Position estimation and calibration for high precision human positioning and tracking using millimeter-wave radar

In this paper, a context-based human target detection and position estimation algorithm, as well as a position calibration algorithm based on radar irradiation angle are proposed to improve the positioning accuracy, which is limited by the sparse and easily submerged characteristics of the point cloud generated by millimeter-wave radar, which leads to difficulty in achieving high-precision positioning. Furthermore, an indoor target positioning and tracking system is built using 77 GHz millimeter-wave radar to verify the proposed algorithms. The experimental results indicate that the proposed algorithms can improve the positioning accuracy both in single-person and multi-person positioning scenarios, with median positioning errors 8.7 cm (36.7% decrease) and 12.95 cm (average) respectively. Therefore, the proposed sensing method is considered as a very promising technique for designing a high precision human trajectory tracking and positioning radar system.