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I. I NTRODUCTION
It is well-known, that the bandwidth of ultrawideband
(UWB) radars, e.g. up to several GHz, results in their high
spatial resolution, typically a few cm. This unique feature
together with facts that UWB radar devices may be built small
and light weight whereby they employ low-power harmless
electromagnetic waves which in the lower GHz range penetrate
through most common building materials, is the reason, why
UWB radars can be advantageously used for through wall
tracking of moving targets [1]. Such tracking systems can be
then applied in rescue, security or surveillance operations.
UWB radars for through wall detection and tracking can
utilize various stimulus signals. In the literature, impulse [2],
[3], [4], stepped frequency [5], or noise [6] waveforms have
been reported. An alternate development represents a through
wall radar employing a continuous-wave Doppler signals [7].
A common feature of the radars described in [2]-[7] is that
they process raw radar data in such a way as to produce a
radar image of the scanned area, where moving targets are
seen as radar blobs (so-called radar imaging methods). There,
the experimental results for multitarget tracking have been
demonstrated in [3], [4] and [7]. From a signal processing
view, the aproach of [3] is the most simple (subtracting of the
received signals from the empty room response followed by
a back projection algorithm). The others approaches employ
more advanced signal processing methods, such as collecting
of integrated samples over multiple segments for each antenna
pair, assembling of waveform set as functions of time and
time history, motion filtering, range filtering, image generation
and image envelope detection in [4] or combining of Doppler
processing and spatial beamforming with the CLEAN and
RELAX algorithm implementation in [7].
The intention of this paper is to introduce a signal processing procedure for multiple moving targets tracked by UWB
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P1.2
11
16
P2.1
P2.2
12
P1.1
7.5
5
16.77
0.24
1.3
Rx1
(a)
Fig. 1.
4.17
Tx
Rx2
0.2
(b)
(c)
(d)
Measuremt scenario: (a) radar device and antennas, (b) building scheme with the antenna layout, (c) building exterior, (d) building interior.
the position P2.1 to the position P2.2 (Fig. 1(b)). The antenna
radar system was located on the bench visible in Fig. 1(c)
according to the layout outlined in the building scheme in
Fig. 1(b), i.e. all antennas were placed along a line with T x
in the middle of Rx1 and Rx2 with distances between adjacent
antennas setting to 1.3 m. There was no separation between
the antennas and the wall.
The raw radar signals corresponding to the described scenario and obtained by the first receiving channel Rx1 are
depicted in Fig. 2(a) in the form of radargram (a two dimensional picture, in which the vertical axis is related to the
time propagation of the impulse response and the horizontal
axis is related to the observation time). In this radargram,
only the cross-talk signal and the reflections of the emitted
electromagnetic wave from the wall can be viewed, forasmuch
as they are very strong in comparison with weak signals
scattered by the moving targets.
This situation is changed after the phase of the background
subtraction when the primary traces of both moving targets
have arisen in the radargrams (Fig. 2(b)). Here, untypical
occurrence in the multitarget scenarios can be observed. It
is related to the strong reflections from target moving further
from the radar system. These reflections are represented by the
steeper trace belonging to person A in Fig. 2(b). This event
can be explained by the fact that the person A was all the
time moving directly in front of the antennas. By contrast,
the trace of the person B is gradually getting weak, what
is due to the flaring angle of the radar antennas. However
globally, the strength of the signals reflected by the both targets
was sufficient and therefore the phase of the weak signal
enhancement has been able to be omitted from the signal
processing procedure for this scenario.
The detector output for the first channel is shown in Fig.
2(c). Here, not only the target traces, but also some harmful
artifacts have been highlighted. The shadowing effect, which
appears as a time-shifted copy of the trace belonging to person
A, is the most massive. Moreover, the part of this copy exceeds
the observation window of 114 ns what results in its presence
at the beginning of the following impulse responses (right
bottom corner of the radargram in Fig. 2(c)). With the high
probability, the fitness centre full of metal equipments located
behind the right wall was the reason of the described effect.
Other visible artifacts are so called cable reflections. They
copy the original target traces, too, but are much more weaker.
374
(a)
(b)
(c)
(d)
(e)
(f)
Fig. 2. The outputs of the signal processing phases: (a) radargram from Rx1 depictive preprocessed raw radar signals, (b) radargram from Rx1 depictive
signals with subtracted backround, (c) radargram from Rx1 depictive detector outputs, (d) joint radargram from Rx1 and Rx2 depictive estimated TOA
couples (outlined by white colour; primary estimated and artificialy wided TOA from Rx1 and Rx2 are depicted by red and yellow colour, respectively), (e)
scanned area with estimated target locations, (f) scanned area with estimated target tracks.
ACKNOWLEDGMENT
This work was supported by the Slovak Cultural and Educational Grant Agency (KEGA) under contract No. 3/7523/09
and by the Slovak Research and Development Agency under
contract No. LPP-0080-09. This work is also the result of
the project implementation of the Center of Information and
Communication Technologies for Knowledge Systems (project
number: 26220120020) supported by the Research & Development Operational Program funded by the ERDF.
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