Multistatic UWB radar-based passive human tracking using COTS devices

Due to its high delay resolution, the ultrawideband (UWB) technique has been widely adopted for fine-grained indoor localization. Instead of active positioning, UWB radar-based passive human tracking is explored using commercial off-the-shelf devices. To extract the time of flight (ToF) reflected by the moving person, the accumulated channel impulse responses (CIRs) and the corresponding variances are used to train the convolutional neural networks (CNNs) model. Particle filter algorithm is adopted to track the moving person based on the extracted ToFs of all pairs of links. Experimental results show that the proposed CIR- and variance-based CNN models achieve less than 30 cm root mean square errors. Especially, the variance-based CNN model is robust to the scenario changing and promising for practical applications