Multistatic radar optimization for radar sensor network applications

The design of radar sensor networks (RSN) has undergone great advancements in recent years. In fact, this kind of system is characterized by a high degree of design flexibility due to the multiplicity of radar nodes and data fusion approaches. This thesis focuses on the development and analysis of RSN architectures to optimize target detection and positioning performances. A special focus is placed upon distributed (statistical) multiple-input multipleoutput (MIMO) RSN systems, where spatial diversity could be leveraged to enhance radar target detection capabilities. In the first part of this thesis, the spatial diversity is leveraged in conjunction with cognitive waveform selection and design techniques to quickly adapt to target scene variations in real time. In the second part, we investigate the impact of RSN geometry, particularly the placement of multistatic radar receivers, on target positioning accuracy. We develop a framework based on cognitive waveform selection in conjunction with adaptive receiver placement strategy to cope with time-varying target scattering characteristics and clutter distribution parameters in the dynamic radar scene. The proposed approach yields better target detection performance and positioning accuracy as compared with conventional methods based on static transmission or stationary multistatic radar topology. The third part of this thesis examines joint radar and communication systems coexistence and operation via two possible architectures. In the first one, several communication nodes in a network operate separately in frequency. Each node leverages the multi-look diversity of the distributed system by activating radar processing on multiple received bistatic streams at each node level in addition to the pre-existing monostatic processing. This architecture is based on the fact that the communication signal, such as the Orthogonal Frequency Division Multiplexing (OFDM) waveform, could be well-suited for radar tasks if the proper waveform parameters are chosen so as to simultaneously perform communication and radar tasks. The advantage of using a joint waveform for both applications is a permanent availability of radar and communication functions via a better use of the occupied spectrum inside the same joint hardware platform. We then examine the second main architecture, which is more complex and deals with separate radar and communication entities with a partial or total spectrum sharing constraint. We investigate the optimum placement of radar receivers for better target positioning accuracy while reducing the radar measurement errors by minimizing the interference caused by simultaneous operation of the communication system. Better performance in terms of communication interference handling and suppression at the radar level, were obtained with the proposed placement approach of radar receivers compared to the geometric dilution of precision (GDOP)-only minimization metric

