Detection and Tracking of Human Targets using Ultra-Wideband Radar

Sammanfattning: The purpose of this thesis was to assess the plausibility of using two Ultra- Wideband radars for detecting and tracking human targets. The detection has been performed by two different types of methods, constant false-alarm rate methods and a type of CLEAN algorithm. For tracking the targets, multiple hypothesis tracking has been studied. Particle filtering has been used for the state prediction, considering a significant amount of uncertainty in a motion model used in this thesis project. The detection and tracking methods have been implemented in MATLAB. Tracking in the cases of a single target and multiple targets has been investigated in simulation and experiment. The simulation results in these cases were compared with accurate ground truth data obtained using a VICON optical tracking system. The detection methods showed poor performance when using data that had been collected by the two radars and post-processed to enhance target features. For single targets, the detections were accurate enough to continuously track a target moving randomly in a controlled area. In the multiple target cases the tracker was not able to distinguish the multiple moving subjects.