Design And Implementation Of Indoor Multiple Target Tracking System Based On Radar Data Fusion

With the development of the Internet of Things technology in recent years,the application of indoor positioning technology has become more and more widespread in smart security,smart home and other fields.However,the current mainstream indoor positioning technologies have their own shortcomings.For example,camera monitoring may violate people's privacy,RFID technology needs to carry specific tags.These shortcomings have limited the application of indoor positioning technology.Based on the analysis of the shortcomings of the existing indoor positioning technology,this paper introduces FMCW millimeter wave radar into indoor positioning.Based on the research of multi-radar data fusion and multi-target tracking technology,a 24 GHz millimeter wave radar is designed and implemented The indoor multi-target tracking system can locate and track a moving human body in an indoor environment without violating privacy and without carrying specific equipment.In order to avoid the blind spot problem caused by indoor metal obstacles reflecting radar electromagnetic waves,this article not only expands the radar detection range but also further improves the system positioning accuracy through the networking of multiple radars.Aiming at the problem of target discrimination in multi-radar systems,this paper first performs a unified coordinate system transformation on radar measurement data,and then combines a gray correlation analysis algorithm to propose an adaptive target homology partition algorithm based on gray correlation analysis.The algorithm can accurately identify homologous targets detected by multiple radars.For the incomplete accuracy of different radars due to their own quality and environmental objective factors,combined with the least squares method,a multi-radar data fusion algorithm based on the weighted least squares method is proposed,and a radar estimation variance estimation algorithm based on radar historical measurement variance is proposed.The experimental result shows that the system positioning accuracy is effectively improved by the fusion of multiple radar measurement data.Aiming at the problem that the millimeter-wave radar cannot perform multi-target tracking,this paper first compares and selects suitable tracking gates and trajectory starting algorithms,and then studies three common data association algorithms: NNDA,PDA,and JPDA.In the case of target,the problem of JPDA algorithm's time complexity will increase rapidly as the number of tracked targets increases.Based on the idea of region segmentation,an improved joint probability data association algorithm(RD-JPDA)is proposed.The experiment proves the RD-JPDA algorithm proposed in this paper keeps the original tracking accuracy of the JPDA algorithm,greatly reduces the calculation amount of the algorithm,and has the advantages of high accuracy and strong real-time performance.Based on the above research,this paper designs and implements indoor multi-target tracking system software based on C++ and Electron technology.First,based on the functional characteristics of the system,the system performs functional and non-functional requirements analysis,and then combines the requirements analysis conclusions to give The overall architecture of the system and the design of the system database.Then,the detailed design and implementation process of the main function modules of the system are explained through sequence diagrams and class diagrams,including radar data transceiver module,radar data processing module,multi-device management module,tracking trajectory display module,email alarm module and history query module.Finally,the system is tested from both functional and non-functional perspectives in combination with test cases,which verifies that the system is fully functional and that each functional module can operate normally.In terms of non-functionality,the reliability of the system and the real-time response of the system can also meet the actual needs.The indoor multi-target tracking system implemented in this paper has high tracking accuracy and strong real-time performance,and has high practical application value.At present,this system has been deployed in many places across the country,providing services for tunnel safe construction and large-scale storage security monitoring,and has been highly praised by users.