Localisation and tracking of people using distributed UWB sensors

In vielen Überwachungs- und Rettungsszenarien ist die Lokalisierung und Verfolgung von Personen in Innenräumen auf nichtkooperative Weise erforderlich. Für die Erkennung von Objekten durch Wände in kurzer bis mittlerer Entfernung, ist die Ultrabreitband (UWB) Radartechnologie aufgrund ihrer hohen zeitlichen Auflösung und Durchdringungsfähigkeit Erfolg versprechend. In dieser Arbeit wird ein Prozess vorgestellt, mit dem Personen in Innenräumen mittels UWB-Sensoren lokalisiert werden können. Er umfasst neben der Erfassung von Messdaten, Abstandschätzungen und dem Erkennen von Mehrfachzielen auch deren Ortung und Verfolgung. Aufgrund der schwachen Reflektion von Personen im Vergleich zum Rest der Umgebung, wird zur Personenerkennung zuerst eine Hintergrundsubtraktionsmethode verwendet. Danach wird eine konstante Falschalarmrate Methode zur Detektion und Abstandschätzung von Personen angewendet. Für Mehrfachziellokalisierung mit einem UWB-Sensor wird eine Assoziationsmethode entwickelt, um die Schätzungen des Zielabstandes den richtigen Zielen zuzuordnen. In Szenarien mit mehreren Zielen kann es vorkommen, dass ein näher zum Sensor positioniertes Ziel ein anderes abschattet. Ein Konzept für ein verteiltes UWB-Sensornetzwerk wird vorgestellt, in dem sich das Sichtfeld des Systems durch die Verwendung mehrerer Sensoren mit unterschiedlichen Blickfeldern erweitert lässt. Hierbei wurde ein Prototyp entwickelt, der durch Fusion von Sensordaten die Verfolgung von Mehrfachzielen in Echtzeit ermöglicht. Dabei spielen insbesondere auch Synchronisierungs- und Kooperationsaspekte eine entscheidende Rolle. Sensordaten können durch Zeitversatz und systematische Fehler gestört sein. Falschmessungen und Rauschen in den Messungen beeinflussen die Genauigkeit der Schätzergebnisse. Weitere Erkenntnisse über die Zielzustände können durch die Nutzung zeitlicher Informationen gewonnen werden. Ein Mehrfachzielverfolgungssystem wird auf der Grundlage des Wahrscheinlichkeitshypothesenfilters (Probability Hypothesis Density Filter) entwickelt, und die Unterschiede in der Systemleistung werden bezüglich der von den Sensoren ausgegebene Informationen, d.h. die Fusion von Ortungsinformationen und die Fusion von Abstandsinformationen, untersucht. Die Information, dass ein Ziel detektiert werden sollte, wenn es aufgrund von Abschattungen durch andere Ziele im Szenario nicht erkannt wurde, wird als dynamische Überdeckungswahrscheinlichkeit beschrieben. Die dynamische Überdeckungswahrscheinlichkeit wird in das Verfolgungssystem integriert, wodurch weniger Sensoren verwendet werden können, während gleichzeitig die Performanz des Schätzers in diesem Szenario verbessert wird. Bei der Methodenauswahl und -entwicklung wurde die Anforderung einer Echtzeitanwendung bei unbekannten Szenarien berücksichtigt. Jeder untersuchte Aspekt der Mehrpersonenlokalisierung wurde im Rahmen dieser Arbeit mit Hilfe von Simulationen und Messungen in einer realistischen Umgebung mit UWB Sensoren verifiziert.Indoor localisation and tracking of people in non-cooperative manner is important in many surveillance and rescue applications. Ultra wideband (UWB) radar technology is promising for through-wall detection of objects in short to medium distances due to its high temporal resolution and penetration capability. This thesis tackles the problem of localisation of people in indoor scenarios using UWB sensors. It follows the process from measurement acquisition, multiple target detection and range estimation to multiple target localisation and tracking. Due to the weak reflection of people compared to the rest of the environment, a background subtraction method is initially used for the detection of people. Subsequently, a constant false alarm rate method is applied for detection and range estimation of multiple persons. For multiple target localisation using a single UWB sensor, an association method is developed to assign target range estimates to the correct targets. In the presence of multiple targets it can happen that targets closer to the sensor induce shadowing over the environment hindering the detection of other targets. A concept for a distributed UWB sensor network is presented aiming at extending the field of view of the system by using several sensors with different fields of view. A real-time operational prototype has been developed taking into consideration sensor cooperation and synchronisation aspects, as well as fusion of the information provided by all sensors. Sensor data may be erroneous due to sensor bias and time offset. Incorrect measurements and measurement noise influence the accuracy of the estimation results. Additional insight of the targets states can be gained by exploiting temporal information. A multiple person tracking framework is developed based on the probability hypothesis density filter, and the differences in system performance are highlighted with respect to the information provided by the sensors i.e. location information fusion vs range information fusion. The information that a target should have been detected when it is not due to shadowing induced by other targets is described as dynamic occlusion probability. The dynamic occlusion probability is incorporated into the tracking framework, allowing fewer sensors to be used while improving the tracker performance in the scenario. The method selection and development has taken into consideration real-time application requirements for unknown scenarios at every step. Each investigated aspect of multiple person localization within the scope of this thesis has been verified using simulations and measurements in a realistic environment using M-sequence UWB sensors

Doctor of Philosophy

dissertationThis work seeks to improve upon existing methods for device-free localization (DFL) using radio frequency (RF) sensor networks. Device-free localization is the process of determining the location of a target object, typically a person, without the need for a device to be with the object to aid in localization. An RF sensor network measures changes to radio propagation caused by the presence of a person to locate that person. We show how existing methods which use either wideband or narrowband RF channels can be improved in ways including localization accuracy, energy efficiency, and system cost. We also show how wideband and narrowband systems can combine their information to improve localization. A common assumption in ultra-wideband research is that to estimate the bistatic delay or range, "background subtraction" is effective at removing clutter and must first be performed. Another assumption commonly made is that after background subtraction, each individual multipath component caused by a person's presence can be distinguished perfectly. We show that these assumptions are often not true and that ranging can still be performed even when these assumptions are not true. We propose modeling the difference between a current set of channel impulse responses (CIR) and a set of calibration CIRs as a hidden Markov model (HMM) and show the effectiveness of this model over background subtraction. The methods for performing device-free localization by using ultra-wideband (UWB) measurements and by using received signal strength (RSS) measurements are often considered separate topic of research and viewed only in isolation by two different communities of researchers. We consider both of these methods together and propose methods for combining the information obtained from UWB and RSS measurements. We show that using both methods in conjunction is more effective than either method on its own, especially in a setting where radio placement is constrained. It has been shown that for RSS-based DFL, measuring on multiple channels improves localization accuracy. We consider the trade-o s of measuring all radio links on all channels and the energy and latency expense of making the additional measurements required when sampling multiple channels. We also show the benefits of allowing multiple radios to transmit simultaneously, or in parallel, to better measure the available radio links

