Millimeter-Wave Radar Localization Using Indoor Multipath Effect
Abstract
:1. Introduction
- A perception model based on the multipath effect is proposed to solve the localization problem of indoor electronic devices. The model addresses the indoor high-precision localization problem by mining multipath information and using the target radial distance instead of the target Angle-of-Arrival (AoA).
- A model for extracting micro-Doppler at a specific distance is proposed for achieving dynamic object capture. The model solves the micro-Doppler feature-to-distance mapping by superimposing the Doppler information at a specific distance, which enhances the feature information on the distance plane of the object.
- The rule of constant radar 2D perceived area and perceived area on the same distance plane based on the multi-order reflection model is proposed. Based on this rule, the three-dimensional positioning problem of horizontally aligned antennas and the angular resolution problem in the case of insufficient antenna arrays are solved.
2. Related Work
2.1. Millimeter-Wave Radar Applications
2.2. Principles of Radar Perception
3. Multipath Assisted Localization
3.1. MAL Model Framework
- Module 1 is the first step for the MAL system to acquire information about the physical world. In this paper, we use the civilian millimeter-wave IWR1642 Boost development board to send out RF signals and acquire radar IF signals through the DCA1000EVM development board. The signal consists of a real part and an imaginary part. It contains static noise and dynamic targets in space. If we want to obtain the target position, we must perform the next step.
- Module 2 is the basis of the system. Based on module 1, we process the extracted IF signal. It extracts the distance information in the line of sight (LOS) and NLOS environments of the target. To improve the distance resolution of the MAL signal to the target, we first extract all range bins in the original signal and then analyze the Doppler information in each range bin. To avoid the target being interfered with by environmental noise, we obtain the discrete micro-Doppler features at each radial distance of the radar by superimposing the Doppler information in the same range bin for N frames. Finally, by comparing all the micro-Doppler features, the discrete point with the highest energy or the first micro-Doppler feature at a small range distance is identified as the target, and the LOS distance and NLOS distance of the target in the environment are obtained.
- Module 3 is the vital part of the system to obtain the vertical and horizontal position of the target. In this paper, a suitable MAL model is established for the multipath effect. After the input module 1 collects the LOS distance and NLOS distance of the target in the environment, module 2 uses the property of constant radar sensing area, combined with the help of the multipath effect, to calculate the vertical and horizontal distance of the target in space by the MAL model.
Algorithm 1: Steps of MAL |
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3.2. Multipath Effect
- The zeroth-order MAL: As the red path in Figure 4 shows, no reflection other than the target occurred during the electromagnetic wave propagation.
- The first-order MAL: As the orange path in Figure 4 shows, the electromagnetic wave only experienced a reflection other than the target during the propagation process.
- The second-order MAL: As the blue path in Figure 4 shows, the electromagnetic wave first reaches the wall and then returns to the radar through a path other than the red one. It has experienced two reflections other than the target.
3.3. Acquisition of Target Distance by Micro-Doppler Features
3.4. Horizontal Antenna 3D Location
- The volume and wobble amplitude of the rigid target in an actual situation cannot be neglected. However, the MAL model focuses on the central location of the target, so we assume that the target and the radar are considered as one mass point.
- is the mirror image of to the ground, twice the distance from the radar to the ground. is the mirror image of to the ground.
- The 0th-order reflective linear path distance from the T target point to the radar antenna is . The second-order reflective linear path from the T target point to the radar antenna is . The T target point projection to radar projection distance is . The radar setting height is . Sn is the area of by Equation (7), and Pn is half of the perimeter of .
3.5. Single Antenna Horizontal Positioning
4. Experimental Analysis
4.1. Localization Error Analysis
4.1.1. Vertical Positioning Error Analysis
4.1.2. Horizontal Positioning Error Analysis
4.1.3. Analysis of Positioning Errors in Different Environments
4.2. Model Analysis
4.3. Comparison Experiment
5. Discussion
- Because of the multipath effect, the model is more environment-dependent. The occlusion on the radar signal propagation path may affect the positioning accuracy when many objects are in a complex indoor environment.
- Although the MAL model can provide accurate information about the target’s position in 3D space, it cannot track it in real time.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
MAL | Multipath-Assisted Localization |
BDS | BeiDou Navigation Satellite System |
GPS | Global Positioning System |
GSM | Global System for Mobile Communications |
SISO | Single-Input Single-Output |
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IWR 1642 BOOST | |
---|---|
Parameters | Values |
Carrier Frequency | 77 GHz |
Number of Transmitting Antennas | 1 |
Number of Receiving Antennas | 4 |
Bandwidth | 3997.56 MHz |
Single Chrip Signal Duration | 60 |
Sampling Rate | 5000 ksps |
Number of Chirps per Frame | 128 |
Number of Frames | 150 |
Number of Samples per Chirp | 256 |
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Hao, Z.; Yan, H.; Dang, X.; Ma, Z.; Jin, P.; Ke, W. Millimeter-Wave Radar Localization Using Indoor Multipath Effect. Sensors 2022, 22, 5671. https://doi.org/10.3390/s22155671
Hao Z, Yan H, Dang X, Ma Z, Jin P, Ke W. Millimeter-Wave Radar Localization Using Indoor Multipath Effect. Sensors. 2022; 22(15):5671. https://doi.org/10.3390/s22155671
Chicago/Turabian StyleHao, Zhanjun, Hao Yan, Xiaochao Dang, Zhongyu Ma, Peng Jin, and Wenze Ke. 2022. "Millimeter-Wave Radar Localization Using Indoor Multipath Effect" Sensors 22, no. 15: 5671. https://doi.org/10.3390/s22155671