Localization based on distributed heterogeneous radar sensor network

Abstract

In this paper, we present a novel localization framework which combines the detection results of multiple radars in a distributed heterogeneous radar sensor network. The radar sensor network consists of multiple ultra-wideband (UWB) and frequency-modulated continuous-wave (FMCW) radars, distributed across the region of detection. The UWB radar is used because of its excellent time resolution, which leads to the estimation of distance at a fine resolution. On the other hand, the FMCW radar is used because it can provide velocity and angle measurements in clutter-rich environment. The angle measurement is incorporated into the conventional range-based trilateration algorithm to improve the localization accuracy. In addition, because each radar has a different measurement capability, different weights are assigned to each measurement when deriving the least-squares solution. The performance of the proposed method is demonstrated using experimental data measured in an open space and a clutter-rich environment. The localization results showed that the fusion of UWB and FMCW radar data leads to enhanced localization performance.