Radar networks: A review of features and challenges

Networks of multiple radars are typically used for improving the coverage and tracking accuracy. Recently, such networks have facilitated deployment of commercial radars for civilian applications such as healthcare, gesture recognition, home security, and autonomous automobiles. They exploit advanced signal processing techniques together with efficient data fusion methods in order to yield high performance of event detection and tracking. This paper reviews outstanding features of radar networks, their challenges, and their state-of-the-art solutions from the perspective of signal processing. Each discussed subject can be evolved as a hot research topic.Comment: To appear soon in Information Fusio

Exploiting Sparse Structures in Source Localization and Tracking

This thesis deals with the modeling of structured signals under different sparsity constraints. Many phenomena exhibit an inherent structure that may be exploited when setting up models, examples include audio waves, radar, sonar, and image objects. These structures allow us to model, identify, and classify the processes, enabling parameter estimation for, e.g., identification, localisation, and tracking.In this work, such structures are exploited, with the goal to achieve efficient localisation and tracking of a structured source signal. Specifically, two scenarios are considered. In papers A and B, the aim is to find a sparse subset of a structured signal such that the signal parameters and source locations maybe estimated in an optimal way. For the sparse subset selection, a combinatorial optimization problem is approximately solved by means of convex relaxation, with the results of allowing for different types of a priori information to be incorporated in the optimization. In paper C, a sparse subset of data is provided, and a generative model is used to find the location of an unknown number of jammers in a wireless network, with the jammers’ movement in the network being tracked as additional observations become available

A scalable real-time processing chain for radar exploiting illuminators of opportunity

Includes bibliographical references.This thesis details the design of a processing chain and system software for a commensal radar system, that is, a radar that makes use of illuminators of opportunity to provide the transmitted waveform. The stages of data acquisition from receiver back-end, direct path interference and clutter suppression, range/Doppler processing and target detection are described and targeted to general purpose commercial off-the-shelf computing hardware. A detailed low level design of such a processing chain for commensal radar which includes both processing stages and processing stage interactions has, to date, not been presented in the Literature. Furthermore, a novel deployment configuration for a networked multi-site FM broadcast band commensal radar system is presented in which the reference and surveillance channels are record at separate locations

Wireless Network Design and Optimization: From Social Awareness to Security

abstract: A principal goal of this dissertation is to study wireless network design and optimization with the focus on two perspectives: 1) socially-aware mobile networking and computing; 2) security and privacy in wireless networking. Under this common theme, this dissertation can be broadly organized into three parts. The first part studies socially-aware mobile networking and computing. First, it studies random access control and power control under a social group utility maximization (SGUM) framework. The socially-aware Nash equilibria (SNEs) are derived and analyzed. Then, it studies mobile crowdsensing under an incentive mechanism that exploits social trust assisted reciprocity (STAR). The efficacy of the STAR mechanism is thoroughly investigated. Next, it studies mobile users' data usage behaviors under the impact of social services and the wireless operator's pricing. Based on a two-stage Stackelberg game formulation, the user demand equilibrium (UDE) is analyzed in Stage II and the optimal pricing strategy is developed in Stage I. Last, it studies opportunistic cooperative networking under an optimal stopping framework with two-level decision-making. For both cases with or without dedicated relays, the optimal relaying strategies are derived and analyzed. The second part studies radar sensor network coverage for physical security. First, it studies placement of bistatic radar (BR) sensor networks for barrier coverage. The optimality of line-based placement is analyzed, and the optimal placement of BRs on a line segment is characterized. Then, it studies the coverage of radar sensor networks that exploits the Doppler effect. Based on a Doppler coverage model, an efficient method is devised to characterize Doppler-covered regions and an algorithm is developed to find the minimum radar density required for Doppler coverage. The third part studies cyber security and privacy in socially-aware networking and computing. First, it studies random access control, cooperative jamming, and spectrum access under an extended SGUM framework that incorporates negative social ties. The SNEs are derived and analyzed. Then, it studies pseudonym change for personalized location privacy under the SGUM framework. The SNEs are analyzed and an efficient algorithm is developed to find an SNE with desirable properties.Dissertation/ThesisDoctoral Dissertation Electrical Engineering 201

On Detection and Ranking Methods for a Distributed Radio-Frequency Sensor Network: Theory and Algorithmic Implementation

