基于超宽带雷达基带信号的多人目标跟踪

Multi-human target tracking based on baseband signals of ultra wide band radar

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%.

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.