Indoor Tracking of Multiple Individuals With an 802.11ax Wi-Fi-Based Multi-Antenna Passive Radar

We investigate indoor human multi-target tracking in cartesian coordinates based on range, Doppler and Angle-of-Arrival measurements obtained with a four-antenna passive bistatic radar capturing 802.11ax Wi-Fi signals. A reference antenna selection method is described to perform angle processing correctly when dealing with target detection diversity among antennas. The tracking is performed by an Unscented Kalman Filter (UKF) to handle the non-linear relation between the measurement space and the state space. A Joint Probabilistic Data Association Filter is coupled to the UKF to handle the data association between tracks and measurements when dealing with multiple targets. Simulations are performed to determine the tracking parameters under heavy constraints and identify key scenarios. An experimental setup is built using Universal Software Radio Peripherals, featuring an over-the-air phase calibration for angle processing with an anchor antenna. It is used to validate the proposed single and multi-target tracking scheme.