Human location estimation with multiple microwave Doppler sensors in home environment

We propose an approach to estimating human position using multiple dual-type K band microwave Doppler sensors placed at each corner of the room. The feature of our method is to use two different kinds of information in a complementary style. The one is the change in the distance between the target and the sensor calculated from the signal phase change. It has about the wave length accuracy if the signal to noise ratio is high enough. However, since the absolute distance cannot be obtained, the error accumulated with integration is never canceled. The other is the area in which the target is likely to be derived from received signal power. This is immune from error accumulation. Instead, it provides only a rough area which is too wide to localize the target. The target is tracked with particle filters whose weights are computed from product of these two kinds of observation.