Indoor Human Positioning and Tracking Using Ceiling-Mounted UWB Radars

Abstract

Ultra-wideband (UWB) radar provides a robust and privacy-preserving sensing modality for smart indoor environments. This paper presents an indoor human positioning and tracking system that leverages multiple downward-facing UWB radars mounted on the ceiling. However, this deployment introduces challenges related to extended targets and weak target signals. To address these issues, a three-dimensional (3D) channel impulse response (CIR) grid–based localization framework with compensation process is proposed. A particle filter (PF) is then employed to exploit the resulting spatial likelihood maps for robust trajectory estimation. The system is validated in a realworld office environment using three UWB radars, achieving below half meter positioning accuracy across diverse scenarios.