Indoor positioning systems (IPSs) have been discussed for use in entertainment, home automation, rescue, surveillance, and healthcare applications. In this paper, we present an IPS that uses an impulse radio-ultra-wideband (IR-UWB) radar network. This radar network system requires at least two radar devices to determine the current coordinates of a moving person. However, one can enlarge the monitoring area by adding more radar sensors. To track moving targets in indoor environments, for example, patients in hospitals or intruders in a home, signal processing procedures for tracking should be applied to the raw data measured using IR-UWB radars. This paper presents the signal processing method required for robust target tracking in a radar network, that is, an iterative extended Kalman filter- (IEKF-) based object tracking method, which uses two IR-UWB radars to measure the coordinates of the targets. The proposed IEKF tracking method is compared to the conventional extended Kalman filter (EKF) method. The results verify that the IEKF method improves the performance of 2D target tracking in a real-time system.
Linear-correction Extended Kalman Filter for Target Tracking Using TDOA and FDOA Measurements
