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. 2022 Jul 13;22(14):5228.
doi: 10.3390/s22145228.

Positioning and Tracking of Multiple Humans Moving in Small Rooms Based on a One-Transmitter-Two-Receiver UWB Radar Configuration

Jana Fortes  1 , Michal Švingál  2 , Tamás Porteleky  2 , Patrik Jurík  3 , Miloš Drutarovský  3
Affiliations

Positioning and Tracking of Multiple Humans Moving in Small Rooms Based on a One-Transmitter-Two-Receiver UWB Radar Configuration

Jana Fortes et al. Sensors (Basel). .

Abstract

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.

Keywords: M-sequence radar; UWB radar; antenna height; multiple human _targets; signal processing; _target positioning; _target tracking.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
M-sequence UWB system: (a) an original m:explore, (b) a customized version of m:explore with antennas.
Figure 2
Figure 2
The experimental scenario: (a) scheme, (b) photos.
Figure 3
Figure 3
Comparison of outputs measured simultaneously in two antenna heights: (a) detector output from antenna height 1.3 m, (b) detector output from antenna height 2.5 m, (c) tracking output from antenna height 1.3 m, (d) tracking output from antenna height 2.5 m.
Figure 4
Figure 4
Proposed human tracking framework.
Figure 5
Figure 5
Comparison of outputs measured from antenna height 2.5 m processed by the original and the proposed TOA estimation method: (a) trace connection output (the original method), (b) TOA matching output (the proposed method), (c) final tracks estimated from trace connection output, (d) final tracks estimated from TOA matching output.
Figure 6
Figure 6
Illustration of different plains for estimation of TOA and estimation of the final _target coordinates.
Figure 7
Figure 7
The cross-section of the spheroid S formed from measured TOA around couple Tx−Rx and the plane β situated in the approximated _target height displayed in the x−z plane.
Figure 8
Figure 8
Change in the localization accuracy of x-coordinate, y-coordinate and _target position P=[x,y] depending on the changing value of the input parameter pTargetHeight: (a) mean localization error [m], (b) relative frequency of the correct estimations [%].
Figure 9
Figure 9
2D _target localization based on one transmitter-two receiver UWB radar configuration.
Figure 10
Figure 10
The radargrams from Rx1 and Rx2 with the raw radar data.
Figure 11
Figure 11
The radargrams from Rx1 and Rx2 with the subtracted background.
Figure 12
Figure 12
The radargrams from Rx1 and Rx2 with the detection output.
Figure 13
Figure 13
The radargrams from Rx1 and Rx2 with the estimated TOA.
Figure 14
Figure 14
_target localization in the x−y plane without height compensation (cyan circles) vs. with height compensation (magenta circles).
Figure 15
Figure 15
_target tracking in the x−y plane: TOA matching & no height compensation & antenna height 1.3 m (yellow tracks) vs. trace connection & height compensation & antenna height 2.5 m (black tracks) vs. TOA matching & no height compensation & antenna height 2.5 m (cyan tracks) vs. TOA matching & height compensation & antenna height 2.5 m (magenta tracks).
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