基于毫米波雷达的室内人员定位与跟踪实验设计

Experimental Design of Indoor Personnel Positioning and Tracking Based on Millimeter Wave Radar

为了帮助学生深入理解雷达传感器中信号检测和估计理论知识,掌握室内人员定位与跟踪实现过程,结合信号检测与估计理论课程,设计了一个基于毫米波雷达对室内人员定位与跟踪的实验。首先采用60 GHz的毫米波雷达采集人体运动数据,对数据进行预处理后使用多维快速傅里叶变换(FFT)构建距离-多普勒频谱图,然后结合二维单元均值恒虚警率(CA-CFAR)检测算法获取人体运动的距离和速度信息,再使用多信号分类MUSIC算法估计人体的方位角,最后利用扩展卡尔曼滤波算法进行人体运动状态估计,实现目标跟踪。实验结果表明,在多人定位和跟踪上平均每帧处理时间为33.2 ms,与实际运动路径的误差为0.275 m,表现出较好的实时性和准确性。

In order to help students deeply understand the theoretical knowledge of signal detection and estimation in radar sensors and master the realization process of indoor personnel positioning and tracking,an experiment of indoor personnel positioning and tracking based on millimeter wave radar is designed in combination with the theoretical courses of signal detection and estimation.Firstly,60 GHz millimeter wave radar is used to collect human motion data,and after data preprocessing,multi-dimensional fast Fourier transform FFT algorithm is used to construct range-Doppler spectrum diagram,and then the two-dimensional mean constant false alarm rate CA-CFAR detection algorithm is combined to obtain the range-velocity information of human motion.Then the multi-signal classification MUSIC algorithm is used to estimate the azimuth of the human body,and finally the extended Kalman filter algorithm is used to estimate the motion state of the human body to achieve target tracking.The experimental results show that the average processing time of each frame in multi-person location and tracking is 33.2 ms,and the error of the actual motion path is 0.275 m,which shows good real-time and accuracy.