A theoretical foundation for pre-detection fusion of sensors is needed if the United States Air Force is to ever field a system of distributed and layered sensors that can detect and perform parameter estimation of complex, extended targets in difficult interference environments, without human intervention, in near real-time. This research is relevant to the United States Air Force within its layered sensing and cognitive radar/sensor initiatives. The asymmetric threat of the twenty-first century introduces stressing sensing conditions that may exceed the ability of traditional monostatic sensing systems to perform their required intelligence, surveillance and reconnaissance missions. In particular, there is growing interest within the United States Air Force to move beyond single sensor sensing systems, and instead begin fielding and leveraging distributed sensing systems to overcome the inherent challenges imposed by the modern threat space. This thesis seeks to analyze the impact of integrating target echoes in the angular domain, to determine if better detection and ranking performance is achieved through the use of a distributed sensor network. Bespoke algorithms are introduced for detection and ranking ISR missions leveraging a distributed network of radio-frequency sensors: the first set of bespoke algorithms area based upon a depth-based nonparametric detection algorithm, which is to shown to enhance the recovery of targets under lower signal-to-noise ratios than an equivalent monostatic radar system; the second set of bespoke algorithms are based upon random matrix theoretic and concentration of measure mathematics, and demonstrated to outperform the depth-based nonparametric approach. This latter approach shall be shown to be effective across a broad range of signal-to-noise ratios, both positive and negative

Improvement of detection and tracking techniques in multistatic passive radar systems. (Mejora de técnicas de detección y seguimiento en sistemas radar pasivos multiestáticos)

Esta tesis doctoral es el resultado de una intensa actividad investigadora centrada en los sensores radar pasivos para la mejora de las capacidades de detección y seguimiento en escenarios complejos con blancos terrestres y pequeños drones. El trabajo de investigación se ha llevado a cabo en el grupo de investigación coordinado por la Dra. María Pilar Jarabo Amores, dentro del marco diferentes proyectos: IDEPAR (“Improved DEtection techniques for PAssive Radars”), MASTERSAT (“MultichAnnel paSsive radar receiver exploiting TERrestrial and SATellite Illuminators”) y KRIPTON (“A Knowledge based appRoach to passIve radar detection using wideband sPace adapTive prOcessiNg”) financiados por el Ministerio de Economía y Competitividad de España; MAPIS (Multichannel passive ISAR imaging for military applications) y JAMPAR (“JAMmer-based PAssive Radar”), financiados por la Agencia Europea de Defensa (EDA) . El objetivo principal es la mejora de las técnicas de detección y seguimiento en radares pasivos con configuraciones biestáticas y multiestaticas. En el documento se desarrollan algoritmos para el aprovechamiento de señales procedentes de distintos iluminadores de oportunidad (transmisores DVB-T, satélites DVB-S y señales GPS). Las soluciones propuestas han sido integradas en el demostrador tecnológico IDEPAR, desarrollado y actualizado bajo los proyectos mencionados, y validadas en escenarios reales declarados de interés por potenciales usuarios finales (Direccion general de armamento y material, instituto nacional de tecnología aeroespacial y la armada española). Para el desarrollo y evaluación de cadenas de las cadenas de procesado, se plantean dos casos de estudio: blancos terrestres en escenarios semiurbanos edificios y pequeños blancos aéreos en escenarios rurales y costeros. Las principales contribuciones se pueden resumir en los siguientes puntos: • Diseño de técnicas de seguimiento 2D en el espacio de trabajo rango biestático-frecuencia Doppler: se desarrollan técnicas de seguimiento para los dos casos de estudio, localización de blancos terrestres y pequeños drones. Para es último se implementan técnicas capaces de seguir tanto el movimiento del dron como su firma Doppler, lo que permite implementar técnicas de clasificación de blancos. • Diseño de técnicas de seguimiento de blancos capaces de integrar información en el espacio 3D (rango, Doppler y acimut): se diseñan técnicas basadas en procesado en dos etapas, una primera con seguimiento en 2D para el filtrado de falsas alarmas y la segunda para el seguimiento en 3D y la conversión de coordenadas a un plano local cartesiano. Se comparan soluciones basadas en filtros de Kalman para sistemas tanto lineales como no lineales. • Diseño de cadenas de procesado para sistemas multiestáticos: la información estimada del blanco sobre múltiples geometrías biestáticas es utilizada para incremento de las capacidades de localización del blanco en el plano cartesiano local. Se presentan soluciones basadas en filtros de Kalman para sistemas no lineales explotando diferentes medidas biestáticas en el proceso de transformación de coordenadas, analizando las mejoras de precisión en la localización del blanco. • Diseño de etapas de procesado para radares pasivos basados en señales satelitales de las constelaciones GPS DVB-S. Se estudian las características de las señales satelitales identificando sus inconvenientes y proponiendo cadenas de procesado que permitan su utilización para la detección y seguimiento de blancos terrestres. • Estudio del uso de señales DVB-T multicanal con gaps de transmisión entre los diferentes canales en sistemas radares pasivos. Con ello se incrementa la resolución del sistema, y las capacidades de detección, seguimiento y localización. Se estudia el modelo de señal multicanal, sus efectos sobre el procesado coherente y se proponen cadenas de procesado para paliar los efectos adversos de este tipo de señales