _target localization. Review of basic scenarios. (a) Perfect estimations of time-of arrival (TOA) by RSA and RSB; (b) good estimations of TOA by RSA and RSB; (c) good estimations of TOA by RSA; pure estimations of TOA by RSB; (d) good estimations of TOA by RSA; RSB is not able to localize a _target.
Figure 3.
Figure 3.
The scheme of measurement for the basic scenario.
Figure 4.
Figure 4.
Room interior. (a) View from reference position P4; (b) View from behind reference position P1.
Figure 5.
Figure 5.
M-sequence UWB radar systems with (a) spiral antennas; (b) horn antennas.
Figure 6.
Figure 6.
Radargram with preprocessed raw radar signals. (a) The first receiving channel of RSA; (b) the first receiving channel of RSB.
Figure 7.
Figure 7.
Radargram with the subtracted background. (a) The first receiving channel of RSA; (b) the first receiving channel of RSB.
Figure 8.
Figure 8.
Detector output. (a) The first receiving channel of RSA; (b) the first receiving channel of RSB.
Figure 9.
Figure 9.
TOA estimations. (a) The first receiving channel of RSA; (b) the second receiving channel of RSA; (c) the first receiving channel of RSB; (d) the second receiving channel of RSB.
Figure 10.
Figure 10.
_target tracks estimated by all considered methods.
Figure 11.
Figure 11.
_target trajectory estimated by DCA.
Figure 12.
Figure 12.
_target trajectory estimated by DCB.
Figure 13.
Figure 13.
_target trajectory estimated by MEAN.
Figure 14.
Figure 14.
_target trajectory estimated by Taylor-Series method (TSM).
Figure 15.
Figure 15.
_target trajectory estimated by joining intersections of the ellipses (JIEM).
Figure 16.
Figure 16.
Localization errors for all estimated trajectories.
Figure 17.
Figure 17.
Localization errors for all estimated tracks.

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