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Kalman filter based tracking of moving persons using UWB sensors

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3 Author(s)
Zetik, R. ; Electron. Meas. Res. Lab., Ilmenau Univ. of Technol., Ilmenau, Germany ; Hirsch, O. ; Thoma, R.

This paper analyses the performance of Kalman filter based algorithms for tracking of a moving person observed by UWB sensors in an indoor environment. It is shown that known tracking algorithms cannot correctly cope with sudden changes - maneuvers - in the movement of the localized person. The article proposes a new algorithm. It combines the input selection approach, which treats maneuvers as non-random variables, with the maneuver detection that is known e.g. in the approach with adjustable noise level. A simulated example compares performance of selected tracking algorithms. It demonstrates that the proposed algorithm outperforms known tracking algorithms.

Published in:

Wireless Sensing, Local Positioning, and RFID, 2009. IMWS 2009. IEEE MTT-S International Microwave Workshop on

Date of Conference:

24-25 Sept. 2009