P2-25
Human Detection and Tracking System using IR-UWB Radar Ha-Jun Kim1, Beom-Hun Kim1, Hui-Seon Gang1, Suk-seung Hwang2, Goo-Rak Kwon1, and JaeYoung Pyun1 1 Dept. of Information & Communication Engineering, Chosun University, Korea 2 Dept. of Electronics Engineering, Chosun University, Korea 1
[email protected],
[email protected],
[email protected],
[email protected] [email protected] and
[email protected] unwanted signals. Then, the constant false alarm rate (CFAR) is used for detection of objects. Finally, the
Abstract This paper shows a real time human detection and distance measurement system using impulse radioultrawide band (IR-UWB) radar. First, the IR-UWB signal is applied for clutter reduction to reduce unwanted signals. After that, the constant false alarm rate (CFAR) is used for detection of objects. Finally, the object distance is computed based on time of arrival (TOA). In order to evaluate the performance of proposed method, experiments are made with real IRUWB test equipment. The experimental results validate that the implemented IR-UWB tracking system finds the moving human with tolerable ranging errors of 30cm in 6m distance. 1 Keywords: IR-UWB, clutter reduction, and human detection.
1. Human detection and Tracking System There are sensor systems to detect a moving target in indoor environment. Ultrasonic, infrared rays, vision camera, and impulse radars can be used for this detection system. Among these sensors, impulse radioultrawide band (IR-UWB) radar sensor has the best detection performance to find the location of target within 10 m from the sensor irrespective of background temperature and brightness [1]. Our system consists of the IR-UWB radar device imbedded with NVA 6100 chipset and detection software as shown in Fig. 1 [2,3]. The observed raw signal is applied for clutter reduction to reduce * corresponding author This research was financially supported by the Ministry of Education, Science Technology (MEST) and National Research Foundation of Korea (NRF) through the Human Resource Training Project for Regional Innovation (No. 2012-04-A-03-025-12-010100)
- 526 -
Raw data
Clutter reduction
Detection
(a)
(b) Fig. 1. Human detection and tracking system using IR-UWB, (a) signal processing steps, (b) captured detection result.
Fig. 2. Experimental environments for the evaluation of human detection and tracking system.
10000
10000
8000
8000
Distance (mm)
Distance (mm)
ICEIC 2015
6000
4000
2000
Real Target Position Measured Position by Radar
Real Target Position Measured Position by Radar
6000
4000
2000
0
0 0
50
100
150
200
250
300
0
10
Time
20
30
40
50
60
70
80
Number of Frame
(a)
(b)
Fig. 3. Measured distance of human on indoor hallway, (a) case for a target rocking back and forth while standing, (b) case for a target moving and turning to the reverse way (at the speed of 0.25 m/s). object distance is computed by multiplying the time of arrival (TOA) by the speed of light (i.e. d c uTOA, where d is target distance and c 3u108 m/s is the speed of light). Fig. 2 depicts the experimental environments for the evaluation of human detection and tracking system.
Table 1 : RMSE result observed for a human detection on indoor hallway Distance (m) 1 3 5 7 9
G
2. Experimental results and discussion Fig. 3 shows the measured distance to a person standing and moving on the indoor hallway with our developed impulse radar system. The experiments are performed three times and expressed as average of them. In both target scenarios, it is clear that the measured distance is very close to real target distance when the reflected signal is strong. On the other hand, the measured signal includes the more clutter signals, when the target is standing in a far location. Table 1 describes root mean square error (RMSE) of the estimated distance to a standing person compared to real distance. The increment of RMSE can be observed when the target location increases. As a result, we found that our developed system has range precision of 30 cm error in 6m distance and 70 cm error in 10 m distance. The developed human detection and tracking system needs more advanced signal processing steps for localization and clutter filtering [4]. Also, the system performance is expected to be enhanced with the combination of other target detection sensors.
RMSE (mm) 57 108 206 335 619
Distance (m) 2 4 6 8 10
RMSE (mm) 102 165 309 440 690
References [1] R. J. Fontana, “Recent system applications of short-pulse ultra-wideband (UWB) technology”, IEEE Transactions on Microwave Theory and Techniques, vol. 52, pp. 2087–2104, 2004. [2] V. H. Nguyen, D. M. Kim, G.-R. Kwon, J.-Y. Pyun, “Clutter Reduction on Impulse Radio Ultra Wideband Radar Signal”, Proceedings of International Technical Conference on Circuit/Systems Computers and Communications (ITCCSCC), pp. 1091-1094, 2013. [3] J. D. Taylor and D. T. Wisland, “Novelda Nanoscale Impulse Radar”, Ultrawideband Radar: Applications and Design, 1st ed., Taylor, J.D., Eds, CRC Press, pp. 373–388, 2012. [4] D. Kocur, M. Svecová, J. Rovňáková, “Through-the-wall localization of a moving target by two independent ultra wideband (UWB) radar systems”, Sensors, vol. 13, pp. 11969–11997, 2013.
- 527 -
